CN110380660A - A kind of Direct Torque Control can inhibit common-mode voltage - Google Patents
A kind of Direct Torque Control can inhibit common-mode voltage Download PDFInfo
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- CN110380660A CN110380660A CN201910698223.2A CN201910698223A CN110380660A CN 110380660 A CN110380660 A CN 110380660A CN 201910698223 A CN201910698223 A CN 201910698223A CN 110380660 A CN110380660 A CN 110380660A
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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
- 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
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Abstract
The invention discloses a kind of Direct Torque Controls that can inhibit common-mode voltage, specifically include that the dynamic section boundary voltage vector switch table established and use rotating vector, rotating vector mapping table is established, chooses rotating vector by successively inquiring dynamic section boundary voltage vector switch table and rotating vector mapping table.Compared to traditional MC-DTC strategy, novel MC-DTC strategy of the invention has played the characteristic that MC rotating vector common-mode voltage is zero, can effectively inhibit common-mode voltage, while also maintaining DTC and not depending on the parameter of electric machine, calculate the advantages such as simple, dynamic property is good.
Description
Technical field
The invention belongs to the power inverter control fields of driving motor, and in particular to using the matrix of Direct Torque Control
Converter-PMSM Drive System performance improvement method.
Background technique
Permanent magnet synchronous motor (PMSM) system of matrix converter (MC) feed combines that PMSM power density is big, speed regulation property
The advantages that energy good advantage and MC is compact-sized, small to harmonic pollution in electric power net, thus obtained extensively in high-end equipment manufacture
General application.Direct Torque Control (DTC) has many advantages, such as that control structure is simple, is influenced that small, dynamic property is good by the parameter of electric machine, answers
Quantity for state space vectors is big, MC more than type when there is inherent advantage.Existing MC-DTC strategy usually only used
Effective vector of MC, or effectively vector are combined with zero vector, and rotating vector is then due to being not suitable for construction switch list, thus quilt
DTC is abandoned completely.However, rotating vector is with common-mode voltage compared with the common-mode voltage of effective vector sum zero vector is larger
Zero inherent advantage abandons rotating vector and unavoidably causes common-mode voltage problem in electric system.Common-mode voltage not only draws
Electrizer bearing damage can also cause the negative effects such as maloperation and the generation electromagnetic interference of electric motor protecting measure, it is therefore necessary to
It takes effective measure to inhibit it.The existing scheme for inhibiting common-mode voltage can be divided mainly into hardware compensating method and software
Inhibit tactful two classes.
1. hardware compensating method.It needs centainly to adjust the structure of matrix converter, such as one common mode electricity of design
Pressure compensator carrys out connection matrix converter, and common-mode voltage compensator includes H-bridge circuit, common mode transformer, external power supply and defeated
Filter out；Or matrix converter is connected into sinusoidal high frequency transformer, and inhibition is reached by the method for pulse density modulated
The purpose of common-mode voltage.Such methods increase the volume and weight of system, to reduce matrix converter power density.
2. software inhibits strategy.The inhibition of common-mode voltage is realized by improving modulation strategy or control strategy.Such as it is adjusting
Optimize zero vector modulation positions in system strategy, or substitute zero vector using two opposite effective vectors of common-mode voltage, makes altogether
Mode voltage is minimum.In Model Predictive Control then can by cost function be added common-mode voltage amplitude this, thus
Conveniently realize the effect for inhibiting common-mode voltage.
Although above-mentioned software inhibits strategy that can reduce common-mode voltage to a certain extent, MC rotation arrow is not used
The characteristic for measuring zero common-mode voltage, to the reduction limitation of common-mode voltage.
Summary of the invention
For the above-mentioned prior art, the present invention provides a kind of Direct Torque Control that can inhibit common-mode voltage, establishes
Using the novel voltage vector switch table and rotating vector mapping table of rotating vector, by successively inquiring novel voltage vector switch
Table and rotating vector mapping table choose rotating vector, can effectively inhibit common-mode voltage, while DTC also being kept not depend on motor ginseng
Number calculates the advantages such as simple, dynamic property is good.
In order to solve the above-mentioned technical problem, a kind of Direct Torque Control that can inhibit common-mode voltage of the present invention, including
Following steps:
Step 1: the MC voltage vector switch list that rotating vector is used only is established
According to MC input voltage vector phase angle thetaViValue determine the position distribution of each rotating vector, and according to stator magnet
Switch list is accordingly established in chain present position, specifically includes following sub-step:
Step 1-1: θ is establishedViSwitch list when (π/12, π/6) ∈
Work as θViWhen (π/12, π/6) ∈, six rotating vectors are successively renumbered as in the counterclockwise direction since+10
R1~R6, by stator magnetic linkage advanced R in the counterclockwise direction1Angle be denoted as αs, according to αsValue range establish switch list respectively；
When stator magnetic linkage is located at R6With R1Between sector in any position, i.e. αs∈(-2θR1, 0) when, it is with stator magnetic linkage
X-axis establishes x-y axis rectangular coordinate system, then successively chooses R in the first quartile to fourth quadrant of x-y coordinate system1、R3、R4、R6
Four voltage vectors constitute the column in DTC switch list, satisfaction increases magnetic linkage increase torque respectively, reduction magnetic linkage increases torque,
Reduce magnetic linkage to reduce torque and increase the demand for control that magnetic linkage reduces torque；
When stator magnetic linkage is located at R1With R2Between sector in, i.e. αs∈(0,2π/3-2θR1) when, which is sub-divided into
Three sub- sectors, use x1、x2Indicate two boundary lines between three sub- sectors, y1、y2Respectively x1、x2Vertical line, and y1With R3
It is overlapped, x2With R5It is overlapped, then x1、x2With R1Between angle be respectively π/6, π/3；
Stator magnetic linkage is located at R1With R2Between sector in have following three kinds of situations:
Situation 1: when stator magnetic linkage is located at R1With x1Between sub- sector in, i.e. αsWhen (0, π/6) ∈, then with stator magnet
Chain is that first to fourth quadrant of the x-y coordinate system of x-axis can successively choose R2、R3、R5、R6Four voltage vectors, for forming
A column in DTC switch list；
Situation 2: when stator magnetic linkage is located at x1With x2Between sub- sector in, i.e. αsWhen (π/6, π/3) ∈, first to
Four-quadrant can successively choose R2、R4、R5、R1Four voltage vectors；
Situation 3: when stator magnetic linkage is located at x2With R2Between sub- sector in, i.e. αs∈(π/3,2π/3-2θR1) when, it can be successively
Choose R3、R4、R6、R1Four voltage vectors；
It establishes to obtain stator magnetic linkage by above procedure and is located at R6With R2Between sector in, i.e. αs∈(-2θR1,2π/3-2
θR1) when DTC switch list；
According to the symmetry of rotating vector position distribution, when stator magnetic linkage is located at R2With R4Between sector in when, situation with
Positioned at R6With R2Between sector in similar, αsIncrease by 2 π/3, need to only increase vector is corresponded in above-mentioned switch list counterclockwise
Add 2；
Similarly, when stator magnetic linkage is located at R4With R6Between sector in when, αsIncrease by 4 π/3, it only need to will be in above-mentioned switch list
Corresponding vector increases by 4 counterclockwise；
It is established to obtain θ by above procedureViWhen (π/12, π/6) ∈, stator magnetic linkage is located in any sector, i.e. αs∈(0,2
DTC group switch table when π)；
Step 1-2: θ is establishedViSwitch list when (0, π/12) ∈
Work as θViWhen (0, π/12) ∈, equally six rotating vectors are successively renumberd in the counterclockwise direction since+10
For R1~R6, and according to stator magnetic linkage advanced R in the counterclockwise direction1Angle αsValue range establish switch list respectively；
When stator magnetic linkage is located at R6With R1Between sector in any position, i.e. αs∈(-2θR1, 0) when, with stator magnetic linkage
R is successively chosen in first quartile to fourth quadrant for the x-y coordinate system of x axis foundation1、R3、R4、R6Four voltage vectors are constituted
A column in DTC switch list；
When stator magnetic linkage is located at R1With R2Between sector in, i.e. αs∈(0,2π/3-2θR1) when, which is sub-divided into
Seven sub- sectors, use x1~x6Indicate six boundary lines between seven sub- sectors, y1~y6Respectively x1~x6Vertical line, and y1With
R2It is overlapped, y2With R3It is overlapped, x3With R4It is overlapped, x4With R5It is overlapped, y5With R6It is overlapped, y6With R1It is overlapped, then x1~x6With R1Between angle
It is followed successively by π/6-2 θ respectivelyR1、π/6、π/3-2θR1、π/3、π/2-2θR1,π/2；
Stator magnetic linkage is located at R1With R2Between sector in have following seven kinds of situations:
Situation 1: when stator magnetic linkage is located at R1With x1Between sub- sector in, i.e. αs∈(0,π/6-2θR1) when, then with fixed
Sub- magnetic linkage is that the second of the x-y coordinate system of x-axis can successively choose R to fourth quadrant3、R5、R6Three voltage vectors, and first as
Limit is then optional without vector, and in order to avoid the space in switch list, one is chosen from adjacent quadrants apart from nearest vector R1
Or R2, to form the column in DTC switch list；
Situation 2: when stator magnetic linkage is located at x1With x2Between sub- sector in, i.e. αs∈(π/6-2θR1, π/6) when, it can be from x-y
First to fourth quadrant of coordinate system successively chooses R2、R3、R5、R6A column in four voltage vector composition DTC switch lists；
Situation 3: when stator magnetic linkage is located at x2With x3Between sub- sector in, i.e. αs∈(π/6,π/3-2θR1) when, it is sat in x-y
R can successively be chosen by marking be first, third and fourth quadrant2、R5、R1Three voltage vectors, and the second quadrant does not have vector can
Choosing chooses one apart from nearest vector R from adjacent quadrants3Or R4, to form the column in DTC switch list；
Situation 4: when stator magnetic linkage is located at x3With x4Between sub- sector in, i.e. αs∈(π/3-2θR1, π/3) when, first
R can be successively chosen to fourth quadrant2、R4、R5、R1Four voltage vectors；
Situation 5: when stator magnetic linkage is located at x4With x5Between sub- sector in, i.e. αs∈(π/3,π/2-2θR1) when, it is sat in x-y
First, second and fourth quadrant of mark system can successively choose R3、R4、R1Three voltage vectors, and third quadrant does not have vector can
Choosing, chooses R from closing in quadrant5Or R6；
Situation 6: when stator magnetic linkage is located at x5With x6Between sub- sector in, i.e. αs∈(π/2-2θR1, pi/2) when, first
R can be successively chosen to fourth quadrant3、R4、R6、R1Four voltage vectors；
Situation 7: when stator magnetic linkage is located at x6With R2Between sub- sector in, i.e. αs∈(π/2,2π/3-2θR1) when, it can be successively
Choose R3、R4、R6、R1Four voltage vectors；
For situation 1, in R1With R2Among select R2, then four vectors and situation 2 selected by situation 1 are completely the same, by this
Two kinds of situations merge, and respective column merges therewith in switch list；
Similarly for situation 3 in R3With R4Among select R4, for situation 5 in R5With R6Among select R6, for situation 7
In R1With R2Among select R1, and situation 3 is merged with situation 4, situation 5, situation 6 merge with situation 7, respective column in switch list
Merge therewith；
It establishes to obtain stator magnetic linkage by above procedure and is located at R6With R2Between sector in, i.e. αs∈(-2θR1,2π/3-2
θR1) when DTC switch list；
According to the symmetry of rotating vector position distribution, when stator magnetic linkage is located at R2With R4Between sector in or R4With
R6Between sector in when, situation be located at R6With R2Between sector in similar, αsIncrease separately 2 π/3 or 4 π/3, only need by
Vector is corresponded in above-mentioned switch list increases separately 2 or 4 counterclockwise；
It is established to obtain θ by above procedureViWhen (0, π/12) ∈, stator magnetic linkage is located in any sector, i.e. αs∈(0,2π)
When DTC group switch table, with θViGroup switch table when (π/12, π/6) ∈ is identical；
Step 1-3: rotating vector mapping table is established
According to sub-step one and sub-step two, in θViWhen in (0, π/6) range, there is unified switch list；
According to rotating vector position distribution with θViPeriodically variable rule, works as θViPositioned at (π/6, π/3), (π/3, π/
2) when, (pi/2,2 π/3) etc. are within the scope of other, all have with switch list identical when being located in (0, π/6) range, as long as to rotation
Turn vector R1~R6Using being identically numbered rule as follows:
It is R by the beginning boundary arrow number of the biggish sector of adjacent two vector angle1, and pass counterclockwise
Addendum number successively obtains R1~R6, corresponding former number is with following scenario described:
Situation 1: θViWhen (0, π/6) ∈, R1~R6It is corresponding in turn to+10, -11 ,+12, -12 ,+11, -10；
Situation 2: θViWhen (π/6, π/3) ∈, R1~R6It is corresponding in turn to -10 ,+10, -11 ,+12, -12 ,+11；
Situation 3: θViWhen ∈ (π/3, pi/2), R1~R6It is corresponding in turn to+11, -11 ,+10, -12 ,+12, -10；
Similarly obtain θViRotating vector number corresponding relationship when in other each interval ranges, according in each section
Corresponding relationship establishes rotating vector mapping table；
Step 2: R is used in inquiry in above-mentioned DTC group switch table1~R6The rotating vector of number, and reflected in rotating vector
The original number of rotating vector is inquired in firing table
Calculate input voltage vector phase angle thetaVi；It inquires rotating vector mapping table and obtains R1The corresponding original volume of rotating vector
Number；Calculate R1Phase angle thetaR1；Calculate stator magnetic linkage vector phase angle；Calculate αs；According to αsIt is needed with control of the DTC to torque and magnetic linkage
Inquiry group switch table acquisition is asked to use R1~R6The rotating vector of number；Inquire the original that rotating vector mapping table obtains rotating vector
Begin number.
The invention proposes novel MC-DTC methods, compared with prior art, the beneficial effects of the present invention are:
(1) characteristic that the present invention is zero using MC rotating vector common-mode voltage is realized MC-DTC using rotating vector, and is adopted
It is compared with traditional MC-DTC of effective vector, is substantially reduced common-mode voltage.
(2) present invention according to each rotating vector relative position MC with the periodically variable feature of input voltage vector phase angle,
The vector switch table on dynamic section boundary is established, and derives rotating vector mapping table, realizes the MC-DTC plan for using rotating vector
Slightly.Inhibit the method for common-mode voltage compared to other, the present invention has independent of the parameter of electric machine, the simple advantage of algorithm.
Detailed description of the invention
Fig. 1 is θ in the present inventionViRotating vector position distribution when (π/12, π/6) ∈, Fig. 1 (a) indicate stator magnetic linkage position
In R6With R1Between sector in situation, Fig. 1 (b) indicate stator magnetic linkage be located at R1With R2Between sector in situation；
Fig. 2 is the θ that the present invention obtainsVi∈ (π/12, π/6) and stator magnetic linkage is located at R6With R2Between sector in when open
Close table；
Fig. 3 is the novel voltage vector switch table that the present invention establishes；
Fig. 4 is θ in the present inventionViRotating vector position distribution when (0, π/12) ∈, Fig. 4 (a) indicate that stator magnetic linkage is located at
R6With R1Between sector in situation, Fig. 4 (b) indicate stator magnetic linkage be located at R1With R2Between sector in situation；
Fig. 5 is the θ that the present invention obtainsVi∈ (0, π/12) and stator magnetic linkage is located at R1With R2Between sector in when switch
Table；
Fig. 6 is the rotating vector mapping table that the present invention establishes；
Fig. 7 is the flow chart for the Direct Torque Control that the present invention inhibits common-mode voltage；
Fig. 8 is the structure diagram of matrix converter used during the present invention is implemented；
Fig. 9 is torque in the present invention, flux linkage hysteresis comparator device；
Figure 10 is the corresponding conducting switching device of MC rotating vector；
Figure 11 is control method implementation diagram of the present invention；
Figure 12 is tradition MC-DTC and MC-DTC of the present invention under the conditions of motor speed 150r/min, load torque 4Nm
Common-mode voltage waveform diagram, wherein (a) is the common-mode voltage waveform diagram of traditional control method, it is (b) being total to for control method of the present invention
Mode voltage waveform diagram；
Figure 13 is the transient state comparative test waveform of traditional MC-DTC He MC-DTC of the present invention, and experimental condition is that torque reference is first
From 8Nm step to -8Nm, after 0.5s again step to 8Nm.Wherein (a) is the electromagnetic torque of traditional control method, revolving speed
With motor A phase current waveform figure, (b) be control method of the present invention electromagnetic torque, revolving speed and motor A phase current waveform figure.
Specific embodiment
A kind of Direct Torque Control that can inhibit common-mode voltage of the present invention, comprising the following steps:
Step 1: the MC voltage vector switch list that rotating vector is used only is established
According to MC input voltage vector phase angle thetaViValue determine the position distribution of each rotating vector, and according to stator magnet
Switch list is accordingly established in chain present position, specifically includes following sub-step:
Step 1-1: θ is establishedViSwitch list when (π/12, π/6) ∈
Work as θViWhen (π/12, π/6) ∈, six rotating vectors are successively renumbered as in the counterclockwise direction since+10
R1~R6, by stator magnetic linkage advanced R in the counterclockwise direction1Angle be denoted as αs, according to αsValue range establish switch list respectively；
When stator magnetic linkage is located at R6With R1Between sector in any position, i.e. αs∈(-2θR1, 0) when, such as Fig. 1 (a) institute
Show, establishes x-y axis rectangular coordinate system by x-axis of stator magnetic linkage, then in the first quartile to fourth quadrant of x-y coordinate system successively
Choose R1、R3、R4、R6Four voltage vectors constitute the column in DTC switch list, meet respectively and increase magnetic linkage increase torque, reduce
Magnetic linkage increases torque, reduces the demand for control that magnetic linkage reduces torque and increases magnetic linkage reduction torque；
When stator magnetic linkage is located at R1With R2Between sector in, i.e. αs∈(0,2π/3-2θR1) when, it, will as shown in Fig. 1 (b)
The sector is sub-divided into three sub- sectors, uses x1、x2Indicate two boundary lines between three sub- sectors, y1、y2Respectively x1、x2's
Vertical line, and y1It is overlapped with R3, x2With R5It is overlapped, then x1、x2With R1Between angle be respectively π/6, π/3；
Stator magnetic linkage is located at R1With R2Between sector in have following three kinds of situations:
Situation 1: when stator magnetic linkage is located at R1With x1Between sub- sector in, i.e. αsWhen (0, π/6) ∈, then with stator magnet
Chain is that first to fourth quadrant of the x-y coordinate system of x-axis can successively choose R2、R3、R5、R6Four voltage vectors, for forming
A column in DTC switch list；
Situation 2: when stator magnetic linkage is located at x1With x2Between sub- sector in, i.e. αsWhen (π/6, π/3) ∈, first to
Four-quadrant can successively choose R2、R4、R5、R1Four voltage vectors；
Situation 3: when stator magnetic linkage is located at x2With R2Between sub- sector in, i.e. αs∈(π/3,2π/3-2θR1) when, it can be successively
Choose R3、R4、R6、R1Four voltage vectors；
It establishes to obtain stator magnetic linkage by above procedure and is located at R6With R2Between sector in, i.e. αs∈(-2θR1,2π/3-2
θR1) when DTC switch list, as shown in Figure 2；ψ in Fig. 2 tables+、ψs-、Te+、TeRespectively represent increase magnetic linkage, reduce magnetic linkage,
Increase torque, reduce torque；
According to the symmetry of rotating vector position distribution, when stator magnetic linkage is located at R2With R4Between sector in when, situation with
Positioned at R6With R2Between sector in similar, αsIncrease by 2 π/3, need to only increase vector is corresponded in above-mentioned switch list counterclockwise
Add 2；
Similarly, when stator magnetic linkage is located at R4With R6Between sector in when, αsIncrease by 4 π/3, it only need to will be in above-mentioned switch list
Corresponding vector increases by 4 counterclockwise；
It is established to obtain θ by above procedureViWhen (π/12, π/6) ∈, stator magnetic linkage is located in any sector, i.e. αs∈(0,2
DTC group switch table when π), as shown in Figure 3；
Step 1-2: θ is establishedViSwitch list when (0, π/12) ∈
Work as θViWhen (0, π/12) ∈, equally six rotating vectors are successively renumberd in the counterclockwise direction since+10
For R1~R6, and according to stator magnetic linkage advanced R in the counterclockwise direction1Angle αsValue range establish switch list respectively；
When stator magnetic linkage is located at R6With R1Between sector in any position, i.e. αs∈(-2θR1, 0) when, such as Fig. 4 (a) institute
Show, successively chooses R in the first quartile to fourth quadrant for the x-y coordinate system established using stator magnetic linkage as x-axis1、R3、R4、R6Four
A voltage vector constitutes the column in DTC switch list；
When stator magnetic linkage is located at R1With R2Between sector in, i.e. αs∈(0,2π/3-2θR1) when, it, will as shown in Fig. 4 (b)
The sector is sub-divided into seven sub- sectors, uses x1~x6Indicate six boundary lines between seven sub- sectors, y1~y6Respectively x1~
x6Vertical line, and y1With R2It is overlapped, y2With R3It is overlapped, x3With R4It is overlapped, x4With R5It is overlapped, y5With R6It is overlapped, y6With R1It is overlapped, then x1
~x6With R1Between angle be followed successively by π/6-2 θ respectivelyR1、π/6、π/3-2θR1、π/3、π/2-2θR1,π/2；
Stator magnetic linkage is located at R1With R2Between sector in have following seven kinds of situations:
Situation 1: when stator magnetic linkage is located at R1With x1Between sub- sector in, i.e. αs∈(0,π/6-2θR1) when, then with fixed
Sub- magnetic linkage is that the second of the x-y coordinate system of x-axis can successively choose R to fourth quadrant3、R5、R6Three voltage vectors, and first as
Limit is then optional without vector, and in order to avoid the space in switch list, one is chosen from adjacent quadrants apart from nearest vector R1
Or R2, to form the column in DTC switch list；
Situation 2: when stator magnetic linkage is located at x1With x2Between sub- sector in, i.e. αs∈(π/6-2θR1, π/6) when, it can be from x-y
First to fourth quadrant of coordinate system successively chooses R2、R3、R5、R6A column in four voltage vector composition DTC switch lists；
Situation 3: when stator magnetic linkage is located at x2With x3Between sub- sector in, i.e. αs∈(π/6,π/3-2θR1) when, it is sat in x-y
R can successively be chosen by marking be first, third and fourth quadrant2、R5、R1Three voltage vectors, and the second quadrant does not have vector can
Choosing chooses one apart from nearest vector R from adjacent quadrants3Or R4, to form the column in DTC switch list；
Situation 4: when stator magnetic linkage is located at x3With x4Between sub- sector in, i.e. αs∈(π/3-2θR1, π/3) when, first
R can be successively chosen to fourth quadrant2、R4、R5、R1Four voltage vectors；
Situation 5: when stator magnetic linkage is located at x4With x5Between sub- sector in, i.e. αs∈(π/3,π/2-2θR1) when, it is sat in x-y
First, second and fourth quadrant of mark system can successively choose R3、R4、R1Three voltage vectors, and third quadrant does not have vector can
Choosing, chooses R from closing in quadrant5Or R6；
Situation 6: when stator magnetic linkage is located at x5With x6Between sub- sector in, i.e. αs∈(π/2-2θR1, pi/2) when, first
R can be successively chosen to fourth quadrant3、R4、R6、R1Four voltage vectors；
Situation 7: when stator magnetic linkage is located at x6With R2Between sub- sector in, i.e. αs∈(π/2,2π/3-2θR1) when, it can be successively
Choose R3、R4、R6、R1Four voltage vectors；
For situation 1, in R1With R2Among select R2, then four vectors and situation 2 selected by situation 1 are completely the same, by this
Two kinds of situations merge, and respective column merges therewith in switch list；
Similarly for situation 3 in R3With R4Among select R4, for situation 5 in R5With R6Among select R6, for situation 7
In R1With R2Among select R1, and situation 3 is merged with situation 4, situation 5, situation 6 merge with situation 7, respective column in switch list
Merge therewith；
It establishes to obtain stator magnetic linkage by above procedure and is located at R1With R2Between sector in, i.e. αs∈(-2θR1,2π/3-2
θR1) when DTC switch list, as shown in Figure 5；
According to the symmetry of rotating vector position distribution, when stator magnetic linkage is located at R2With R4Between sector in or R4With
R6Between sector in when, situation be located at R6With R2Between sector in similar, αsIncrease separately 2 π/3 or 4 π/3, only need by
Vector is corresponded in above-mentioned switch list increases separately 2 or 4 counterclockwise；
It is established to obtain θ by above procedureViWhen (0, π/12) ∈, stator magnetic linkage is located in any sector, i.e. αs∈(0,2π)
When DTC group switch table, with θViGroup switch table when (π/12, π/6) ∈ is identical；
Step 1-3: rotating vector mapping table is established
According to sub-step one and sub-step two, in θViWhen in (0, π/6) range, there is unified switch list；
According to rotating vector position distribution with θViPeriodically variable rule, works as θViPositioned at (π/6, π/3), (π/3, π/
2) when, (pi/2,2 π/3) etc. are within the scope of other, all have with switch list identical when being located in (0, π/6) range, as long as to rotation
Turn vector R1~R6Using being identically numbered rule as follows:
It is R by the beginning boundary arrow number of the biggish sector of adjacent two vector angle1, and pass counterclockwise
Addendum number successively obtains R1~R6, corresponding former number is with following scenario described:
Situation 1: θViWhen (0, π/6) ∈, R1~R6It is corresponding in turn to+10, -11 ,+12, -12 ,+11, -10；
Situation 2: θViWhen (π/6, π/3) ∈, R1~R6It is corresponding in turn to -10 ,+10, -11 ,+12, -12 ,+11；
Situation 3: θViWhen ∈ (π/3, pi/2), R1~R6It is corresponding in turn to+11, -11 ,+10, -12 ,+12, -10；
Similarly obtain θViRotating vector number corresponding relationship when in other each interval ranges, according in each section
Corresponding relationship establishes rotating vector mapping table, as shown in Figure 6；
Step 2: R is used in inquiry in above-mentioned DTC group switch table1~R6The rotating vector of number, and reflected in rotating vector
The original number of rotating vector is inquired in firing table, comprising the following steps:
Step 2-1: input voltage vector phase angle theta is calculated according to input three-phase voltage instantaneous valueVi；
Step 2-2: inquiry rotating vector mapping table obtains R1Corresponding rotating vector original number, and calculate R1Phase angle
θR1；
Step 2-3: calculating stator magnetic linkage vector phase angle, and calculates and calculate αs；
Step 2-4: according to αsR is used with demand for control inquiry group switch table acquisition of the DTC to torque and magnetic linkage1~R6It compiles
Number rotating vector；
Step 2-5: inquiry rotating vector mapping table obtains the original number of rotating vector.
The present invention is further described below with reference to specific example and attached drawing.Fig. 7 is implementation flow chart of the present invention, this
Invention implementation method the following steps are included:
(1) input voltage vector phase angle theta is calculatedVi, stator magnetic linkage amplitude | ψs|, phase angle thetaphi, electromagnetic torque Te。
(1.1) input voltage vector phase angle theta is calculatedVi.It detects matrix converter and inputs three-phase phase voltage ua、ub、uc, by its
It is transformed to two-phase stationary coordinate system component ualpha、ubeta, and calculate θVi.Formula is as follows:
In formula, arctan () indicates arc tangent trigonometric function.
(1.2) output electric current two-phase stationary coordinate system component i is calculatedα、iβ.It detects matrix converter and exports three-phase current iA、
iB、 iC, transform it into two-phase stationary coordinate system component iα、iβ.Formula is as follows:
(1.3) output voltage two-phase stationary coordinate system component u is calculatedα、uβ.It detects matrix converter and inputs three-phase phase voltage
ua、 ub、uc, output three-phase phase voltage u is calculated by matrix converter transmission matrixA、uB、uC, transform it into the static seat of two-phase
Mark system component uα、uβ.Formula is as follows:
In formula, spqIt (t) is bidirection switching device S shown in Fig. 8pqSwitch function, spq(t)=1 it indicates to close the switch, spq
(t)=0 switch OFF, p ∈ { A, B, C }, q ∈ { a, b, c } are indicated.
(1.4) stator magnetic linkage two-phase stationary coordinate system component ψ is calculatedα、ψβ.Formula is as follows:
ψα=∫ (uα-Rsiα)dt+ψmcosθr
ψβ=∫ (uβ-Rsiβ)dt+ψmsinθr
In formula, RsFor stator resistance, ψmFor permanent magnet flux linkage, θrFor permanent magnet flux linkage and motor A phase winding angle.
(1.5) stator magnetic linkage amplitude is calculated | ψs|, phase angle thetaphi.Formula is as follows:
(1.6) electromagnetic torque T is calculatede.Formula is as follows:
In formula, p is motor number of pole-pairs.
(2) rotating vector R is calculated1Phase angle thetaR1.According to θViValue range segmentation calculate θR1, formula is as follows:
(3) stator magnetic linkage advanced R in the counterclockwise direction is calculated1Angle αs, formula is as follows:
αs=θphi-θR1
(4) the output C of torque hysteresis comparator, flux linkage hysteresis comparator device is obtainedT、Cphi。CTValue+1, -1 respectively represents increasing
Big torque reduces torque, i.e. Te+、Te-；CphiValue+1, -1, which respectively represents, to be increased magnetic linkage, reduces magnetic linkage, i.e. ψs+、ψs-.Turn
Square, flux linkage hysteresis comparator device are as shown in Figure 9.B in figureT、BphiRespectively torque, magnetic linkage ring width, generally take BTIt is 0.5% to 5%
Times nominal torque, BphiFor 0.1% to 2% times of permanent magnet flux linkage.Δ T in figuree、|ψs| respectively torque error and magnetic linkage error,
Calculation formula is as follows:
ΔTe=Te *-Te
Δ|ψs|=| ψs|*-|ψs|
In formula, Te *With | ψs|*Respectively electromagnetic torque reference value and stator magnetic linkage amplitude reference value.
(5) MC-DTC switch list is looked into, MC rotating vector is obtained.According to the output C of hysteresis comparatorT、CphiAnd stator magnet
The advanced R of chain1Angle αsMC-DTC switch list as shown in Figure 3 is looked into, the rotating vector renumberd, i.e. R are obtained1~R6One of.
(6) rotating vector mapping table as shown in Figure 6 is looked into, rotating vector original number is obtained.According to the rotation arrow renumberd
Amount and input voltage vector phase angle thetaVi, look into the former number that rotating vector mapping table obtains rotating vector, i.e., ± 10~± one of 12.
(7) on state for determining each switching tube of MC is numbered according to rotating vector original, is realized and is pacified using commutation control circuit
The full change of current, the operation of driving motor system.The corresponding conducting switching tube of MC rotating vector is as shown in Figure 10.
Matrix converter Strategy of Direct Torque Control of the present invention is implemented as shown in figure 11, and wherein step (1)~(6) are by floating-point
Type dsp chip TMS320F28335 realizes that step (7) is realized using fpga chip EP4CE6.Commutation control circuit program is
There is technology.
Matrix converter Strategy of Direct Torque Control of the present invention carries out experimental verification on a 2kW model machine, system is dynamic,
Static properties is good, and common-mode voltage is effectively suppressed.
MC-DTC of the present invention and common-mode voltage waveform under tradition MC-DTC stable state are as shown in figure 12.Experimental condition turns for motor
Fast 150r/min, load torque 4Nm.Wherein, (a) is the common-mode voltage waveform under traditional control method, is (b) present invention control
Common-mode voltage waveform under method processed.As it can be seen that the common-mode voltage of conventional method is larger, the method for the present invention is total to waveform in comparison diagram
Mode voltage is almost 0.
MC-DTC of the present invention and tradition MC-DTC transient state comparative test waveform are as shown in figure 13.Experimental condition is torque reference
First from 8Nm step to -8Nm, after 0.5s again step to 8Nm.Wherein, (a) be traditional control method under electromagnetic torque,
Revolving speed and motor A phase current waveform are (b) electromagnetic torque, revolving speed and the motor A phase current waveform under control method of the present invention.
As it can be seen that the fast feature of control method inheriting tradition control method torque responsing speed of the present invention in figure.
Although above in conjunction with figure, invention has been described, and the invention is not limited to above-mentioned specific embodiment parties
Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair
Under bright enlightenment, without deviating from the spirit of the invention, many variations can also be made, these belong to guarantor of the invention
Within shield.
Claims (1)
1. a kind of Direct Torque Control that can inhibit common-mode voltage, which comprises the following steps:
Step 1: the MC voltage vector switch list that rotating vector is used only is established
According to MC input voltage vector phase angle thetaViValue determine the position distribution of each rotating vector, and according to stator magnetic linkage institute
Place accordingly establishes switch list in position, specifically includes following sub-step:
Step 1-1: θ is establishedViSwitch list when (π/12, π/6) ∈
Work as θViWhen (π/12, π/6) ∈, six rotating vectors are successively renumbered as R in the counterclockwise direction since+101~
R6, by stator magnetic linkage advanced R in the counterclockwise direction1Angle be denoted as αs, according to αsValue range establish switch list respectively；
When stator magnetic linkage is located at R6With R1Between sector in any position, i.e. αs∈(-2θR1, 0) when, using stator magnetic linkage as x-axis
X-y axis rectangular coordinate system is established, then successively chooses R in the first quartile to fourth quadrant of x-y coordinate system1、R3、R4、R6Four
Voltage vector constitutes the column in DTC switch list, meets increase magnetic linkage increase torque respectively, reduction magnetic linkage increases torque, reduces
Magnetic linkage reduces torque and increases the demand for control that magnetic linkage reduces torque；
When stator magnetic linkage is located at R1With R2Between sector in, i.e. αs∈(0,2π/3-2θR1) when, which is sub-divided into three
Sub- sector, uses x1、x2Indicate two boundary lines between three sub- sectors, y1、y2Respectively x1、x2Vertical line, and y1It is overlapped with R3,
x2With R5It is overlapped, then x1、x2With R1Between angle be respectively π/6, π/3；
Stator magnetic linkage is located at R1With R2Between sector in have following three kinds of situations:
Situation 1: when stator magnetic linkage is located at R1With x1Between sub- sector in, i.e. αsIt is then being x with stator magnetic linkage when (0, π/6) ∈
First to fourth quadrant of the x-y coordinate system of axis can successively choose R2、R3、R5、R6Four voltage vectors, for forming DTC switch
A column in table；
Situation 2: when stator magnetic linkage is located at x1With x2Between sub- sector in, i.e. αsWhen (π/6, π/3) ∈, first to fourth as
Limit can successively choose R2、R4、R5、R1Four voltage vectors；
Situation 3: when stator magnetic linkage is located at x2With R2Between sub- sector in, i.e. αs∈(π/3,2π/3-2θR1) when, it can successively choose
R3、R4、R6、R1Four voltage vectors；
It establishes to obtain stator magnetic linkage by above procedure and is located at R6With R2Between sector in, i.e. αs∈(-2θR1,2π/3-2θR1) when
DTC switch list；
According to the symmetry of rotating vector position distribution, when stator magnetic linkage is located at R2With R4Between sector in when, situation be located at
R6With R2Between sector in similar, αsIncrease by 2 π/3, only need to increase counterclockwise 2 for vector is corresponded in above-mentioned switch list；
Similarly, when stator magnetic linkage is located at R4With R6Between sector in when, αsIncrease by 4 π/3, need to will only be corresponded in above-mentioned switch list
Vector increases by 4 counterclockwise；
It is established to obtain θ by above procedureViWhen (π/12, π/6) ∈, stator magnetic linkage is located in any sector, i.e. αsWhen ∈ (0,2 π)
DTC group switch table；
Step 1-2: θ is establishedViSwitch list when (0, π/12) ∈
Work as θViWhen (0, π/12) ∈, six rotating vectors are successively equally renumbered as R in the counterclockwise direction since+101
~R6, and according to stator magnetic linkage advanced R in the counterclockwise direction1Angle αsValue range establish switch list respectively；
When stator magnetic linkage is located at R6With R1Between sector in any position, i.e. αs∈(-2θR1, 0) when, it is being x with stator magnetic linkage
R is successively chosen in the first quartile to fourth quadrant for the x-y coordinate system that axis is established1、R3、R4、R6Four voltage vectors constitute DTC
A column in switch list；
When stator magnetic linkage is located at R1With R2Between sector in, i.e. αs∈(0,2π/3-2θR1) when, which is sub-divided into seven
Sub- sector, uses x1~x6Indicate six boundary lines between seven sub- sectors, y1~y6Respectively x1~x6Vertical line, and y1With R2Weight
It closes, y2With R3It is overlapped, x3With R4It is overlapped, x4With R5It is overlapped, y5With R6It is overlapped, y6With R1It is overlapped, then x1~x6With R1Between angle point
It is not followed successively by π/6-2 θR1、π/6、π/3-2θR1、π/3、π/2-2θR1,π/2；
Stator magnetic linkage is located at R1With R2Between sector in have following seven kinds of situations:
Situation 1: when stator magnetic linkage is located at R1With x1Between sub- sector in, i.e. αs∈(0,π/6-2θR1) when, then with stator magnet
Chain is that the second of the x-y coordinate system of x-axis can successively choose R to fourth quadrant3、R5、R6Three voltage vectors, and first quartile is then
There is no that vector is optional, in order to avoid the space in switch list, one is chosen from adjacent quadrants apart from nearest vector R1Or R2,
To form the column in DTC switch list；
Situation 2: when stator magnetic linkage is located at x1With x2Between sub- sector in, i.e. αs∈(π/6-2θR1, π/6) when, it can be from x-y coordinate
First to fourth quadrant of system successively chooses R2、R3、R5、R6A column in four voltage vector composition DTC switch lists；
Situation 3: when stator magnetic linkage is located at x2With x3Between sub- sector in, i.e. αs∈(π/6,π/3-2θR1) when, in x-y coordinate system
First, third and fourth quadrant can successively choose R2、R5、R1Three voltage vectors, and the second quadrant does not have that vector is optional, from
One is chosen in adjacent quadrants apart from nearest vector R3Or R4, to form the column in DTC switch list；
Situation 4: when stator magnetic linkage is located at x3With x4Between sub- sector in, i.e. αs∈(π/3-2θR1, π/3) when, first to
Four-quadrant can successively choose R2、R4、R5、R1Four voltage vectors；
Situation 5: when stator magnetic linkage is located at x4With x5Between sub- sector in, i.e. αs∈(π/3,π/2-2θR1) when, in x-y coordinate system
First, second and fourth quadrant can successively choose R3、R4、R1Three voltage vectors, and third quadrant does not have that vector is optional, from
It closes on and chooses R in quadrant5Or R6；
Situation 6: when stator magnetic linkage is located at x5With x6Between sub- sector in, i.e. αs∈(π/2-2θR1, pi/2) when, first to
Four-quadrant can successively choose R3、R4、R6、R1Four voltage vectors；
Situation 7: when stator magnetic linkage is located at x6With R2Between sub- sector in, i.e. αs∈(π/2,2π/3-2θR1) when, it can successively choose
R3、R4、R6、R1Four voltage vectors；
For situation 1, in R1With R2Among select R2, then four vectors and situation 2 selected by situation 1 are completely the same, by this two kinds
Situation merges, and respective column merges therewith in switch list；
Similarly for situation 3 in R3With R4Among select R4, for situation 5 in R5With R6Among select R6, for situation 7 in R1With
R2Among select R1, and situation 3 is merged with situation 4, situation 5, situation 6 merge with situation 7, and respective column is closed therewith in switch list
And；
It establishes to obtain stator magnetic linkage by above procedure and is located at R6With R2Between sector in, i.e. αs∈(-2θR1,2π/3-2θR1) when
DTC switch list；
According to the symmetry of rotating vector position distribution, when stator magnetic linkage is located at R2With R4Between sector in or R4With R6Between
Sector in when, situation be located at R6With R2Between sector in similar, αs2 π/3 or 4 π/3 are increased separately, need to only be opened above-mentioned
Vector is corresponded in the table of pass increases separately 2 or 4 counterclockwise；
It is established to obtain θ by above procedureViWhen (0, π/12) ∈, stator magnetic linkage is located in any sector, i.e. αsWhen ∈ (0,2 π)
DTC group switch table, with θViGroup switch table when (π/12, π/6) ∈ is identical；
Step 1-3: rotating vector mapping table is established
According to sub-step one and sub-step two, in θViWhen in (0, π/6) range, there is unified switch list；
According to rotating vector position distribution with θViPeriodically variable rule, works as θViPositioned at (π/6, π/3), (π/3, pi/2), (π/
2,2 π/3) etc. within the scope of other when, all have with switch list identical when being located in (0, π/6) range, as long as to rotating vector
R1~R6Using being identically numbered rule as follows:
It is R by the beginning boundary arrow number of the biggish sector of adjacent two vector angle1, and be incremented by compile counterclockwise
Number, successively obtain R1~R6, corresponding former number is with following scenario described:
Situation 1: θViWhen (0, π/6) ∈, R1~R6It is corresponding in turn to+10, -11 ,+12, -12 ,+11, -10；
Situation 2: θViWhen (π/6, π/3) ∈, R1~R6It is corresponding in turn to -10 ,+10, -11 ,+12, -12 ,+11；
Situation 3: θViWhen ∈ (π/3, pi/2), R1~R6It is corresponding in turn to+11, -11 ,+10, -12 ,+12, -10；
Similarly obtain θViRotating vector number corresponding relationship when in other each interval ranges, according to the correspondence in each section
Relationship establishes rotating vector mapping table；
Step 2: R is used in inquiry in above-mentioned DTC group switch table1~R6The rotating vector of number, and in rotating vector mapping table
The original number of middle inquiry rotating vector
Calculate input voltage vector phase angle thetaVi；It inquires rotating vector mapping table and obtains R1Corresponding rotating vector original number；Meter
Calculate R1Phase angle thetaR1；Calculate stator magnetic linkage vector phase angle；Calculate αs；According to αsIt is inquired with demand for control of the DTC to torque and magnetic linkage
R is used in the acquisition of group switch table1~R6The rotating vector of number；Inquire the original number that rotating vector mapping table obtains rotating vector.
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