CN110224653A - A kind of novel Direct Torque Control for threephase asynchronous machine - Google Patents
A kind of novel Direct Torque Control for threephase asynchronous machine Download PDFInfo
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- CN110224653A CN110224653A CN201910573135.XA CN201910573135A CN110224653A CN 110224653 A CN110224653 A CN 110224653A CN 201910573135 A CN201910573135 A CN 201910573135A CN 110224653 A CN110224653 A CN 110224653A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of novel Direct Torque Control for threephase asynchronous machine, this method is first depending on motor mathematical model prediction motor status, to make up a bat lag issues caused by digitial controller；Then the rotation angle difference of given torque and actual motor torque controlled in the period through pi regulator output stator flux linkage vector at one, and combine given stator magnetic linkage amplitude to generate and refer to stator magnetic linkage vector, utilize motor stator voltage equation solution reference voltage vector；Candidate voltage vector is finally determined according to reference voltage vector phase angle, and calculates its optimal duty ratio, so that it is determined that being applied to the equivalent voltage vector at machine winding both ends.Control method of the present invention is easy to operate, and calculation amount is small, and switching frequency is low, and robustness is preferable, while can effectively inhibit motor torque ripple.
Description
Technical field
The present invention relates to a kind of novel Direct Torque Controls for threephase asynchronous machine, belong to motor Direct Torque
Control technology field.
Background technique
Tradition is based on the Study on direct torque control technology of look-up table because dynamic response is fast, easy to operate and switching frequency is lower
And be widely used in AC speed regulating field, but this big disadvantage of torque pulsation limit to a certain extent the technology into one
Step is promoted, and how numerous scientific research personnel are with regard to reduce the torque pulsation in traditional direct torque control scheme based on look-up table thus
Numerous studies are done, typical practice is individually to control the duty that minimum torque pulsation in the period is object solving voltage vector
Than, but this method calculates complexity.Furthermore the schemes such as model prediction Direct Torque Control, dead beat Direct Torque Control can also have
Effect reduces motor torque ripple, but there are weight coefficient and rolling optimization process, systems in model prediction Direct Torque Control
Parameter testing is cumbersome, computationally intensive；Dead beat Direct Torque Control is stronger to the accuracy dependence of motor mathematical model, calculates
Amount is big, and system robustness is poor.Therefore, find it is a kind of realize simple, calculation amount is small, and switching frequency is low, and robustness is preferable, and can
Effectively to inhibit the novel Direct Torque Control of motor torque ripple that there is highly important engineering significance.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of novel Direct Torque Control for threephase asynchronous machine
Method, this method can be effectively torque pulsation inhibited, and realize that simple, calculation amount is small, switching frequency is low, robustness is preferable.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of novel Direct Torque Control for threephase asynchronous machine, includes the following steps:
Step 1, enabling k indicates current sample time, and k+1 indicates next sampling instant, next sampling instant under k+2 expression,
And so on；K indicates current control period to the section k+1, and k+1 to the section k+2 indicates next control period, and so on；
Step 2, motor given rotating speed is ω*, motor actual speed ω is measured using encoder, by ω*And the difference of ω through than
Example-integral controller exports given torqueThe specified magnetic linkage of motor stator is taken to be used as with reference to stator magnetic linkage amplitude | ψs|*；
Step 3, current sample time stator magnetic linkage vector is estimated using full rank flux observerIt utilizesUnder prediction
One sampling instant motor stator current phasorWith stator magnetic linkage vector
Step 4, according to next sampling instant motor stator current phasorWith stator magnetic linkage vectorIt predicts next
Sampling instant motor output torque
Step 5, by given torqueWith next sampling instant motor output torqueDifference through proportional-integral controller
The angle delta θ that stator magnetic linkage vector needs to rotate in next control period is exported, and is calculated with reference to stator magnetic linkage vectorAnd ginseng
Examine voltage vector
Step 6, according to reference voltage vectorPhase angleDetermine candidate's voltage vectorIt is specific as follows:
WhenOrWhen,
WhenWhen,
WhenWhen,
WhenWhen,
WhenWhen,
WhenWhen,
Wherein, UdcIndicate inverter DC bus both end voltage.
Step 7, candidate voltage vector is calculatedOptimal duty ratio D, so that it is determined that next control period be applied to motor around
The equivalent voltage vector at group both ends
As a preferred solution of the present invention, it is utilized described in step 3Predict next sampling instant motor stator electric current
VectorWith stator magnetic linkage vectorSpecific formula are as follows:
Wherein,For current sample time stator magnetic linkage vector,LmIt is fixed
Rotor mutual inductance, LsFor stator self inductance, LrFor rotor self-induction, RsFor stator resistance, RrFor rotor resistance, TsPeriod, j are controlled for system
For complex operator.
As a preferred solution of the present invention, next sampling instant motor output torque described in step 4Prediction is public
Formula are as follows:
Wherein,Next sampling instant motor stator current phasor, stator magnetic linkage vector are respectively indicated,Table
Show the multiplication cross between two vectors, p indicates motor number of pole-pairs.
As a preferred solution of the present invention, stator magnetic linkage vector is referred to described in step 5And reference voltage vectorCalculation formula are as follows:
Wherein, | ψs|*To refer to stator magnetic linkage amplitude, stator magnetic linkage vector needs rotate in Δ θ next control period
Angle,Next sampling instant motor stator current phasor, stator magnetic linkage vector are respectively indicated,It indicatesPhase angle, RsFor stator resistance, TsThe period is controlled for system, j is complex operator.
As a preferred solution of the present invention, candidate's voltage vector described in step 7Optimal duty ratio D, calculation formula
Are as follows:
Wherein,Indicate that reference voltage vector, ⊙ indicate the dot product between two vectors, UdcIndicate inverter DC bus two
Hold voltage.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
The angle that the present invention is rotated in the individually control period using pi regulator control stator magnetic linkage vector, calculation amount
Small, lower to motor mathematical model accuracy dependence, system robustness is preferable；It is determined and is waited according to reference voltage vector phase angle
Voltage vector is selected, its optimal duty ratio is calculated, determines that next control period is applied to the equivalent voltage vector at machine winding both ends,
This scheme realizes that simply calculation amount is small, and switching frequency is low, and robustness is preferable, and can effectively inhibit motor torque ripple.
Detailed description of the invention
Fig. 1 is used in a kind of Digital Implementation for the novel Direct Torque Control of threephase asynchronous machine of the present invention
Sequential logic figure.
Fig. 2 is a kind of control block diagram of the novel Direct Torque Control for threephase asynchronous machine of the present invention.
Fig. 3 is basis in a kind of novel Direct Torque Control for threephase asynchronous machine of the present inventionIt determines and waits
Select voltage vectorExplanation figure.
Fig. 4 is optimized in a kind of novel Direct Torque Control for threephase asynchronous machine of the present inventionDuty ratio D
Schematic diagram.
Fig. 5 is using motor output torque waveform when traditional look-up table Direct Torque Control.
Fig. 6 is turned using motor output when a kind of novel Direct Torque Control for threephase asynchronous machine of the invention
Rectangular waveform.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings.Below by
The embodiment being described with reference to the drawings is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
As shown in Figure 1, being a kind of the digital real of novel Direct Torque Control for threephase asynchronous machine of the present invention
The sequential logic figure used in existing, the place k-1 indicate a upper sampling instant, expression current sample time at k, and expression is next at k+1
Sampling instant, and so on；K-1 indicated a upper control period to the section k, and k to the section k+1 indicates current control period, with this
Analogize；At k, control system estimates current sample time stator flux of motor vector using full rank flux observerAnd root
According to current sample time stator current vectorAnd current control period is applied to the equivalent voltage vector at machine winding both endsPredict stator flux of motor vector at next sampling instant i.e. k+1With output torque Te k+1。
As shown in Fig. 2, for a kind of controller chassis of the novel Direct Torque Control for threephase asynchronous machine of the present invention
Figure, specific implementation process are explained as follows:
Process 1: current sample time stator magnetic linkage vector is estimated using full rank flux observer
Process 2: given motor speed is ω*, motor actual speed ω is measured using encoder, by ω*And the difference of ω through than
Example-integral (PI) adjuster exports given torqueThe specified magnetic linkage of motor stator is taken to be used as with reference to stator magnetic linkage amplitude | ψs|*。
Process 3: remember that current sample time stator magnetic linkage vector isNext sampling instant is predicted according to formula (1), (2)
Motor stator current phasorWith stator magnetic linkage vector.
Process 4: next sampling instant motor output torque is predicted according to formula (3) prediction
Process 5: willWithDifference export stator magnetic linkage arrow in next control period through proportional, integral (PI) adjuster
Amount needs the angle delta θ that rotates, after calculated according to formula (4) and refer to stator magnetic linkage vectorIt is calculated and is referred to by formula (5) again
Stator voltage vector
Process 6: confirm candidate voltage vectorNotePhase angle isWhenOrWhen,WhenWhen,WhenWhen,WhenWhen,WhenWhen,WhenWhen,Udc
Indicate inverter DC bus both end voltage.
Process 7: it is calculated according to formula (6)Optimal duty ratio D, so that it is determined that next control period be applied to motor around
The equivalent voltage vector at group both endsAt this time⊙ indicates the dot product between two vectors.
As shown in figure 3, being described of a kind of novel Direct Torque Control for threephase asynchronous machine of the present invention
According toDetermine candidate's voltage vectorExplanation figure.WithMeet conditionOrFor；Now by voltage vector It is denoted as u respectively1、u2、u3、u4、
u5、u6, thenMinimum value isMinimum value isMinimum value isMinimum value isMinimum value is
Minimum value isDue toIt is less than simultaneouslyTherefore work asOr
When, it takesIt similarly can be rightOther value ranges are deduced accordingly, and are finally concluded that and work asOrWhen,WhenWhen,WhenWhen,WhenWhen,WhenWhen,WhenWhen,UdcIndicate inverter DC bus both end voltage.
As shown in figure 4, be the present invention it is a kind of by the novel Direct Torque Control of threephase asynchronous machine it is described based on
It calculatesThe schematic diagram of optimal duty ratio D.NoteStarting point is O, terminal A；NoteStarting point is O, terminal B；NoteStarting point
For O, terminal C；When D value changes between 0 to 1, C point will move on line segment OB, and if only if line segment AC perpendicular to
When line segment OB, AC length is most short, at this timeAlso reach minimum value；According to geometry it is found thatAbbreviation can obtain
Fig. 5 is using motor output torque waveform when traditional look-up table Direct Torque Control, it can be found that either in sky
It carries or with carrying under operating condition, torque pulsation is big.
Fig. 6 is turned using motor output when a kind of novel Direct Torque Control for threephase asynchronous machine of the invention
Rectangular waveform, it can be found that torque is relatively steady either unloaded still under load operating condition.
As shown in the above description, real according to a kind of novel Direct Torque Control for threephase asynchronous machine and specifically
Step is applied, torque pulsation can be effectively inhibited in the case where reducing calculation amount and keeping low switching frequency.The present invention proposes
A kind of novel Direct Torque Control for threephase asynchronous machine be by pi regulator control stator magnetic linkage vector
Motion profile, and the equivalent voltage vector for being applied to machine winding both ends is calculated using duty ratio optimization algorithm, it is a kind of simple
Effective method.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (5)
1. a kind of novel Direct Torque Control for threephase asynchronous machine, which comprises the steps of:
Step 1, enabling k indicates current sample time, and k+1 indicates next sampling instant, next sampling instant under k+2 expression, successively
Analogize；K indicates current control period to the section k+1, and k+1 to the section k+2 indicates next control period, and so on；
Step 2, motor given rotating speed is ω*, motor actual speed ω is measured using encoder, by ω*And the difference of ω is through ratio-
Integral controller exports given torqueThe specified magnetic linkage of motor stator is taken to be used as with reference to stator magnetic linkage amplitude | ψs|*；
Step 3, current sample time stator magnetic linkage vector is estimated using full rank flux observerIt utilizesPredict next sampling
Moment motor stator current phasorWith stator magnetic linkage vector
Step 4, according to next sampling instant motor stator current phasorWith stator magnetic linkage vectorWhen predicting next sampling
Carve motor output torque
Step 5, by given torqueWith next sampling instant motor output torqueDifference exported through proportional-integral controller
The angle delta θ that stator magnetic linkage vector needs to rotate in next control period, and calculate with reference to stator magnetic linkage vectorWith reference electricity
Press vector
Step 6, according to reference voltage vectorPhase angleDetermine candidate's voltage vectorIt is specific as follows:
WhenOrWhen,
WhenWhen,
WhenWhen,
WhenWhen,
WhenWhen,
WhenWhen,
Wherein, UdcIndicate inverter DC bus both end voltage.
Step 7, candidate voltage vector is calculatedOptimal duty ratio D, so that it is determined that next control period is applied to machine winding two
The equivalent voltage vector at end
2. being used for the novel Direct Torque Control of threephase asynchronous machine according to claim 1, which is characterized in that step
3 utilizationsPredict next sampling instant motor stator current phasorWith stator magnetic linkage vectorSpecific formula are as follows:
Wherein,For current sample time stator magnetic linkage vector,LmFor rotor
Mutual inductance, LsFor stator self inductance, LrFor rotor self-induction, RsFor stator resistance, RrFor rotor resistance, TsThe period is controlled for system, j is multiple
Figure son.
3. being used for the novel Direct Torque Control of threephase asynchronous machine according to claim 1, which is characterized in that step
4 next sampling instant motor output torquesPredictor formula are as follows:
Wherein,Next sampling instant motor stator current phasor, stator magnetic linkage vector are respectively indicated,Indicate two
Multiplication cross between a vector, p indicate motor number of pole-pairs.
4. being used for the novel Direct Torque Control of threephase asynchronous machine according to claim 1, which is characterized in that step
5 is described with reference to stator magnetic linkage vectorAnd reference voltage vectorCalculation formula are as follows:
Wherein, | ψs|*To refer to stator magnetic linkage amplitude, Δ θ is the angle that stator magnetic linkage vector needs to rotate in next control period
Degree,Next sampling instant motor stator current phasor, stator magnetic linkage vector are respectively indicated,It indicates's
Phase angle, RsFor stator resistance, TsThe period is controlled for system, j is complex operator.
5. being used for the novel Direct Torque Control of threephase asynchronous machine according to claim 1, which is characterized in that step
The 7 candidate voltage vectorsOptimal duty ratio D, calculation formula are as follows:
Wherein,Indicate that reference voltage vector, ⊙ indicate the dot product between two vectors, UdcIndicate inverter DC bus both ends electricity
Pressure.
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| CN201910573135.XA CN110224653B (en) | 2019-06-28 | 2019-06-28 | Novel direct torque control method for three-phase asynchronous motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454364A (en) * | 2020-12-03 | 2021-03-09 | 之江实验室 | Robot joint module driver and control method thereof |
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|---|---|---|---|---|
| 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 |
| CN107565872A (en) * | 2017-09-15 | 2018-01-09 | 郑州轻工业学院 | A kind of asynchronous motor predicts Direct Torque Control |
| CN108880374A (en) * | 2018-07-02 | 2018-11-23 | 华中科技大学 | Line inductance electromotor is containing the double vector model forecast Control Algorithms of restriction of current |
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2019
- 2019-06-28 CN CN201910573135.XA patent/CN110224653B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107565872A (en) * | 2017-09-15 | 2018-01-09 | 郑州轻工业学院 | A kind of asynchronous motor predicts Direct Torque Control |
| CN108880374A (en) * | 2018-07-02 | 2018-11-23 | 华中科技大学 | Line inductance electromotor is containing the double vector model forecast Control Algorithms of restriction of current |
Non-Patent Citations (3)
| Title |
|---|
| MD. TAREQUZZAMAN 等: "Performance Improvement of Direct Torque Control Induction Motor Drive using Genetic Algorithm Optimized PI Controller", 《INTERNATIONAL CONFERENCE ON ADVANCEMENT IN ELECTRICAL AND ELECTRONIC ENGINEERING》 * |
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Cited By (1)
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| CN112454364A (en) * | 2020-12-03 | 2021-03-09 | 之江实验室 | Robot joint module driver and control method thereof |
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