基于虚拟电压矢量集占空比优化的五相永磁同步电机直接转矩控制算法
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摘要
传统的直接转矩控制(direct torque control,DTC)算法具有结构简单、动态响应迅速等优点,然而将其直接推广至五相系统中时会造成较大的谐波电流。为了消除其电流低次谐波、减小输出转矩脉动,针对五相永磁同步电机,提出一种基于虚拟矢量集占空比的优化DTC算法。构造虚拟电压矢量集,消除多相电机中特有定子电流低次谐波;分析转矩在不同电压矢量作用下的变化率,通过优化虚拟电压矢量的占空比有效减小转矩脉动;结合五相系统的特点分析传统离线开关表的不足,提出一种电压矢量的在线评估方法,利用评价函数选出最优的虚拟电压矢量。此外,半实物实验结果验证所提算法的有效性。
The traditional direct torque control(DTC) method has the property of simple structure and fast dynamic performance. However, when it comes to the five-phase system, the harmonic components in the stator currents are pretty huge. In this paper, in order to eliminate low-order current harmonics and to reduce torque ripple of five phase permanent magnet synchronous machines(PMSMs), an improved DTC method with duty ratio optimization of virtual voltage vectors set was proposed. Firstly, a group of virtual voltage vectors was introduced, which aimed at eliminating the selected low-order harmonic components in stator currents. Then, on the basis of analyzing torque ripple caused by each voltage vector, a torque ripple reduction solution was proposed by optimizing duty ratio of virtual voltage vectors. Finally, an online optimization method based on cost function was proposed to select the optimal virtual voltage vector, which can overcome the existing drawbacks of the offline-switching table in the traditional DTC. Hardware-in-loop experimental results have verified the validity of the proposed DTC scheme.
The traditional direct torque control(DTC) method has the property of simple structure and fast dynamic performance. However, when it comes to the five-phase system, the harmonic components in the stator currents are pretty huge. In this paper, in order to eliminate low-order current harmonics and to reduce torque ripple of five phase permanent magnet synchronous machines(PMSMs), an improved DTC method with duty ratio optimization of virtual voltage vectors set was proposed. Firstly, a group of virtual voltage vectors was introduced, which aimed at eliminating the selected low-order harmonic components in stator currents. Then, on the basis of analyzing torque ripple caused by each voltage vector, a torque ripple reduction solution was proposed by optimizing duty ratio of virtual voltage vectors. Finally, an online optimization method based on cost function was proposed to select the optimal virtual voltage vector, which can overcome the existing drawbacks of the offline-switching table in the traditional DTC. Hardware-in-loop experimental results have verified the validity of the proposed DTC scheme.
引文
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[4]Levi E.Multiphase electric machines for variable-speed applications[J].IEEE Transactions on Industrial Electronics,2008,55(5):1893-1909.
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[6]徐艳平,钟彦儒.基于占空比控制的永磁同步电机新型直接转矩控制策略[J].电工技术学报,2009,24(10):27-32.Xu Yanping,Zhong Yanru.A novel direct torque control strategy of permanent magnet synchronous motors based on duty ratio control[J].Transactions of China Electrotechnical Society,2009,24(10):27-32(in Chinese).
[7]杨影,陈鑫,涂小卫,等.占空比调制的永磁同步电机直接转矩控制[J].电机与控制学报,2014,18(4):66-71.Yang Ying,Chen Xin,Tu Xiaowei,et al.Direct torque control of permanent magnet synchronous motor based on duty ratio control[J].Electric Machines and Control,2014,18(4):66-71(in Chinese).
[8]吕帅帅,林辉,马冬麒.基于最优占空比调制的永磁同步电机直接转矩控制[J].电工技术学报,2015,30(S1):35-42.LüShuaishuai,Lin Hui,Ma Dongqi.Direct torque control for permanent magnet synchronous motor with optimal duty cycle control[J].Transactions of China Electrotechnical Society,2015,30(S1):35-42(in Chinese).
[9]牛峰,李奎,王尧.基于占空比调制的永磁同步电机直接转矩控制[J].电工技术学报,2014,29(11):20-29.Niu Feng,Li Kui,Wang Yao.Model predictive direct torque control for permanent magnet synchronous machines based on duty ratio modulation[J].Transactions of China Electrotechnical Society,2014,29(11):20-29(in Chinese).
[10]李政学,张永昌,李正熙,等.基于简单占空比调节的异步电机直接转矩控制[J].电工技术学报,2015,30(1):72-80.Li Zhengxue,Zhang Yongchang,Li Zhengxi,et al.Adirect torque control strategy of induction motor drives with simple duty ratio regulator[J].Transactions of China Electrotechnical Society,2015,30(1):72-80(in Chinese).
[11]Ren Yuan,Zhu Z Q,Liu Jiaming.Direct torque control of permanent-magnet synchronous machine drives with a simple duty ratio regulator[J].IEEE Transactions on Industrial Electronics,2014,61(10):5249-5258.
[12]夏长亮,仇旭东,王志强,等.基于矢量作用时间的新型预测转矩控制[J].中国电机工程学报,2016,36(11):3045-3053.Xia Changliang,Qiu Xudong,Wang Zhiqiang,et al.Predictive torque control based on optimal operating time of vector[J].Proceedings of the CSEE,2016,36(11):3045-3053(in Chinese).
[13]Zhang Yongchang,Yang Haitao.Model predictive torque control of induction motor drives with optimal duty cycle control[J].IEEE Transactions on Power Electronics,2014,29(12):6593-6603.
[14]Gao Yuan,Parsa L.Modified direct torque control of five-phase permanent magnet synchronous motor drives[C]//Proceedings of the 22nd Annual IEEE Applied Power Electronics Conference.Anaheim,CA,USA:IEEE,2007:1428-1433.
[15]孙洪周.五相永磁同步电动机矢量控制系统的研究[D].哈尔滨:哈尔滨工业大学,2009.Sun Hongzhou.Study on vector control system of five-phase PMSM[D].Harbin:Harbin Institute of Technology,2009(in Chinese).
[16]刘国海,赵万祥,周华伟,等.基于零序电压谐波注入式脉宽调制的五相永磁电机直接转矩控制[J].中国电机工程学报,2017,37(5):1516-1525.Liu Guohai,Zhao Wanxiang,Zhou Huawei,et al.Direct torque control of five-phase permanent magnet motor based on zero-sequence voltage harmonic injection pulse width modulation[J].Proceedings of the CSEE,2017,37(5):1516-1525(in Chinese).
[17]高宏伟,杨贵杰,刘剑.基于调制函数的五相电压源逆变器SVPWM算法[J].电机与控制学报,2014,18(2):56-61,68.Gao Hongwei,Yang Guijie,Liu Jian.SVPWM algorithm for five-phase voltage source inverter based on modulation functions[J].Electric Machines and Control,2014,18(2):56-61,68(in Chinese).
[18]Zheng Libo,Fletcher J E,Williams B W,et al.A novel direct torque control scheme for a sensorless five-phase induction motor drive[J].IEEE Transactions on Industrial Electronics,2011,58(2):503-513.
[19]Gao Liliang,Fletcher J E,Zheng Libo.Low-speed control improvements for a two-level five-phase inverter-fed induction machine using classic direct torque control[J].IEEE Transactions on Industrial Electronics,2011,58(7):2744-2754.
[20]Ren Yuan,Zhu Z Q.Reduction of both harmonic current and torque ripple for dual three-phase permanent-magnet synchronous machine using modified switching-tablebased direct torque control[J].IEEE Transactions on Industrial Electronics,2015,62(11):6671-6683.
[2]高宏伟,杨贵杰,刘剑.五相永磁同步电机容错控制策略[J].电机与控制学报,2014,18(6):61-65,71.Gao Hongwei,Yang Guijie,Liu Jian.Fault-tolerant control strategy for five-phase permanent magnet synchronous motor[J].Electric Machines and Control,2014,18(6):61-65,71(in Chinese).
[3]贺鑫.五相永磁同步电机容错控制研究[D].天津:天津大学,2010.He Xin.Research for fault-tolerant control of five phase permanent magnet synchronous machine[D].Tianjin:Tianjin University,2010(in Chinese).
[4]Levi E.Multiphase electric machines for variable-speed applications[J].IEEE Transactions on Industrial Electronics,2008,55(5):1893-1909.
[5]袁登科,陶生桂.一种感应电机直接转矩控制系统性能改善方案[J].中国电机工程学报,2005,25(8):151-155.Yuan Dengke,Tao Shenggui.An improved scheme of the direct torque control system of induction motor[J].Proceedings of the CSEE,2005,25(8):151-155(in Chinese).
[6]徐艳平,钟彦儒.基于占空比控制的永磁同步电机新型直接转矩控制策略[J].电工技术学报,2009,24(10):27-32.Xu Yanping,Zhong Yanru.A novel direct torque control strategy of permanent magnet synchronous motors based on duty ratio control[J].Transactions of China Electrotechnical Society,2009,24(10):27-32(in Chinese).
[7]杨影,陈鑫,涂小卫,等.占空比调制的永磁同步电机直接转矩控制[J].电机与控制学报,2014,18(4):66-71.Yang Ying,Chen Xin,Tu Xiaowei,et al.Direct torque control of permanent magnet synchronous motor based on duty ratio control[J].Electric Machines and Control,2014,18(4):66-71(in Chinese).
[8]吕帅帅,林辉,马冬麒.基于最优占空比调制的永磁同步电机直接转矩控制[J].电工技术学报,2015,30(S1):35-42.LüShuaishuai,Lin Hui,Ma Dongqi.Direct torque control for permanent magnet synchronous motor with optimal duty cycle control[J].Transactions of China Electrotechnical Society,2015,30(S1):35-42(in Chinese).
[9]牛峰,李奎,王尧.基于占空比调制的永磁同步电机直接转矩控制[J].电工技术学报,2014,29(11):20-29.Niu Feng,Li Kui,Wang Yao.Model predictive direct torque control for permanent magnet synchronous machines based on duty ratio modulation[J].Transactions of China Electrotechnical Society,2014,29(11):20-29(in Chinese).
[10]李政学,张永昌,李正熙,等.基于简单占空比调节的异步电机直接转矩控制[J].电工技术学报,2015,30(1):72-80.Li Zhengxue,Zhang Yongchang,Li Zhengxi,et al.Adirect torque control strategy of induction motor drives with simple duty ratio regulator[J].Transactions of China Electrotechnical Society,2015,30(1):72-80(in Chinese).
[11]Ren Yuan,Zhu Z Q,Liu Jiaming.Direct torque control of permanent-magnet synchronous machine drives with a simple duty ratio regulator[J].IEEE Transactions on Industrial Electronics,2014,61(10):5249-5258.
[12]夏长亮,仇旭东,王志强,等.基于矢量作用时间的新型预测转矩控制[J].中国电机工程学报,2016,36(11):3045-3053.Xia Changliang,Qiu Xudong,Wang Zhiqiang,et al.Predictive torque control based on optimal operating time of vector[J].Proceedings of the CSEE,2016,36(11):3045-3053(in Chinese).
[13]Zhang Yongchang,Yang Haitao.Model predictive torque control of induction motor drives with optimal duty cycle control[J].IEEE Transactions on Power Electronics,2014,29(12):6593-6603.
[14]Gao Yuan,Parsa L.Modified direct torque control of five-phase permanent magnet synchronous motor drives[C]//Proceedings of the 22nd Annual IEEE Applied Power Electronics Conference.Anaheim,CA,USA:IEEE,2007:1428-1433.
[15]孙洪周.五相永磁同步电动机矢量控制系统的研究[D].哈尔滨:哈尔滨工业大学,2009.Sun Hongzhou.Study on vector control system of five-phase PMSM[D].Harbin:Harbin Institute of Technology,2009(in Chinese).
[16]刘国海,赵万祥,周华伟,等.基于零序电压谐波注入式脉宽调制的五相永磁电机直接转矩控制[J].中国电机工程学报,2017,37(5):1516-1525.Liu Guohai,Zhao Wanxiang,Zhou Huawei,et al.Direct torque control of five-phase permanent magnet motor based on zero-sequence voltage harmonic injection pulse width modulation[J].Proceedings of the CSEE,2017,37(5):1516-1525(in Chinese).
[17]高宏伟,杨贵杰,刘剑.基于调制函数的五相电压源逆变器SVPWM算法[J].电机与控制学报,2014,18(2):56-61,68.Gao Hongwei,Yang Guijie,Liu Jian.SVPWM algorithm for five-phase voltage source inverter based on modulation functions[J].Electric Machines and Control,2014,18(2):56-61,68(in Chinese).
[18]Zheng Libo,Fletcher J E,Williams B W,et al.A novel direct torque control scheme for a sensorless five-phase induction motor drive[J].IEEE Transactions on Industrial Electronics,2011,58(2):503-513.
[19]Gao Liliang,Fletcher J E,Zheng Libo.Low-speed control improvements for a two-level five-phase inverter-fed induction machine using classic direct torque control[J].IEEE Transactions on Industrial Electronics,2011,58(7):2744-2754.
[20]Ren Yuan,Zhu Z Q.Reduction of both harmonic current and torque ripple for dual three-phase permanent-magnet synchronous machine using modified switching-tablebased direct torque control[J].IEEE Transactions on Industrial Electronics,2015,62(11):6671-6683.