CN111181465B - A direct torque control method and device for an open-winding permanent magnet synchronous motor system - Google Patents

A direct torque control method and device for an open-winding permanent magnet synchronous motor system Download PDF

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CN111181465B
CN111181465B CN202010116830.6A CN202010116830A CN111181465B CN 111181465 B CN111181465 B CN 111181465B CN 202010116830 A CN202010116830 A CN 202010116830A CN 111181465 B CN111181465 B CN 111181465B
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motor
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voltage vector
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flux linkage
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CN111181465A (en
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孙丹
王铭泽
郑志豪
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Zhejiang University ZJU
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Zhejiang University ZJU
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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Abstract

本发明公开了一种开绕组永磁同步电机系统的直接转矩控制方法和装置，该方法通过基本电压矢量在abc三相的投影对空间电压矢量平面进行划分，并引入区域标志的概念，实现对基本电压矢量的选择，同时得到6个桥臂的开关状态以生成各开关器件的驱动信号，对电机系统施加控制。本发明方法消除了传统控制结构中所需的滞环比较器，通过一种适合开绕组电机结构的空间电压矢量平面扇区划分方式，简化了开关表，实现了扇区与基本电压矢量的一一对应，同时提高了所选电压矢量的精度，电机的转矩脉动和磁链脉动低，电机系统的静态运行性能得到了改善。The invention discloses a direct torque control method and device for an open-winding permanent magnet synchronous motor system. The method divides the space voltage vector plane through the projection of the basic voltage vector on the abc three-phase, and introduces the concept of area marks to realize For the selection of the basic voltage vector, the switching states of the six bridge arms are obtained at the same time to generate the driving signals of each switching device, and control the motor system. The method of the invention eliminates the hysteresis comparator required in the traditional control structure, and simplifies the switch table through a space voltage vector plane sector division suitable for the open-winding motor structure, and realizes the unity of the sector and the basic voltage vector. One-to-one correspondence, at the same time, the precision of the selected voltage vector is improved, the torque ripple and flux linkage ripple of the motor are low, and the static running performance of the motor system is improved.

Description

Direct torque control method and device for open-winding permanent magnet synchronous motor system
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a direct torque control method and a direct torque control device for an open-winding permanent magnet synchronous motor system.
Background
The open-winding permanent magnet synchronous motor is a novel topological structure which opens a neutral point of a stator winding of the motor and accesses two inverters at two ends of the winding for power supply. The inverter can reduce the requirement on the capacity of a single inverter, can generate a multi-level power supply effect and reduce voltage harmonics, and is widely researched in the fields of electric automobiles, aerospace and military at present.
Direct torque control is an important control idea in the field of motor control, but for a double-independent-power-supply type open-winding permanent magnet synchronous motor, because a double-inverter structure can generate relatively abundant basic voltage vectors, the design of a hysteresis comparator in the traditional direct torque control is more difficult, and meanwhile, the complexity of a switching table is increased, so that a method suitable for direct torque control of the open-winding permanent magnet synchronous motor needs to be researched. Of course, the problem of high torque ripple and flux linkage ripple in direct torque control has been receiving wide attention from researchers.
Disclosure of Invention
The invention aims to provide a direct torque control method of a double-independent-power-supply type open-winding permanent magnet synchronous motor system based on a simplified switch table, so as to solve the problems of complex switch table, complex selected voltage vector and large motor torque ripple in the related technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
in a first aspect, an embodiment of the present invention provides a direct torque control method for an open-winding permanent magnet synchronous motor system, including:
collecting three-phase stator current, line voltage and rotor position angle of the motor, and differentiating the rotor position angle to obtain the rotating speed of the motor;
calculating a flux linkage vector of the motor according to the three-phase stator current and the line voltage, and calculating a flux linkage given vector according to the rotor position angle;
respectively calculating reference voltage vectors of the motor in an alpha-beta coordinate system and an a-b-c coordinate system according to a flux linkage vector and a flux linkage given vector of the motor and a coordinate transformation principle;
calculating the area mark of the motor reference voltage vector according to the reference voltage vector of the motor in an a-b-c coordinate system, and selecting the required basic voltage vector by simplifying a switch table;
and generating a driving signal of each phase bridge arm switching device in the double inverter according to the preset switching state combination corresponding to each basic voltage vector so as to control the motor system.
Further, calculating a flux linkage vector of the motor according to the three-phase stator current and the line voltage, wherein the flux linkage vector comprises the following steps:
Figure BDA0002391750670000021
Figure BDA0002391750670000022
ψα＝∫(uα-Rsiα)dt
ψβ＝∫(uβ-Rsiβ)dt
wherein: u. ofα、uβStator voltages, u, of the motor's alpha and beta axes, respectivelyab、ubcLine voltages i between phases a and b and between phases b and c of the motor, respectivelyα、iβStator currents, i, of the motor's alpha and beta axes, respectivelya～icThree-phase stator currents of the electric machine, psiα、ΨβFlux linkage, R, of the motor's alpha and beta axes, respectivelysIs the stator resistance of the motor.
Further, calculating a flux linkage given vector according to the rotor position angle comprises:
θr＝np×θr0
θδ＝arcsin(kp(ωr_ref-ωr)+ki∫(ωr_ref-ωr)dt)
ψα_ref＝|ψs_ref|·cos(θδ+θr)
ψβ_ref＝|ψs_ref|·sin(θδ+θr)
wherein: thetarIs the rotor electrical angle of the motor, npIs the number of pole pairs, θ, of the motorr0Is the rotor position angle, θδIs the power angle, omega, of the motorr_refFor a given speed of rotation, ω, of the motorrIs the rotational speed of the motor, kpIs a proportionality coefficient, kiIs an integral coefficient, Ψα_ref、Ψβ_refFor the flux linkage of the alpha and beta axes of the motor, a vector is given, psis_refAnd setting the stator flux linkage value of the motor.
Further, calculating a reference voltage vector of the motor in an alpha-beta coordinate system, comprising:
Vα_ref＝(ψα_ref-ψα)/Ts+Rsiα
Vβ_ref＝(ψβ_ref-ψβ)/Ts+Rsiβ
wherein: vα_ref、Vβ_refReference voltages for the alpha and beta axes of the motor, Ψα_ref、Ψβ_refBy a given amount, psi, for the flux linkage of the motor's alpha and beta axesα、ΨβIs the flux linkage of the alpha axis and the beta axis of the motor, TsIs the sampling period of the system, RsIs the stator resistance of the motor, iα、iβThe stator currents of the alpha axis and the beta axis of the motor.
Further, calculating a reference voltage vector of the motor under an a-b-c coordinate system, comprising:
Figure BDA0002391750670000031
wherein: va_ref、Vb_ref、Vc_refReference voltages V of three phases of the motor in an a-b-c coordinate systemα_ref、Vβ_refReference voltages for the alpha and beta axes of the motor.
Further, calculating a zone flag of the motor reference voltage vector, comprising:
Figure BDA0002391750670000032
wherein: x represents one of three abc phases, i.e. x ═ a, b, c, VdcIs the sum of the dc voltages of the two dc voltage sources.
Further, the required basic voltage vector is selected by simplifying a switch table, and the method comprises the following steps:
the selected basic voltage vector is obtained from table 1:
TABLE 1
Figure BDA0002391750670000033
Figure BDA0002391750670000041
Wherein: v. ofm(m ═ 1,2,3,. and 19) respectively represent at Vdc1＝Vdc2In the case of open-winding permanent-magnet synchronous machines, 19 basic voltage vectors, where Vdc1、Vdc2The voltages of the two dc voltage sources, respectively, "/" indicates that the corresponding zone-mark combination is not present in the space voltage vector plane.
Further, the combination of the switch states corresponding to each preset basic voltage vector includes:
the switching state combination corresponding to the preset basic voltage vector is obtained through table 2:
TABLE 2
Figure BDA0002391750670000042
Wherein: sa1Sb1Sc1-Sa2Sb2Sc2The states of the switching devices in six bridge arms of the double-inverter are shown, if the switching device of the upper bridge arm is conducted, S is equal to 1, and if the switching device of the lower bridge arm is conducted, S is equal to 0.
In a second aspect, an embodiment of the present invention provides a direct torque control apparatus for an open-winding permanent magnet synchronous motor system, including:
the acquisition module is used for acquiring three-phase stator current, line voltage and a rotor position angle of the motor and differentiating the rotor position angle to obtain the rotating speed of the motor;
the first calculation module is used for calculating a flux linkage vector of the motor according to the three-phase stator current and the line voltage and calculating a flux linkage given vector according to the rotor position angle;
the second calculation module is used for calculating reference voltage vectors of the motor in an alpha-beta coordinate system and an a-b-c coordinate system respectively according to the flux linkage vector and the flux linkage given vector of the motor and a coordinate transformation principle;
the table look-up module is used for calculating the area mark of the motor reference voltage vector according to the reference voltage vector of the motor in the a-b-c coordinate system and selecting the required basic voltage vector by simplifying a switch table;
and the driving signal generating module is used for generating driving signals of the switching devices of the bridge arms of each phase in the double inverter according to the preset switching state combination corresponding to each basic voltage vector so as to control the motor system.
According to the embodiment of the invention, the projection of the basic voltage vector in three phases abc is used for dividing the space voltage vector plane, and the concept of the area mark is introduced, so that the selection of the basic voltage vector is realized, the switching state of each bridge arm is obtained to generate the driving signal of each switching device, the control is applied to the motor system, and the whole control structure is simpler; the control algorithm eliminates a hysteresis comparator required in the traditional structure, simplifies a switching table, improves the precision of the selected voltage vector, and has low torque ripple and flux linkage ripple of the motor, thereby improving the static running performance of a motor system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a typical double-independent-power-supply type open-winding permanent magnet synchronous motor system applied to the embodiment of the invention;
FIG. 2 is a flow chart of a method of direct torque control of an open-winding permanent magnet synchronous motor system according to an embodiment of the present invention;
FIG. 3 is a control block diagram of a direct torque control method of an open-winding permanent magnet synchronous motor system according to an embodiment of the present invention;
FIG. 4 is a sector division diagram of a space voltage vector plane;
FIG. 5 is a block diagram of an experimental platform of a 1.3kw dual-independent power supply type open winding permanent magnet synchronous motor system;
FIG. 6 is a waveform diagram of an experiment during steady-state operation of the system under the control method of the present invention;
FIG. 7 is a waveform diagram of a system mutation speed setting experiment under the control method of the present invention;
fig. 8 is a schematic structural diagram of a direct torque control device of an open-winding permanent magnet synchronous motor system according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and the above-described drawings, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for direct torque control of an open-winding permanent magnet synchronous machine system, wherein the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer executable instructions, and wherein, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated herein.
FIG. 1 is a typical dual independent power type open-winding permanent magnet synchronous motor system structure applicable to the embodiment of the present invention, which includes an open-winding permanent magnet synchronous motor 1 and two three-phase six switchesInverters 2 and 3, in which the DC voltages of the two inverters are equal, i.e. Vdc1＝Vdc2。
FIG. 2 is a flow chart of a method of direct torque control of an open-winding permanent magnet synchronous motor system according to an embodiment of the present invention; FIG. 3 is a control block diagram of a direct torque control method of an open-winding permanent magnet synchronous motor system according to an embodiment of the present invention; as shown in fig. 2, the method comprises the steps of:
step S101, collecting three-phase stator current, line voltage and rotor position angle of a motor, and differentiating the rotor position angle to obtain the rotating speed of the motor;
step S102, calculating a flux linkage vector of the motor according to the three-phase stator current and the line voltage, and calculating a flux linkage given vector according to the rotor position angle;
step S103, respectively calculating reference voltage vectors of the motor in an alpha-beta coordinate system and an a-b-c coordinate system according to a flux linkage vector and a flux linkage given vector of the motor and a coordinate transformation principle;
step S104, calculating the area mark of the motor reference voltage vector according to the reference voltage vector of the motor in the a-b-c coordinate system, and selecting the required basic voltage vector through a simplified switch table;
and step S105, generating driving signals of the switching devices of the bridge arms of each phase in the double inverter according to the preset switching state combination corresponding to each basic voltage vector for controlling the motor system.
According to the embodiment of the invention, the projection of the basic voltage vector in three phases abc is used for dividing the space voltage vector plane, and the concept of the area mark is introduced, so that the selection of the basic voltage vector is realized, the switching state of each bridge arm is obtained to generate the driving signal of each switching device, the control is applied to the motor system, and the whole control structure is simpler; the control algorithm eliminates a hysteresis comparator required in the traditional structure, simplifies a switching table, improves the precision of the selected voltage vector, and has low torque ripple and flux linkage ripple of the motor, thereby improving the static running performance of a motor system.
As shown in fig. 3, the method comprises the steps of:
according to the embodiment of the invention, the three-phase stator current, the line voltage and the rotor position angle of the motor are collected, and the rotor position angle is differentiated to obtain the motor rotating speed, which specifically comprises the following steps:
three-phase current sensor 3-1 is used for collecting three-phase stator current signals i of open-winding permanent magnet synchronous motor 1a～icThe stator line voltage u of the open winding permanent magnet synchronous motor 1 is collected by a voltage sensor 3-2ab、ubcAnd the encoder 3-3 measures the rotor angle theta of the permanent magnet synchronous motor 1r0And obtaining the rotor electrical angular velocity omega by the rotor position angle through a d/dt differentiatorrElectric angle of rotor thetarCan be calculated by the following formula:
θr＝np×θr0
wherein: n ispIs the number of pole pairs of the motor.
According to the embodiment of the invention, the flux linkage vector of the motor is calculated according to the three-phase stator current and the line voltage, and the flux linkage given vector is calculated according to the rotor position angle, which is as follows:
to connect the stator line voltage uab、ubcAnd three-phase stator current ia～icThe voltage vector u of the motor under an alpha-beta coordinate system is obtained through coordinate transformation after the input into a Clark transformation module 4αβAnd stator current vector iαβThe calculation formula is as follows:
Figure BDA0002391750670000071
Figure BDA0002391750670000072
will voltage vector uαβAnd stator current vector iαβThe input stator flux linkage calculation module 5 obtains a flux linkage vector psi of the motorαβThe calculation formula is as follows:
ψα＝∫(uα-Rsiα)dt
ψβ＝∫(uβ-Rsiβ)dt
wherein: u. ofα、uβStator voltages, u, of the motor's alpha and beta axes, respectivelyab、ubcLine voltages i between phases a and b and between phases b and c of the motor, respectivelyα、iβStator currents, i, of the motor's alpha and beta axes, respectivelya～icThree-phase stator currents of the electric machine, psiα、ΨβFlux linkage, R, of the motor's alpha and beta axes, respectivelysIs the stator resistance of the motor.
Given speed of rotation omegar_refWith the motor speed omegarInputting the sine value sin theta of the power angle of the motor obtained by the PI regulator module 6δThen obtaining the motor power angle theta through arc tangent treatmentδThe calculation formula is as follows:
θδ＝arcsin(kp(ωr_ref-ωr)+ki∫(ωr_ref-ωr)dt)
wherein: thetaδIs the power angle, omega, of the motorr_refFor a given speed of rotation, ω, of the motorrIs the rotational speed of the motor, kpIs a proportionality coefficient, kiIs an integral coefficient.
Given value psi of magnetic flux linkages_refAngle theta of motorδAnd rotor electrical angle thetarInput into a given flux linkage calculation module 7 to obtain a given flux linkage vector psiαβ_refThe calculation formula is as follows:
ψα_ref＝|ψs_ref|·cos(θδ+θr)
ψβ_ref＝|ψs_ref|·sin(θδ+θr)
wherein: wherein: thetarIs the rotor electrical angle of the motor, npIs the number of pole pairs, θ, of the motorr0Is the rotor position angle, θδIs the power angle of the motorα_ref、Ψβ_refFor the flux linkage of the alpha and beta axes of the motor, a vector is given, psis_refAnd setting the stator flux linkage value of the motor.
According to the above embodiment of the present invention, the reference voltage vectors of the motor in the α - β coordinate system and the a-b-c coordinate system are calculated according to the flux linkage vector and the flux linkage given vector of the motor and the coordinate transformation principle, specifically as follows:
will give the flux linkage vector Ψαβ_refWith flux linkage vector ΨαβThe difference is input into a reference voltage vector calculation module 8 to obtain a reference voltage vector V of the motor under an alpha-beta coordinate systemαβ_refThe required formula is as follows:
Vα_ref＝(ψα_ref-ψα)/Ts+Rsiα
Vβ_ref＝(ψβ_ref-ψβ)/Ts+Rsiβ
wherein: vα_ref、Vβ_refReference voltages for the alpha and beta axes of the motor, Ψα_ref、Ψβ_refBy a given amount, psi, for the flux linkage of the motor's alpha and beta axesα、ΨβIs the flux linkage of the alpha axis and the beta axis of the motor, TsIs the sampling period of the system, RsIs the stator resistance of the motor, iα、iβThe stator currents of the alpha axis and the beta axis of the motor.
A reference voltage vector V under an alpha-beta coordinate systemαβ_refInputting the Clark inverse transformation module 9 to obtain a reference voltage vector V under an a-b-c coordinate systemabc_refThe required formula is as follows:
Figure BDA0002391750670000091
wherein: va_ref、Vb_ref、Vc_refReference voltages V of three phases of the motor in an a-b-c coordinate systemα_ref、Vβ_refReference voltages for the alpha and beta axes of the motor.
According to the above embodiment of the present invention, the area flag of the reference voltage vector of the motor is calculated according to the reference voltage vector of the motor in the a-b-c coordinate system, and the required basic voltage vector is selected by simplifying the switch table, specifically:
reference voltage vector Vabc_refInputting the signals into the switching signal generation module 10, fig. 4 is a sector division diagram of space voltage vector, and the region mark R of the motor reference voltage vector is obtained by calculationabcThe required formula is as follows:
Figure BDA0002391750670000092
wherein: x represents one of three abc phases, i.e. x ═ a, b, c, VdcIs the sum of the DC voltages of two DC voltage sources
According to the above embodiment of the present invention, the driving signals of the switching devices of the bridge arms in each phase in the dual inverter are generated according to the preset switching state combination corresponding to each basic voltage vector, so as to apply control to the motor system, specifically:
region index R based on motor reference voltage vectorabcThe desired basic voltage vector is selected by table 1:
TABLE 1
Figure BDA0002391750670000093
The switching state combination corresponding to the preset basic voltage vector is obtained through table 2:
TABLE 2
Figure BDA0002391750670000101
To verify the effectiveness of the control method according to the embodiment of the present invention, experimental verification studies are performed on the experimental platform shown in fig. 5, the experimental parameters are shown in table 3, and the control period of the system is set to 0.0001 s.
TABLE 3
Figure BDA0002391750670000102
Fig. 6 shows experimental waveforms of the motor in steady-state operation with a speed band of 750rpm and a load of 3Nm, where the waveforms are, from top to bottom, the motor speed, the electromagnetic torque, the flux linkage amplitude and the a-phase stator current, and it can be seen that the motor operates smoothly, the torque and flux linkage amplitude have small pulsation, and the stator current is sinusoidal.
Fig. 7 shows a sudden change in the speed setting, where the speed setting is stepped from 500rpm to 1000rpm and the motor is running without load, it can be seen that the motor speed follows the speed setting within 0.65 s.
The present invention also provides an embodiment of a direct torque control device of an open-winding permanent magnet synchronous motor system, configured to perform a direct torque control method of the open-winding permanent magnet synchronous motor system, and fig. 8 is a schematic structural diagram of the direct torque control device of the open-winding permanent magnet synchronous motor system according to the embodiment of the present invention, where the direct torque control device includes:
the acquisition module 91 is used for acquiring three-phase stator current, line voltage and rotor position angle of the motor and differentiating the rotor position angle to obtain the rotating speed of the motor;
the first calculation module 92 is used for calculating a flux linkage vector of the motor according to the three-phase stator current and the line voltage and calculating a flux linkage given vector according to the rotor position angle;
the second calculating module 93 is used for calculating reference voltage vectors of the motor in an alpha-beta coordinate system and an a-b-c coordinate system respectively according to the flux linkage vector and the flux linkage given vector of the motor and a coordinate transformation principle;
the table look-up module 94 is used for calculating the area mark of the motor reference voltage vector according to the reference voltage vector of the motor in the a-b-c coordinate system and selecting the required basic voltage vector by simplifying a switch table;
and a driving signal generating module 95, configured to generate a driving signal of each phase bridge arm switching device in the dual inverter according to a preset switching state combination corresponding to each basic voltage vector, so as to control the motor system.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The embodiments described above are presented to enable a person having ordinary skill in the art to make and use the invention. It will be readily apparent to those skilled in the art that various modifications to the above-described embodiments may be made, and the generic principles defined herein may be applied to other embodiments without the use of inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications to the present invention based on the disclosure of the present invention within the protection scope of the present invention.

Claims (6)

1.一种开绕组永磁同步电机系统的直接转矩控制方法，其特征在于，包括：1. a direct torque control method of an open-winding permanent magnet synchronous motor system, is characterized in that, comprises: 采集电机的三相定子电流、线电压和转子位置角，并对转子位置角进行微分得到电机转速；Collect the three-phase stator current, line voltage and rotor position angle of the motor, and differentiate the rotor position angle to obtain the motor speed; 根据三相定子电流和线电压计算出电机的磁链矢量，根据转子位置角计算磁链给定矢量；Calculate the flux linkage vector of the motor according to the three-phase stator current and line voltage, and calculate the flux linkage given vector according to the rotor position angle; 根据电机的磁链矢量和磁链给定矢量以及坐标变换原理分别计算电机在α-β坐标系及a-b-c坐标系下的参考电压矢量；Calculate the reference voltage vector of the motor in the α-β coordinate system and the a-b-c coordinate system according to the flux linkage vector of the motor and the given flux linkage vector and the principle of coordinate transformation; 根据电机在a-b-c坐标系下的参考电压矢量计算电机参考电压矢量的区域标志，并通过简化开关表选出所需的基本电压矢量；Calculate the area sign of the motor reference voltage vector according to the reference voltage vector of the motor in the a-b-c coordinate system, and select the required basic voltage vector through the simplified switch table; 根据预设好的每个基本电压矢量所对应的开关状态组合，生成双逆变器中各相桥臂开关器件的驱动信号，以对电机系统施加控制；According to the preset switch state combination corresponding to each basic voltage vector, the drive signal of each phase bridge arm switching device in the dual inverter is generated to control the motor system; 其中计算电机参考电压矢量的区域标志，包括：Area flags where the motor reference voltage vector is calculated, including:
Figure FDA0003091087960000011
Figure FDA0003091087960000011
 其中：x表示abc三相中的一相，即x＝a,b,c，Vdc是两个直流电电压源的直流电压和；Where: x represents one of the three phases of abc, that is, x=a, b, c, and V dc is the DC voltage sum of the two DC voltage sources; 其中通过简化开关表选出所需的基本电压矢量，包括：Among them, the required basic voltage vector is selected by simplifying the switch table, including: 通过表1得到所选择的基本电压矢量：The selected basic voltage vector is obtained from Table 1: 表1Table 1
Figure FDA0003091087960000012
Figure FDA0003091087960000012
 其中：vm(m＝1,2,3,...,19)分别表示在Vdc1＝Vdc2的情况下开绕组永磁同步电机所能产生的19个基本电压矢量，其中Vdc1、Vdc2分别为两个直流电压源的电压，“/”表示所对应的区域标志组合在空间电压矢量平面中不存在；Among them: vm ( m =1,2,3,...,19) represents the 19 basic voltage vectors that can be generated by the open-winding permanent magnet synchronous motor under the condition of V dc1 =V dc2 , where V dc1 , V dc2 are the voltages of the two DC voltage sources respectively, and "/" indicates that the corresponding combination of regional signs does not exist in the space voltage vector plane; 其中根据预设好的每个基本电压矢量所对应的开关状态组合，包括：The combination of switch states corresponding to each preset basic voltage vector includes: 通过表2得到预设好的基本电压矢量所对应的开关状态组合：The switch state combination corresponding to the preset basic voltage vector is obtained from Table 2: 表2Table 2
Figure FDA0003091087960000021
Figure FDA0003091087960000021
 其中：Sa1Sb1Sc1-Sa2Sb2Sc2表示双逆变器六个桥臂中开关器件的状态，若上桥臂开关器件导通，S＝1，若下桥臂开关器件导通，S＝0。Among them: S a1 S b1 S c1 -S a2 S b2 S c2 represents the state of the switching devices in the six bridge arms of the dual inverter, if the switching device of the upper bridge arm is turned on, S=1, if the switching device of the lower bridge arm is turned on pass, S=0. 2.根据权利要求1所述的一种开绕组永磁同步电机系统的直接转矩控制方法，其特征在于，根据三相定子电流和线电压计算出电机的磁链矢量，包括：2. the direct torque control method of a kind of open-winding permanent magnet synchronous motor system according to claim 1 is characterized in that, according to three-phase stator current and line voltage, the flux linkage vector of motor is calculated, comprising:
Figure FDA0003091087960000022
Figure FDA0003091087960000022
Figure FDA0003091087960000031
Figure FDA0003091087960000031
 ψα＝∫(uα-Rsiα)dtψ α =∫(u α -R s i α )dt ψβ＝∫(uβ-Rsiβ)dtψ β =∫(u β -R s i β )dt 其中：uα、uβ分别为电机α轴与β轴的定子电压，uab、ubc分别为电机a相与b相及b相与c相之间的线电压，iα、iβ分别为电机α轴与β轴的定子电流，ia～ic分别为电机的三相定子电流，Ψα、Ψβ分别为电机α轴与β轴的磁链，Rs为电机的定子电阻。Among them: u α and u β are the stator voltages of the α-axis and β-axis of the motor, respectively, u ab , u bc are the line voltages between the a-phase and b-phase and b-phase and c-phase of the motor, respectively, i α , i β are respectively are the stator currents of the α-axis and β-axis of the motor, i a ~ ic are the three-phase stator currents of the motor, Ψ α and Ψ β are the flux linkages of the motor α-axis and β-axis, respectively, and R s is the stator resistance of the motor. 3.根据权利要求1所述的一种开绕组永磁同步电机系统的直接转矩控制方法，其特征在于，根据转子位置角计算磁链给定矢量，包括：3. the direct torque control method of a kind of open-winding permanent magnet synchronous motor system according to claim 1, is characterized in that, according to rotor position angle, calculates flux linkage given vector, comprises: θr＝np×θr0 θ r =n p ×θ r0 θδ＝arcsin(kp(ωr_ref-ωr)+ki∫(ωr_ref-ωr)dt)θ δ =arcsin(k p (ω r_ref -ω r )+k i ∫(ω r_ref -ω r )dt) ψα_ref＝|ψs_ref|·cos(θδ+θr)ψ α_ref = |ψ s_ref |·cos(θ δ +θ r ) ψβ_ref＝|ψs_ref|·sin(θδ+θr)ψ β_ref = |ψ s_ref |·sin(θ δ +θ r ) 其中：θr为电机的转子电角度，np为电机的极对数，θr0为转子位置角，θδ为电机的功角，ωr_ref为电机的给定转速，ωr为电机的转速，kp为比例系数，ki为积分系数，Ψα_ref、Ψβ_ref为电机α轴与β轴的磁链给定矢量，Ψs_ref为电机的定子磁链给定值。Where: θ r is the rotor electrical angle of the motor, n p is the number of pole pairs of the motor, θ r0 is the rotor position angle, θ δ is the power angle of the motor, ω r_ref is the given speed of the motor, ω r is the speed of the motor , k p is the proportional coefficient, ki is the integral coefficient, Ψ α_ref and Ψ β_ref are the given vectors of the flux linkage of the α-axis and the β-axis of the motor, and Ψ s_ref is the given value of the stator flux linkage of the motor. 4.根据权利要求1所述的一种开绕组永磁同步电机系统的直接转矩控制方法，其特征在于，计算电机在α-β坐标系下的参考电压矢量，包括：4. the direct torque control method of a kind of open-winding permanent magnet synchronous motor system according to claim 1, is characterized in that, calculating the reference voltage vector of motor under α-β coordinate system, comprises: Vα_ref＝(ψα_ref-ψα)/Ts+Rsiα V α_ref =(ψ α_ref -ψ α )/T s +R s i α Vβ_ref＝(ψβ_ref-ψβ)/Ts+Rsiβ V β_ref =(ψ β_ref -ψ β )/T s +R s i β 其中：Vα_ref、Vβ_ref为电机α轴与β轴的参考电压，Ψα_ref、Ψβ_ref为电机α轴与β轴的磁链给定量，Ψα、Ψβ为电机α轴与β轴的磁链，Ts为系统的采样周期，Rs为电机的定子电阻，iα、iβ为电机α轴与β轴的定子电流。Among them: V α_ref and V β_ref are the reference voltages of the α and β axes of the motor, Ψ α_ref and Ψ β_ref are the flux linkages of the motor α and β axes, and Ψ α and Ψ β are the magnetic fluxes of the motor α and β axes. chain, T s is the sampling period of the system, R s is the stator resistance of the motor, i α and i β are the stator currents of the α-axis and β-axis of the motor. 5.根据权利要求1所述的一种开绕组永磁同步电机系统的直接转矩控制方法，其特征在于，计算电机在a-b-c坐标系下的参考电压矢量，包括：5. the direct torque control method of a kind of open-winding permanent magnet synchronous motor system according to claim 1, is characterized in that, calculating the reference voltage vector of motor under a-b-c coordinate system, comprises:
Figure FDA0003091087960000041
Figure FDA0003091087960000041
 其中：Va_ref、Vb_ref、Vc_ref分别为电机在a-b-c坐标系下三相的参考电压，Vα_ref、Vβ_ref为电机α轴与β轴的参考电压。Wherein: V a_ref , V b_ref , V c_ref are the reference voltages of the three phases of the motor in the abc coordinate system, respectively, and V α_ref and V β_ref are the reference voltages of the α-axis and the β-axis of the motor. 6.一种开绕组永磁同步电机系统的直接转矩控制装置，其特征在于，包括：6. A direct torque control device for an open-winding permanent magnet synchronous motor system, characterized in that, comprising: 采集模块，用于采集电机的三相定子电流、线电压和转子位置角，并对转子位置角进行微分得到电机转速；The acquisition module is used to collect the three-phase stator current, line voltage and rotor position angle of the motor, and differentiate the rotor position angle to obtain the motor speed; 第一计算模块，用于根据三相定子电流和线电压计算出电机的磁链矢量，根据转子位置角计算磁链给定矢量；The first calculation module is used to calculate the flux linkage vector of the motor according to the three-phase stator current and line voltage, and calculate the flux linkage given vector according to the rotor position angle; 第二计算模块，用于根据电机的磁链矢量和磁链给定矢量以及坐标变换原理分别计算电机在α-β坐标系及a-b-c坐标系下的参考电压矢量；The second calculation module is used to calculate the reference voltage vector of the motor in the α-β coordinate system and the a-b-c coordinate system respectively according to the flux linkage vector of the motor, the given flux linkage vector and the coordinate transformation principle; 查表模块，用于根据电机在a-b-c坐标系下的参考电压矢量计算电机参考电压矢量的区域标志，并通过简化开关表选出所需的基本电压矢量；The table look-up module is used to calculate the regional sign of the motor reference voltage vector according to the reference voltage vector of the motor in the a-b-c coordinate system, and select the required basic voltage vector by simplifying the switch table; 驱动信号生成模块，用于根据预设好的每个基本电压矢量所对应的开关状态组合，生成双逆变器中各相桥臂开关器件的驱动信号，以对电机系统施加控制；a drive signal generation module, configured to generate a drive signal of each phase bridge arm switching device in the dual inverter according to the preset switch state combination corresponding to each basic voltage vector, so as to control the motor system; 其中计算电机参考电压矢量的区域标志，包括：Area flags where the motor reference voltage vector is calculated, including:
Figure FDA0003091087960000042
Figure FDA0003091087960000042
 其中：x表示abc三相中的一相，即x＝a,b,c，Vdc是两个直流电电压源的直流电压和；Where: x represents one of the three phases of abc, that is, x=a, b, c, and V dc is the DC voltage sum of the two DC voltage sources; 其中通过简化开关表选出所需的基本电压矢量，包括：Among them, the required basic voltage vector is selected by simplifying the switch table, including: 通过表1得到所选择的基本电压矢量：The selected basic voltage vector is obtained from Table 1: 表1Table 1
Figure FDA0003091087960000051
Figure FDA0003091087960000051
 其中：vm(m＝1,2,3,...,19)分别表示在Vdc1＝Vdc2的情况下开绕组永磁同步电机所能产生的19个基本电压矢量，其中Vdc1、Vdc2分别为两个直流电压源的电压，“/”表示所对应的区域标志组合在空间电压矢量平面中不存在；Among them: vm ( m =1,2,3,...,19) represents the 19 basic voltage vectors that can be generated by the open-winding permanent magnet synchronous motor under the condition of V dc1 =V dc2 , where V dc1 , V dc2 are the voltages of the two DC voltage sources respectively, and "/" indicates that the corresponding combination of regional signs does not exist in the space voltage vector plane; 其中根据预设好的每个基本电压矢量所对应的开关状态组合，包括：The combination of switch states corresponding to each preset basic voltage vector includes: 通过表2得到预设好的基本电压矢量所对应的开关状态组合：The switch state combination corresponding to the preset basic voltage vector is obtained from Table 2: 表2Table 2
Figure FDA0003091087960000052
Figure FDA0003091087960000052
 其中：Sa1Sb1Sc1-Sa2Sb2Sc2表示双逆变器六个桥臂中开关器件的状态，若上桥臂开关器件导通，S＝1，若下桥臂开关器件导通，S＝0。Among them: S a1 S b1 S c1 -S a2 S b2 S c2 represents the state of the switching devices in the six bridge arms of the dual inverter, if the switching device of the upper bridge arm is turned on, S=1, if the switching device of the lower bridge arm is turned on pass, S=0.
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