CN110086398B - Direct torque control method based on duty ratio control - Google Patents

Direct torque control method based on duty ratio control Download PDF

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CN110086398B
CN110086398B CN201910390765.3A CN201910390765A CN110086398B CN 110086398 B CN110086398 B CN 110086398B CN 201910390765 A CN201910390765 A CN 201910390765A CN 110086398 B CN110086398 B CN 110086398B
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周永池
杨志坚
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South China University of Technology SCUT
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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
    • 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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Abstract

Hair brushThe invention discloses a direct torque control method based on duty ratio control, which comprises the following steps: s1, collecting the rotation speed omega, the rotation angle theta and the three-phase current i of the motorsa、isbAnd iscData; s2, converting the three-phase current isa、isbAnd iscConverting the current to a rotating coordinate system to obtain a current isdAnd isq(ii) a S3, calculating electromagnetic torque TeD-axis flux linkage psidQ-axis flux linkage psiqAnd the amplitude psi of the stator flux linkages(ii) a S4, calculating the sector where the stator flux linkage is located; s5, calculating the real-time stator flux linkage instruction value
Figure DDA0002056415150000011
Obtaining a torque reference value according to the rotation speed PI control
Figure DDA0002056415150000012
S6, selecting the voltage vector u by a table look-up methodi(ii) a S7, calculating the included angle theta between the stator flux linkage at the current moment and the d axis at the action momentψd: s8, according to the selected effective voltage vector uiRotational speed omegarAngle of rotation thetarCalculating uiAngle theta with d-axis at action timeud: s9, calculating the duty ratio h of the selected effective voltage vector; and calculating input pulses of each switching tube of the inverter. The invention improves the calculation method of the duty ratio, and can effectively reduce the amplitude of the harmonic component of the torque and the low-frequency band of the rotating speed.

Description

Direct torque control method based on duty ratio control
Technical Field
The invention relates to the technical field of direct torque control of permanent magnet synchronous motors, in particular to a direct torque control method based on duty ratio control.
Background
The permanent magnet synchronous motor has the advantages of high power density, high operation efficiency, simple and reliable structure, excellent control performance and the like, and is widely applied to the fields of chemical industry, household appliances and the like. The current AC speed regulation method of the permanent magnet synchronous motor mainly comprises direct torque control, vector control and the like. Compared with vector control, the direct torque control method is simple, the torque is correspondingly fast, but the torque fluctuation is large, and large torque harmonics exist. Direct torque control includes conventional hysteresis-comparison direct torque control, direct torque control based on duty cycle control, and direct torque control based on space voltage vector modulation.
Compared with the traditional hysteresis loop, the traditional hysteresis loop only acts on one voltage vector in one control period by direct torque control, and the torque fluctuation is larger. The duty cycle based control changes the time that the effective voltage vector acts, i.e. changes the magnitude of the effective voltage acting during the control period, by combining the effective voltage vector and the zero vector. The method based on space voltage vector modulation can also reduce torque fluctuation, and can obtain voltage vectors with any amplitude and phase by using a method of combining two adjacent effective voltage vectors and a zero vector in each control period, but the action time of the voltage vector selected in each control period needs to be calculated.
In the existing direct torque control method based on duty ratio control, the control of the duty ratio is realized through PI, the direct ratio relation between the torque of the non-salient pole permanent magnet synchronous motor and the flux-linkage quadrature axis component of a stator is considered, and the duty ratio of the selected effective voltage vector is quickly calculated through PI control; the duty ratio calculation is also carried out through a torque variation value, but the method is established in the mode that the amplitude of the stator flux linkage is controlled to be constant, and the torque of the motor is controlled through controlling the torque angle. None of these methods takes into account the effect of the particular direction of the selected effective voltage vector on the real-time torque change, and the angular change due to the lag in the control timing.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provide a direct torque control improvement scheme based on duty ratio control, the method combines the idea of direct torque control of a flux-link-free closed-loop permanent magnet synchronous motor, effectively utilizes the direction information of a selected effective voltage vector, considers the angle change caused by the lag of the control moment, effectively utilizes the change rules of stator flux linkage and stator current components, strictly controls flux linkage components influencing torque change, and can effectively reduce the amplitudes of torque and low-frequency-band harmonic components of rotating speed.
The invention is realized by the following technical scheme.
A novel direct torque control method based on duty ratio control comprises the following steps:
s1, collecting data, wherein the data comprises the rotating speed omega of the motorrAngle of rotation theta and three-phase current i thereof under steady-state working conditionsa、isbAnd isc；
S2, collecting three-phase current isa、isbAnd iscConverting the current to a rotating coordinate system to obtain a current isdAnd isq；
S3, according to the current isdAnd isqCalculating the electromagnetic torque T at that momenteD-axis flux linkage psidQ-axis flux linkage psiqAnd the amplitude psi of the stator flux linkages；
S4, according to d-axis magnetic linkage psidQ-axis flux linkage psiqCalculating the sector where the stator flux linkage is located under the static two-phase orthogonal coordinate system according to the rotation angle theta;
s5, controlling the electromagnetic Torque T obtained by the Maximum Torque Per Ampere (MTPA) according to the Maximum Torque current ratioeRotor flux linkage psifCalculating real-time stator flux linkage command value
Figure GDA0002853272370000021
Obtaining a torque reference value according to the rotation speed PI control
Figure GDA0002853272370000022
S6 deviation sgn (Delta T) according to electromagnetic torquee) Deviation sgn (Δ Ψ) of stator flux linkages) Selecting voltage vector u by using a table look-up method with sector n where stator flux linkage is locatedi；
S7, torque T according to current timeeStator flux linkage psisAnd a rotational speed omegarCalculating the included angle theta between the stator flux linkage at the current moment and the d axis at the action momentψd：
S8, according to the selectionEffective voltage vector uiRotational speed omegarCalculating u of the rotation angle thetaiAngle theta with d-axis at action timeud：
S9, according to the torque reference value
Figure GDA0002853272370000023
Flux linkage reference value
Figure GDA0002853272370000024
The magnetic linkage and the effective voltage vector at the current moment respectively form an included angle theta with the d axisψdAnd thetaudCalculating the duty ratio h of the selected effective voltage vector; and calculating input pulses of each switching tube of the inverter according to the selected effective voltage vector and the duty ratio (formula 9) of the effective voltage vector, so as to realize direct torque control based on duty ratio control.
Further, in the step S1, the three-phase current isa、isbAnd iscThe rotation speed omega and the rotation angle theta are obtained through a photoelectric encoder.
Further, step S2 includes the steps of:
s21, converting the three-phase current isa、isbAnd iscFirstly, Clark is converted into a static coordinate system to obtain isαAnd isβWherein, Clark transform is as follows:
Figure GDA0002853272370000031
s22, converting the static coordinate system into the rotating coordinate system through Park conversion to obtain the current isdAnd isqWherein, Park is transformed as follows:
Figure GDA0002853272370000032
wherein θ is the motor rotation angle.
Further, the electromagnetic torque T of step S3eD-axis flux linkage psid，qAxial flux linkage psiqAnd the amplitude psi of the stator flux linkagesIs calculated from a rotating coordinate system, and the calculation formula is as follows:
Figure GDA0002853272370000033
wherein L isd、LqD-and q-axis inductances,. psifIs the rotor flux linkage. The calculation effectively avoids the problem of large low-frequency oscillation caused by large calculation error due to the fact that the voltage is directly integrated under a static coordinate system.
Further, in step S4, according to the d-axis flux linkage ψdAnd q-axis flux linkage psiqAnd calculating a sector n where the stator flux linkage is located under the static two-phase orthogonal coordinate system by the rotation angle theta, wherein the sector where the stator flux linkage is located under the static two-phase orthogonal coordinate system can be obtained by the following formula:
Figure GDA0002853272370000034
ψsαis a flux linkage of an alpha axis under a stationary two-phase orthogonal coordinate system,. phisβIs a magnetic linkage of the beta axis.
The sector where the stator flux linkage is located can be determined by calculating the rotation angle of the sector where the stator flux linkage is located according to the rotation angle:
Figure GDA0002853272370000041
Figure GDA0002853272370000042
is the included angle between the flux linkage and the alpha axis under the static two-phase orthogonal coordinate system.
Further, in step S5, the real-time stator flux linkage command value
Figure GDA0002853272370000043
Calculated according to the following formula:
Figure GDA0002853272370000044
wherein L isqIs q-axis inductance, TeFor electromagnetic torque, #fIs the rotor flux linkage, and p is the pole pair number.
Further, in step S6, sgn (Δ T) is determined according to the deviation of the electromagnetic torquee) Deviation sgn (Δ Ψ) from stator flux linkages) And a sector n where the stator flux linkage is located, and selecting a voltage vector u through a lookup table 1i，i＝0～7：
TABLE 1 Voltage vector selection Table
Figure GDA0002853272370000045
Further, in step S7, the included angle θ between the current stator flux linkage and the d-axis of the acting time (i.e. the time next to the current time) is calculated by using the variation rule of the stator flux linkage component and the torque expression in consideration of the hysteresis angle of the control cycleψdI.e. the current stator flux linkage and the rotor flux linkage at the moment of action
Figure GDA0002853272370000046
Because the action moment is the next moment of the current moment, the included angle of (2) is formed
Figure GDA0002853272370000047
The angle of rotation being the electrical angle of rotation for one control period, i.e. the retardation angle thetad：
Figure GDA0002853272370000051
δkIs the load angle, TsTo control the period, ωrIs the motor speed.
Further, in step S8, the effective voltage vector u is selectediAngle theta with d-axis at action timeudCalculated from the following formula:
Figure GDA0002853272370000052
where i is the ordinal number of the selected voltage vector,
Figure GDA0002853272370000053
is the angle between the voltage vector and the alpha axis in the stationary two-phase orthogonal coordinate system.
Further, the duty ratio h described in step S9 is calculated from the relationship between the flux linkage component and the torque, based on the coordinate conversion, such that the sum of the q-axis component of the given stator flux linkage and the projection of the q-axis component of the stator flux linkage at the present time and the selected effective voltage vector on the q-axis is equal, thereby calculating the duty ratio h, which is calculated as follows:
Figure GDA0002853272370000054
wherein, VkFor the desired voltage vector magnitude, VnN is the selected sector for the magnitude of the selected effective voltage vector.
Compared with the prior art, the invention has the following advantages and effects: the method combines the thought of a flux-linkage-free closed-loop direct torque control method, does not control the amplitude of the stator flux linkage to be a fixed value in a closed-loop manner, but only controls the quadrature axis component of the stator flux linkage according to a formula that the torque of the non-salient pole permanent magnet synchronous motor is only in direct proportion to the quadrature axis component of the stator flux linkage from a torque control mechanism; the direction information of the selected effective voltage vector is effectively utilized, the angle change caused by the lag of the control moment is considered, the duty ratio of the selected effective voltage vector in each control period is accurately calculated, and the harmonic components of the torque and the rotating speed can be effectively restrained.
Drawings
FIG. 1 is a flow chart of a direct torque control method based on duty cycle control according to the present embodiment;
FIG. 2 is a schematic diagram of the method for suppressing low-frequency harmonic of the torque of the permanent magnet synchronous motor based on duty ratio control;
FIG. 3 is a schematic diagram of the coordinates of the variables in the duty cycle calculation of the selected active voltage vector in this implementation;
FIG. 4 is a time domain comparison graph of the torque of the permanent magnet synchronous motor under constant torque before and after the modification of the control method;
FIG. 5 is a comparison graph of the torque frequency domain of the permanent magnet synchronous motor under constant torque before and after the control method is modified;
FIG. 6 is a comparison graph of the rotation speed frequency domain of the permanent magnet synchronous motor under constant torque before and after the control method is modified;
fig. 7 is a time domain comparison graph of the torque of the permanent magnet synchronous motor under the variable torque before and after the improvement of the control method.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this embodiment, firstly, a Permanent Magnet Synchronous Motor (PMSM) model is established in Simulink, and a dead time t is set in a control loopd. Because the time is needed from the collection of the signals to the calculation and output of the duty ratio, in order to better simulate the actual situation, a delay module (1/z module) is added, and the output of the module at the moment is the input of the module at the last moment, namely the input signal is delayed by one sampling period and output.
A direct torque control method based on duty ratio control as shown in fig. 1 and 2, comprising the steps of:
step S1, passing through HallThe sensor obtains a current isa、isbAnd iscRotational speed ωrAnd the rotation angle theta is acquired by the photoelectric encoder.
Step S2, three-phase current isa、isbAnd iscFirstly, Clark is converted into a static coordinate system to obtain isαAnd isβ。
The Clark transformation is as follows:
Figure GDA0002853272370000061
and then converting the static coordinate system into a rotating coordinate system through Park conversion to obtain isdAnd isq:
Park transforms are as follows:
Figure GDA0002853272370000062
step S3, calculating electromagnetic torque T from the rotating coordinate systemeD-axis flux linkage psidAnd q-axis flux linkage psiqThe formula is as follows:
Figure GDA0002853272370000071
wherein L isd、LqInductance of stator d-and q-axes, psifIs the rotor flux linkage; compared with the method of obtaining the flux linkage through integrating the voltage, the method of obtaining the flux linkage through coordinate transformation can effectively reduce the problem of low-frequency oscillation caused by integral error.
Step S4, determining the magnetic flux linkage psi from the d axisdAnd q-axis flux linkage psiqObtaining alpha-axis magnetic linkage psi through inverse Park transformationαAnd beta axis flux linkage psiβAnd calculating stator flux linkage psisAnd the included angle of the alpha axis in the static two-phase coordinate system.
Figure GDA0002853272370000072
ψsαIs a flux linkage of an alpha axis under a stationary two-phase orthogonal coordinate system,. phisβIs a magnetic linkage of the beta axis.
The sector where the stator flux linkage is located can be determined by calculating the rotation angle of the sector where the stator flux linkage is located according to the rotation angle:
Figure GDA0002853272370000073
Figure GDA0002853272370000074
is the included angle between the flux linkage and the alpha axis under the static two-phase orthogonal coordinate system.
Step S5, calculating a stator flux linkage reference value according to MTPA (maximum torque current ratio control)
Figure GDA0002853272370000075
Figure GDA0002853272370000076
Wherein L isqIs q-axis inductance, TeFor electromagnetic torque, #fIs the rotor flux linkage, and p is the pole pair number.
Step S6, setting rotating speed
Figure GDA0002853272370000077
With real-time speed omegarIs controlled by PI to obtain electromagnetic torque Te *Instructions; according to electromagnetic torque Te *And calculating the electromagnetic torque TeSign sgn (Δ T) of the difference of (a)e) The stator flux linkage amplitude psi and the stator flux linkage reference value calculated in S5
Figure GDA0002853272370000078
Sign sgn (Δ Ψ) of the difference ofs) And the sector n where the stator flux linkage calculated in step S4 is locatedTable 1 selection of the desired effective voltage vector ui，i＝0～7：
TABLE 2 Voltage vector selection Table
Figure GDA0002853272370000081
Step S7, considering the hysteresis angle of the control cycle, and using the variation law of the stator flux linkage component, as known from the torque expression, calculating the included angle θ between the current stator flux linkage and the d-axis at the action time (i.e. the time next to the current time)ψdI.e. the current stator flux linkage and the rotor flux linkage at the moment of action
Figure GDA0002853272370000082
Because the action moment is the next moment of the current moment, the included angle of (2) is formed
Figure GDA0002853272370000083
The angle of rotation being the electrical angle of rotation for one control cycle, i.e. thetad：
Figure GDA0002853272370000084
δkIs the load angle, θdIs a retardation angle, TsTo control the period, ωrIs the motor speed.
S8, according to the selected effective voltage vector uiRotational speed omegarCalculating u of the rotation angle thetaiAngle theta with d-axis at action timeud：
Figure GDA0002853272370000085
Where i is the ordinal number of the selected voltage vector,
Figure GDA0002853272370000086
as a clamp for the voltage vector and the alpha axis in a stationary two-phase orthogonal coordinate systemAnd (4) an angle.
S9, according to the torque reference value
Figure GDA0002853272370000087
Flux linkage reference value
Figure GDA0002853272370000088
The magnetic linkage and the effective voltage vector at the current moment respectively form an included angle theta with the d axisψdAnd thetaudAnd calculating the duty ratio h of the selected effective voltage vector, specifically, by using the relation between the flux linkage component and the torque, and by coordinate conversion, making the sum of the q-axis component of the given stator flux linkage and the q-axis component of the stator flux linkage at the current moment and the projection of the selected effective voltage vector on the q-axis equal, thereby calculating the duty ratio h of the selected effective voltage vector, wherein the calculation formula is as follows:
Figure GDA0002853272370000091
wherein, VkFor the desired voltage vector magnitude, VnN is the selected sector for the magnitude of the selected effective voltage vector.
And calculating according to the selected effective voltage vector and the duty ratio thereof to obtain a group of input pulses for controlling the on-off of each switching tube of the inverter, thereby realizing direct torque control based on duty ratio control.
In order to verify the feasibility and the correctness of the method, a simulation model of a permanent magnet synchronous motor is established, and the torque time domain waveform, the frequency domain harmonic component and the rotating speed frequency domain waveform of the traditional method and the method are compared. The experimental conditions of fig. 3 to 5 are: the constant load torque is 5Nm, the given motor speed is 1500rpm, the solver is a fixed step length, and the carrier frequency is 10000 Hz.
TABLE 3 PMSM and INVERTER RELATED PARAMETERS
Figure GDA0002853272370000092
Fig. 4 is a time domain comparison waveform of the torque of the permanent magnet synchronous motor. It can be seen from the figure that the fluctuation amount of the electromagnetic torque of the motor is about 0.5Nm under the traditional control method, the fluctuation amount of the electromagnetic torque of the motor is about 0.3Nm under the control method, and the fluctuation amount is reduced by about 40 percent. The effectiveness of the scheme of the invention is verified.
Fig. 5 is a frequency domain comparison waveform of the torque of the permanent magnet synchronous motor. It can be seen from the figure that the torque low frequency of the traditional control method has main frequency components such as 600Hz, 1200Hz, 1800Hz, 2400Hz and the like, the motor torque low frequency part of the invention mainly has a frequency component of 600Hz, and the amplitudes of other frequency components are very small and can not be considered. Meanwhile, the amplitude is observed, and compared with the traditional control method, the amplitude at 600Hz is obviously reduced, which shows that the low-frequency torque frequency component is effectively inhibited. The two control methods of the high frequency part have little difference.
Fig. 6 is a comparison waveform diagram of the rotational speed frequency domain of the permanent magnet synchronous motor, and it can be seen from the diagram that the low torque frequency in the conventional method has main frequency components such as 600Hz, 1200Hz, 1800Hz, 2400Hz, etc., and the low torque frequency obtained by the method of the present invention has frequency components such as 600Hz, 1200Hz, 1800Hz, 2400Hz, etc., but the amplitude is significantly reduced. In the range of 0-600Hz, both 100Hz and 300Hz frequency components are present in the conventional method, and the amplitude of these frequency components in the method of the present invention is significantly smaller than in the conventional method.
Fig. 7 shows the test conditions of the permanent magnet synchronous motor in which the rotation speed is initially 1500rpm, the initial torque is 5Nm, and the torque becomes 10Nm after 0.6 s. As can be seen from the torque time domain comparison waveform chart of FIG. 6, the torque response speed of the method of the invention is not much different from that of the traditional method in the variable working condition, but the torque fluctuation is smaller.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (6)

1. A direct torque control method based on duty cycle control, comprising the steps of:
s1, collecting data, wherein the data comprises the rotating speed omega of the motorrAngle of rotation theta and three-phase current i thereof under steady-state working conditionsa、isbAnd isc；
S2, collecting three-phase current isa、isbAnd iscConverting the current to a rotating coordinate system to obtain a current isdAnd isq；
S3, according to the current isdAnd isqCalculating the electromagnetic torque T at that momenteD-axis flux linkage psidQ-axis flux linkage psiqAnd the amplitude psi of the stator flux linkages；
S4, according to d-axis magnetic linkage psidQ-axis flux linkage psiqCalculating the sector where the stator flux linkage is located under the static two-phase orthogonal coordinate system according to the rotation angle theta;
s5, controlling the electromagnetic torque T according to the maximum torque current ratioeRotor flux linkage psifCalculating real-time stator flux linkage command value
Figure FDA0002853272360000011
Obtaining a torque reference value according to the rotation speed PI control
Figure FDA0002853272360000012
S6 deviation sgn (Delta T) according to electromagnetic torquee) Deviation sgn (Δ Ψ) of stator flux linkages) Selecting voltage vector u by using a table look-up method with sector n where stator flux linkage is locatedi；
S7, torque T according to current timeeStator flux linkage psisAnd a rotational speed omegarCalculating the included angle theta between the stator flux linkage at the current moment and the d axis at the action momentψdThe calculation formula is as follows;
Figure FDA0002853272360000013
δkis the load angle, θdIs a retardation angle, TsTo control the period, ωrIs the motor speed, LsIs the motor inductance, and p is the pole pair number of the motor;
s8, according to the selected effective voltage vector uiRotational speed omegarCalculating u of the rotation angle thetaiAngle theta with d-axis at action timeudSpecifically, it is calculated by the following formula:
Figure FDA0002853272360000014
where i is the ordinal number of the selected active voltage vector,
Figure FDA0002853272360000021
the included angle between the voltage vector and the alpha axis in the static two-phase orthogonal coordinate system is shown;
s9, according to the torque reference value
Figure FDA0002853272360000022
Flux linkage reference value
Figure FDA0002853272360000023
The magnetic linkage and the effective voltage vector at the current moment respectively form an included angle theta with the d axisψdAnd thetaudCalculating the duty ratio h of the selected effective voltage vector; and calculating input pulses of each switching tube of the inverter according to the selected effective voltage vector and the duty ratio thereof, thereby realizing direct torque control based on duty ratio control, wherein the duty ratio h has the following calculation formula:
Figure FDA0002853272360000024
Vk＝hVn
Figure FDA0002853272360000025
wherein, VnIs the magnitude of the selected effective voltage vector.
2. Direct torque control method based on duty cycle control according to claim 1, characterized in that in step S1, the three-phase current isa、isbAnd iscThe rotation speed omega and the rotation angle theta are obtained through a Hall sensor through a photoelectric encoder.
3. The direct torque control method based on duty ratio control according to claim 1, wherein the step S2 includes the steps of:
s21, converting the three-phase current isa、isbAnd iscFirstly, Clark is converted into a static coordinate system to obtain current isαAnd isβWherein, Clark transform is as follows:
Figure FDA0002853272360000026
s22, converting the static coordinate system into the rotating coordinate system through Park conversion to obtain the current isdAnd isqWherein, Park is transformed as follows:
Figure FDA0002853272360000031
wherein θ is the motor rotation angle.
4. Direct torque control method based on duty cycle control according to claim 1, characterized in that the electromagnetic torque T of step S3eD-axis flux linkage psidQ-axis flux linkage psiqAnd the amplitude psi of the stator flux linkagesIs calculated from a rotating coordinate system, and the calculation formula is as follows:
Figure FDA0002853272360000032
wherein L isdAnd LqD-and q-axis inductances,. psifIs the rotor flux linkage.
5. The direct torque control method based on duty cycle control according to claim 1, wherein the sector where the stator flux linkage is located in the stationary two-phase orthogonal coordinate system in step S4 is obtained by calculation:
Figure FDA0002853272360000033
ψsαis a flux linkage of an alpha axis under a stationary two-phase orthogonal coordinate system,. phisβA flux linkage being the beta axis;
the sector where the stator flux linkage is located is determined according to the rotation angle by calculating the rotation angle of the sector where the stator flux linkage is located:
Figure FDA0002853272360000034
Figure FDA0002853272360000035
is the included angle between the flux linkage and the alpha axis under the static two-phase orthogonal coordinate system.
6. The direct torque control method based on duty cycle control according to claim 1, wherein in step S5, the real-time stator flux linkage command value
Figure FDA0002853272360000036
Calculated according to the following formula:
Figure FDA0002853272360000041
wherein L isqIs q-axis inductance, TeFor electromagnetic torque, #fIs the rotor flux linkage, and p is the pole pair number.
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