CN116191971A - Eight-vector direct torque control circuit and method for four-switch permanent magnet synchronous motor - Google Patents
Eight-vector direct torque control circuit and method for four-switch permanent magnet synchronous motor Download PDFInfo
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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
- H02P25/024—Synchronous motors controlled by supply frequency
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a four-switch permanent magnet synchronous motor eight-vector direct torque control circuit and a method, wherein the control circuit specifically comprises a rectifying circuit and an inverter circuit; the rectifying circuit and the inverter circuit are respectively connected with a power supply and a load, each bridge arm of the rectifying circuit consists of IGBT, and the C phase of the motor is connected with the capacitor C 1 Capacitance C 2 Is connected to the neutral point E of (c). Aiming at the problem of large torque pulsation in direct torque control of a permanent magnet synchronous motor controlled by four switches in the prior art, the technical scheme of the invention is based on eight vectors, and adopts a PWM rectifying circuit to realize the voltage and speed regulation strategy of the permanent magnet synchronous motor, so that better torque pulsation inhibition can be realized under the variable frequency speed regulation of the four switches, the power factor is also improved, and the voltage regulation and the variable frequency speed regulation are realized.
Description
Technical Field
The invention belongs to the technical field of AC-DC-AC frequency converters, and relates to an eight-vector direct torque control circuit and method of a four-switch permanent magnet synchronous motor.
Background
The AC-DC-AC frequency converter speed regulation is applied to a three-phase AC motor driving system, and the control development of the current permanent magnet synchronous motor frequency conversion speed regulation is mature. The traditional AC-DC-AC frequency-changing speed regulating system is mainly formed by combining a rectifying circuit and an inverter circuit, and in the driving of a permanent magnet synchronous motor, a rectifying part mainly uses three-phase bridge type uncontrollable rectification formed by diodes, so that the rectifier has a general simple structure, high power factor and easy maintenance. The inverter is mostly a three-phase six-switch inverter circuit consisting of IGBT or MOSFET. The design of the frequency conversion circuit is mainly concentrated in the research of the three-phase PWM inverter circuit at present, the development of the topology structure is relatively mature, more changes are also on the improvement of the PFC power circuit, and the cost reduction is not greatly facilitated.
Disclosure of Invention
The invention aims to provide an eight-vector direct torque control circuit and method for a four-switch permanent magnet synchronous motor, which aim at the problem of large torque pulsation in direct torque control of the permanent magnet synchronous motor adopting four-switch control, and can better reduce the torque pulsation of the four-switch permanent magnet synchronous motor based on eight vectors.
The specific technical scheme of the invention is as follows.
The eight-vector direct torque control circuit of the four-switch permanent magnet synchronous motor comprises a rectifying circuit, a direct current bus circuit and an inverter circuit, wherein the input end of the rectifying circuit is provided with a first inductor L which is respectively connected with a three-phase power supply U, V, W 1 Second inductance L 2 Third inductance L 3 The output end of the rectifying circuit is connected with a direct current bus circuit, the output end of the direct current bus circuit is connected with an inverter circuit, the output end of the inverter circuit is connected with A, B two phases of the motor, and a first capacitor C in the direct current bus circuit 1 And a second capacitor C 2 Is connected to the third phase C of the motor.
The rectification circuit is a three-phase PWM rectification circuit and comprises six insulated gate bipolar transistors, wherein each group of six insulated gate bipolar transistors is two, three groups are connected in parallel.
One end of each group of the insulated gate bipolar transistors and a capacitor C 1 One end of (C) is connected to 1 And the other end of (C) and the capacitor C 2 One end of (C) is connected to 2 The other end of each group of insulated gate bipolar transistors is connected with the other end of each group of insulated gate bipolar transistors, the capacitor C 1 And capacitor C 2 Is connected to the motor C.
The capacitor C 1 And capacitor C 2 Is the same.
The inverter circuit comprises four insulated gate bipolar transistors, namely an insulated gate bipolar transistor T 7 Insulated gate bipolar transistor T 8 Insulated gate bipolar transistor T 9 Insulated gate bipolar transistor T 10 Two groups of two, two insulated gate bipolar transistors T 7 Insulated gate bipolar transistor T 8 An insulated gate bipolar transistor T as group A 9 Insulated gate bipolar transistor T 10 The motor is characterized in that the motor is a B group, the two groups are connected in parallel, the middle point of the A group is connected with the motor A phase, and the middle point of the B group is connected with the motor B phase.
The control method based on the eight-vector direct torque control circuit of the four-switch permanent magnet synchronous motor comprises the steps of firstly prescribing anticlockwise rotation to be in a forward rotation state before a starting process, and operating the motor in the forward rotation state;
the voltage vector is defined as follows:
voltage vector V 1 : insulated gate bipolar transistor T 7 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a first capacitor C through an A phase winding and a C phase winding 1 Negative electrode, obtain voltage vector V 1 ；
Voltage vector V 2 : insulated gate bipolar transistor T 7 Insulated gate bipolar transistor T 9 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out, enters the C-phase winding through the A-phase winding and the B-phase winding and flows into the first capacitor C 1 Negative electrode, obtain voltage vector V 2 ；
Voltage vector V 3 : insulated gate bipolar transistor T 9 Conducting, current flowing from the first capacitor C 1 Positive electrodeFlows out and flows into a first capacitor C through B phase and C phase windings 1 Negative electrode, obtain voltage vector V 3 ；
Voltage vector V 4 : insulated gate bipolar transistor T 8 Insulated gate bipolar transistor T 9 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a second capacitor C through B phase windings and A phase windings 2 Negative electrode, obtain voltage vector V 4 ；
Voltage vector V 5 : insulated gate bipolar transistor T 8 Conducting, current flowing from the second capacitor C 2 The positive electrode flows out and flows into a second capacitor C through a C phase winding and an A phase winding 2 Negative electrode, obtain voltage vector V 5 ；
Voltage vector V 6 : insulated gate bipolar transistor T 8 Insulated gate bipolar transistor T 10 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a second capacitor C through the windings of the phase A and the phase B 2 Negative electrode, obtain voltage vector V 6 ；
Voltage vector V 7 : insulated gate bipolar transistor T 10 Conducting, current flowing from the second capacitor C 2 The positive electrode flows out and flows into a second capacitor C through C phase and B phase windings 2 Negative electrode, obtain voltage vector V 7 ；
Voltage vector V 8 : insulated gate bipolar transistor T 7 Insulated gate bipolar transistor T 10 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a second capacitor C through the windings of the phase A and the phase B 2 Negative electrode, obtain voltage vector V 8 ；
Clarke transformation is carried out on the voltage vector to obtain the voltage vector under the following two-phase system:
dividing a complex plane according to the eight inherent voltage vectors to form eight sectors, wherein the sectors are represented by theta (k), and k is a sector number;
obtained by hysteresis regulating unitsFlux linkage adjustment instruction ψ Q And a torque adjustment command T Q And the sector theta (k) where the current flux linkage is located is controlled by selecting a voltage vector, and the specific scheme is as follows:
compared with the prior art, the invention has the following beneficial effects:
the eight-vector direct torque control circuit and the eight-vector direct torque control method for the four-switch permanent magnet synchronous motor provided by the invention can realize better torque pulsation suppression under variable-frequency speed regulation only by four switches. For the rectifying circuit, diode rectification may be used, but PWM rectification may be provided for realizing voltage regulation and speed regulation. For inversion output, the capacitor C of the DC bus circuit is used 1 And capacitor C 2 The midpoint of (2) is the reference point and is used as the phase C output of the motor, and a symmetrical three-phase waveform is formed relative to the motor, so that a rotating magnetic field is generated, and the motor can be driven to rotate. The main switching device used by the vector control strategy of the four-switch sine wave permanent magnet synchronous motor is one third less than that of a traditional frequency conversion circuit, and meanwhile, the voltage and speed regulation strategy of the permanent magnet synchronous motor is realized by adopting a PWM (pulse width modulation) rectifying circuit, so that the volume of equipment is reduced, the power factor is also improved, and the voltage regulation and the frequency conversion speed regulation are realized.
Drawings
Fig. 1 is a topology diagram of an eight-vector control circuit of a four-switch Guan Yongci synchronous motor according to the invention;
fig. 2 is an eight-vector voltage diagram of the four-switch Guan Yongci synchronous motor according to the invention;
fig. 3 is a graph showing a flux linkage sector pattern according to the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings,
the rectifier circuit is composed of a rectifying unit, a DC bus unit and an inverter unit, which are connected to power supply and loadIGBT composition, C phase of motor and capacitor C 1 ，C 2 Is connected to the neutral point E of (2); large inductance L at input end of rectifying circuit 1 ，L 2 ，L 3 The output end of the DC bus circuit is connected with the inverter circuit, the output end of the inverter circuit is connected with two phases of the motor, and C in the DC bus circuit 1 ，C 2 Is connected to the third phase C of the motor. The rectification circuit is a three-phase PWM rectification circuit and comprises an insulated gate bipolar transistor T 1 ，T 2 ，T 3 ，T 4 ，T 5 ，T 6 The DC bus circuit comprises a capacitor C 1 And capacitor C 2 Capacitance C 1 And the other end of (C) and the capacitor C 2 Is connected to the point E, capacitor C 1 And capacitor C 2 Is connected to the motor C. The capacitor C 1 And capacitor C 2 Is the same as the capacity of the (a); the inverter circuit comprises an insulated gate bipolar transistor T 7 ，T 8 ，T 9 ，T 10 。
The control method of the eight-vector four-switch sine wave permanent magnet synchronous motor control circuit comprises the following steps: for an inverter circuit in a control circuit of the four-switch sine wave permanent magnet synchronous motor, the key core of control is to enable electromagnetic torque T of the sine wave permanent magnet synchronous motor e With the fastest speed change, i.e. the fast change of the load angle delta. The load angle is defined as the angle between the stator flux linkage and the rotor permanent magnet flux linkage. Therefore, the direct torque control concept is needed, so that the magnetic field in the air gap of the sine wave permanent magnet synchronous motor maintains a regular hexagonal shape. In fig. 1, a switching element transistor T is defined 7 、T 8 、T 9 、T 10 On is 1, off is 0, and then the effective voltage vector of the four-switch inverter is: 1000, 0100, 0010, 0001, 1010, 0101, 0110, 1001.
First, before the starting process, the motor is set to run in a forward state with a counter-clockwise rotation.
Voltage vector V 1 : as shown in fig. 1, a switching tube T 7 Conducting, current flowing from capacitor C 1 The positive electrode flows out and is wound by A phase and C phaseGroup inflow capacitance C 1 Negative electrode, obtain voltage vector V 1 (1000)。
Voltage vector V 2 : as shown in fig. 1, a switching tube T 7 ，T 9 Conducting, current flowing from capacitor C 1 The positive electrode flows out, enters the C-phase winding through the A-phase winding and the B-phase winding and flows into the capacitor C 1 Negative electrode, obtain voltage vector V 2 (1010)。
Voltage vector V 3 : as shown in fig. 1, a switching tube T 9 Conducting, current flowing from capacitor C 1 The positive electrode flows out and flows into a capacitor C through a B phase winding and a C phase winding 1 Negative electrode, obtain voltage vector V 3 (0010)。
Voltage vector V 4 : as shown in fig. 1, a switching tube T 8 ，T 9 Conducting, current flowing from capacitor C 1 The positive electrode flows out and flows into a capacitor C through a phase B winding and a phase A winding 2 Negative electrode, obtain voltage vector V 1 (0110). Voltage vector V 5 : as shown in fig. 1, a switching tube T 8 Conducting, current flowing from capacitor C 2 The positive electrode flows out and flows into a capacitor C through a C phase winding and an A phase winding 2 Negative electrode, obtain voltage vector V 5 (0100)。
Voltage vector V 6 : as shown in fig. 1, a switching tube T 8 ，T 10 Conducting, current flowing from capacitor C 1 The positive electrode flows out and flows into a capacitor C through a phase A and a phase B winding 2 Negative electrode, obtain voltage vector V 6 (0101). Voltage vector V 7 : as shown in fig. 1, a switching tube T 10 Conducting, current flowing from capacitor C 2 The positive electrode flows out and flows into a capacitor C through a C phase winding and a B phase winding 2 Negative electrode, obtain voltage vector V 7 (0001)。
Voltage vector V 8 : as shown in fig. 1, a switching tube T 7 ，T 10 Conducting, current flowing from capacitor C 1 The positive electrode flows out and flows into a capacitor C through a phase A and a phase B winding 2 Negative electrode, obtain voltage vector V 8 (1001). The Clarke transformation is then performed on the basis of the above analysis, so that a voltage vector in the two-phase system represented as follows can be obtained:
based on the analysis, eight inherent voltage vectors of the inverter can be obtained, and the coordinate conditions under the condition are shown in table 1, wherein table 1 is a four-switch direct torque control eight voltage vector table.
TABLE 1
The direct torque control of the permanent magnet synchronous motor needs to be divided into sectors, the purpose of dividing the sectors is mainly to design vectors to efficiently control flux linkage and torque control functions, and the influence on the flux linkage is different if the sectors where the same voltage vectors are located are different. The influence on flux linkage under the condition of changing the voltage vector is different in the same sector. From the above discussion, the voltage space vector of this topology is eight, and there is a complex variation in the corresponding magnitude, while also being asymmetric. In this mode, eight natural voltage vectors divide the complex plane to form eight sectors, and the angles occupied by the sectors are different. According to the result, the difficulty of sector division is obviously increased under the vector control mode of the four-switch inverter, and the process becomes complicated. The real-time performance of the system in the vector control mode is poor, and the zero vector loss also affects the adjustability of PWM control; the sectors are represented by θ (k), where k is the sector number, and the electrical angles occupied by each sector in the four-switch inverter control system are different, and the flux linkage sector distribution is shown in fig. 3.
The voltage vector selection unit obtains a flux linkage adjustment instruction psi through the hysteresis loop adjustment unit Q And a torque adjustment command T Q And setting a voltage vector selection table in a sector theta (k) where the current flux linkage is located, and selecting a proper switching signal to control the inverter on the basis of the voltage vector selection table. During this studyTaking the θ (1) sector as an example, and assuming that the flux linkage rotates counterclockwise, then:
when psi is Q ＝1,T Q =1, indicating that the stator flux linkage needs to be increased, the electromagnetic torque is increased, and the voltage vector V is selected 1 ；
When psi is Q ＝1,T Q =0, indicating that the stator flux linkage needs to be increased, the electromagnetic torque is reduced, and the voltage vector V is selected 8 ；
When psi is Q ＝0,T Q =1, indicating that the stator flux linkage needs to be reduced, the electromagnetic torque is increased, and the voltage vector V is selected 4 ；
When psi is Q ＝0,T Q =0, indicating that the stator flux linkage needs to be reduced, the electromagnetic torque is reduced, and the voltage vector V is selected 6 ；
And the other sectors are similar, so that a voltage vector selection table 2 can be obtained, and the table 2 is a four-switch direct torque control sector voltage vector selection table.
TABLE 2
In a word, the direct torque control method of the eight-vector four-switch sine wave permanent magnet synchronous motor adopts a three-phase bridge type full-control rectifying circuit as a rectifying circuit and four switches as an inverter circuit. The control idea uses a direct torque control method to set a voltage space vector and a selection table, and according to practical application, the control idea has good applicability to three-phase four-switch torque control.
Claims (6)
1. An eight-vector direct torque control circuit of a four-switch permanent magnet synchronous motor is characterized in that: the four-switch vector control circuit comprises a rectifying circuit, a direct-current bus circuit and an inverter circuit, wherein the input end of the rectifying circuit is provided with a first inductor L which is respectively connected with a three-phase power supply U, V, W 1 Second inductance L 2 Third inductance L 3 The output end of the rectifying circuit is connected with the direct current bus circuit, the output end of the direct current bus circuit is connected with the inversion circuit, and the inversion is performedThe output end of the circuit is connected with A, B two phases of the motor, and a first capacitor C in the direct current bus circuit 1 And a second capacitor C 2 Is connected to the third phase C of the motor.
2. The eight-vector direct torque control circuit of a four-switch permanent magnet synchronous motor according to claim 1, wherein:
the rectification circuit is a three-phase PWM rectification circuit and comprises six insulated gate bipolar transistors, wherein each group of six insulated gate bipolar transistors is two, three groups are connected in parallel.
3. The eight-vector direct torque control circuit of a four-switch permanent magnet synchronous motor according to claim 1, wherein:
one end of each group of the insulated gate bipolar transistors and a capacitor C 1 One end of (C) is connected to 1 And the other end of (C) and the capacitor C 2 One end of (C) is connected to 2 The other end of each group of insulated gate bipolar transistors is connected with the other end of each group of insulated gate bipolar transistors, the capacitor C 1 And capacitor C 2 Is connected to the motor C.
4. The eight-vector direct torque control circuit of a four-switch permanent magnet synchronous motor according to claim 1, wherein:
the capacitor C 1 And capacitor C 2 Is the same.
5. The eight-vector direct torque control circuit of a four-switch permanent magnet synchronous motor according to claim 1, wherein:
the inverter circuit comprises four insulated gate bipolar transistors, namely an insulated gate bipolar transistor T 7 Insulated gate bipolar transistor T 8 Insulated gate bipolar transistor T 9 Insulated gate bipolar transistor T 10 Two groups of two, two insulated gate bipolar transistors T 7 Insulated gate bipolar transistor T 8 An insulated gate bipolar transistor T as group A 9 Insulation ofGate bipolar transistor T 10 The motor is characterized in that the motor is a B group, the two groups are connected in parallel, the middle point of the A group is connected with the motor A phase, and the middle point of the B group is connected with the motor B phase.
6. A control method based on the eight-vector direct torque control circuit of the four-switch permanent magnet synchronous motor of claim 1, which is characterized in that:
firstly, before a starting process, the anticlockwise rotation is regulated, and the motor runs in a forward rotation state;
the voltage vector is defined as follows:
voltage vector V 1 : insulated gate bipolar transistor T 7 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a first capacitor C through an A phase winding and a C phase winding 1 Negative electrode, obtain voltage vector V 1 ；
Voltage vector V 2 : insulated gate bipolar transistor T 7 Insulated gate bipolar transistor T 9 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out, enters the C-phase winding through the A-phase winding and the B-phase winding and flows into the first capacitor C 1 Negative electrode, obtain voltage vector V 2 ；
Voltage vector V 3 : insulated gate bipolar transistor T 9 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a first capacitor C through B phase and C phase windings 1 Negative electrode, obtain voltage vector V 3 ；
Voltage vector V 4 : insulated gate bipolar transistor T 8 Insulated gate bipolar transistor T 9 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a second capacitor C through B phase windings and A phase windings 2 Negative electrode, obtain voltage vector V 4 ；
Voltage vector V 5 : insulated gate bipolar transistor T 8 Conducting, current flowing from the second capacitor C 2 The positive electrode flows out and flows into a second capacitor C through a C phase winding and an A phase winding 2 Negative electrode, obtain voltage vector V 5 ；
Voltage vector V 6 : insulated gate bipolar transistor T 8 Insulated gate bipolar transistor T 10 Conduction, currentFrom the first capacitor C 1 The positive electrode flows out and flows into a second capacitor C through the windings of the phase A and the phase B 2 Negative electrode, obtain voltage vector V 6 ；
Voltage vector V 7 : insulated gate bipolar transistor T 10 Conducting, current flowing from the second capacitor C 2 The positive electrode flows out and flows into a second capacitor C through C phase and B phase windings 2 Negative electrode, obtain voltage vector V 7 ；
Voltage vector V 8 : insulated gate bipolar transistor T 7 Insulated gate bipolar transistor T 10 Conducting, current flowing from the first capacitor C 1 The positive electrode flows out and flows into a second capacitor C through the windings of the phase A and the phase B 2 Negative electrode, obtain voltage vector V 8 ；
Clarke transformation is carried out on the voltage vector to obtain the voltage vector under the following two-phase system:
dividing a complex plane according to the eight inherent voltage vectors to form eight sectors, wherein the sectors are represented by theta (k), and k is a sector number;
flux linkage adjusting instruction psi obtained by hysteresis adjusting unit Q And a torque adjustment command T Q And the sector theta (k) where the current flux linkage is located is controlled by selecting a voltage vector, and the specific scheme is as follows:
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