永磁同步电机直接转矩控制技术的研究
摘要
直接转矩控制是继矢量控制之后发展起来的又一种高性能交流调速技术。直接转矩控制策略因其具有转矩控制直接、动态响应较快、算法相对简单等优点在交流电机调速领域得到越来越多的关注。随着对永磁同步电机研究的深入,直接转矩控制策略在永磁同步电机的控制领域逐步得到应用。本文主要针对永磁同步电机的直接转矩控制技术进行深入研究。
为了准确分析直接转矩控制原理,需要对控制对象进行数学分析。为此,本文首先从永磁同步电机的结构出发,分析了永磁同步电机的工作原理,进而建立了永磁同步电机在不同参考坐标系下的数学模型。
深入分析了直接转矩控制的控制思想,对基于Bang-Bang滞环控制的传统方式进行了研究,分析了空间电压矢量对定子磁链和电磁转矩的影响。针对传统控制方式存在的缺点,本文将空间矢量脉宽调制技术引入永磁同步电机的直接转矩控制系统中,以解决传统直接转矩控制方式中磁链、转矩波动大的问题,给出了定子磁链和电磁转矩协调控制的改进算法。
借助Matlab6.5/Simulink工具对永磁同步电机的传统直接转矩控制系统和基于SVPWM的直接转矩控制系统各子环节进行建模设计,建立了两种控制策略的仿真模型。模拟实际的控制系统进行了仿真研究,得到了与理论分析相一致的实验结果。
全数字化是电机控制的发展趋势。本文设计了以TI公司的电机专用控制芯片TMS320LF2407A为核心的永磁同步电机直接转矩控制系统的实验平台,给出了系统软硬件实现的具体方法,对系统进行了实验研究,给出了主要的实验结果。实验结果表明,控制系统设计合理,具有较高的动静态性能。
Direct torque control (DTC) is a new high-performance AC drive technology following vector control. More attention is paid to DTC in AC motor speed control area because of its advantages such as fast dynamic response,relatively simple algorithm and so on. With deep study of permanent magnet synchronous motor (PMSM), DTC strategy is applied gradually in PMSM control area. This paper is aimed at studying DTC technology deeply for PMSM.
In order to make an accurate analysis for the principle of DTC, mathematical analysis of motors to be controlled is essential. So the operational principle of PMSM is analyzed firstly based on its structure in this paper, then mathematical models of PMSM are established under different reference coordinate systems.
After that, the theory of DTC is studied deeply and traditional control system based on Bang-Bang mode is researched. The effects of space voltage vectors towards stator flux and electromagnetic torque are also analyzed. Due to existent disadvantages of traditional DTC mode, Space Vector Pulse Width Modulation is brought into PMSM DTC system in order to resolve the problems such as remarkable fluctuations of flux and torque. Moreover, the improved algorithm is griven for the harmonious control of stator flux and electromagenic torque.
With Matlab6.5/Simulink the subsystems of traditional DTC system and SVPWM DTC system for PMSM are modeled and designed. Then the simulation models of the above two control strategies are also established. Iimitating actual control systems, simulation research is conducted and the experimental results are corresponding with theory analysis.
The trend of motor control is total digitalization. In this paper, experimental platform for PMSM DTC system is designed baesd on TMS320LF2407A, and then concrete realization methods of software and hardware are shown. After experimental research, main experimental results are listed. The results prove that the control system is designed logically with high dynamic and static performance.
为了准确分析直接转矩控制原理,需要对控制对象进行数学分析。为此,本文首先从永磁同步电机的结构出发,分析了永磁同步电机的工作原理,进而建立了永磁同步电机在不同参考坐标系下的数学模型。
深入分析了直接转矩控制的控制思想,对基于Bang-Bang滞环控制的传统方式进行了研究,分析了空间电压矢量对定子磁链和电磁转矩的影响。针对传统控制方式存在的缺点,本文将空间矢量脉宽调制技术引入永磁同步电机的直接转矩控制系统中,以解决传统直接转矩控制方式中磁链、转矩波动大的问题,给出了定子磁链和电磁转矩协调控制的改进算法。
借助Matlab6.5/Simulink工具对永磁同步电机的传统直接转矩控制系统和基于SVPWM的直接转矩控制系统各子环节进行建模设计,建立了两种控制策略的仿真模型。模拟实际的控制系统进行了仿真研究,得到了与理论分析相一致的实验结果。
全数字化是电机控制的发展趋势。本文设计了以TI公司的电机专用控制芯片TMS320LF2407A为核心的永磁同步电机直接转矩控制系统的实验平台,给出了系统软硬件实现的具体方法,对系统进行了实验研究,给出了主要的实验结果。实验结果表明,控制系统设计合理,具有较高的动静态性能。
Direct torque control (DTC) is a new high-performance AC drive technology following vector control. More attention is paid to DTC in AC motor speed control area because of its advantages such as fast dynamic response,relatively simple algorithm and so on. With deep study of permanent magnet synchronous motor (PMSM), DTC strategy is applied gradually in PMSM control area. This paper is aimed at studying DTC technology deeply for PMSM.
In order to make an accurate analysis for the principle of DTC, mathematical analysis of motors to be controlled is essential. So the operational principle of PMSM is analyzed firstly based on its structure in this paper, then mathematical models of PMSM are established under different reference coordinate systems.
After that, the theory of DTC is studied deeply and traditional control system based on Bang-Bang mode is researched. The effects of space voltage vectors towards stator flux and electromagnetic torque are also analyzed. Due to existent disadvantages of traditional DTC mode, Space Vector Pulse Width Modulation is brought into PMSM DTC system in order to resolve the problems such as remarkable fluctuations of flux and torque. Moreover, the improved algorithm is griven for the harmonious control of stator flux and electromagenic torque.
With Matlab6.5/Simulink the subsystems of traditional DTC system and SVPWM DTC system for PMSM are modeled and designed. Then the simulation models of the above two control strategies are also established. Iimitating actual control systems, simulation research is conducted and the experimental results are corresponding with theory analysis.
The trend of motor control is total digitalization. In this paper, experimental platform for PMSM DTC system is designed baesd on TMS320LF2407A, and then concrete realization methods of software and hardware are shown. After experimental research, main experimental results are listed. The results prove that the control system is designed logically with high dynamic and static performance.
引文
1刘英环,郑慧芳,张涛.基于TMS320F240数字信号处理器的直接转矩控制系统的设计与实现.电机控制与应用. 2006, 33(1):46~49
2胡虎,李永东.交流电机直接转矩控制策略——现状与趋势.电气传动. 2004, (3):3~4
3郭宏,郭庆吉.永磁同步电机伺服系统.哈尔滨工业大学学报. 1996, 28 (3):82~89
4许镇琳,窦汝振,翟轶强.永磁同步电动机直接转矩控制系统的研究.电气自动化. 2000, (4):7~9
5 L. Zhong, M.F. Rahman, W.Y. Hu. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives. IEEE Trans. on Power Electronics. 1997, 12(3):528~535
6王展英,秦连城,张旭.无速度传感器电机控制系统的意义、研究与发展方向.防爆电机. 2007, 1(42):31~32
7谭茀娃,金如鳞,李川.现代交流电机控制的现状与发展.微特电机. 2002, (2): 3~6
8肖金凤,盛义发,徐祖华.电机控制的现状与研究动向.电机技术. 2005, (3):13~14
9谷爱昱,王春茹. DSP在电机控制领域的应用展望.微电机.2001, 34(2):35~36
10 S. Bolognani, R. Oboe, M.Zigliotto. Sensorless Full-Digital PMSM Drive with EKF Estimation of Speed and Rotor Position. IEEE Trans. Ind. Electron. 1999, 46(1):184~190
11巫庆辉,邵诚,徐占国.直接转矩控制技术的研究现状与发展趋势.信息与控制. 2005, 34(4):444~445
12 F. Blaschke. The Principles of Field Orientation as Applied to the New Transvektor Closed-Loop Control System for Rotating Field Machines. Siemens Review. 1972, 39(5):217~220
13 F. Blaschke. New Method for the Structure Decoupling of AC Induction Machines. Second IFAC Symposium on Multivareable Technical Control Systems, Dusseldorf, Genmany, 1971:11~15
14郭庆鼎,王成元.交流伺服系统.机械工业出版社, 1994:11~14
15 I. Takahashi, T. Noguchi. A New Quick Response and High Efficiency Strategy of an Induction Motor. Conf. Rec. IEEE-IAS Annu Meeting, 1985:495~502
16 M. Depenbrock. Direct Self Control for High Dynamics Performance of Inverter Feed AC Machines. Conf. Rec. ETZ. Arch, 1985:211~218
17赵伟峰,朱承高.直接转矩控制的发展现状及前景.电气传动.1999, (3): 3~4
18 Kang. Seog-Joo, Sul. Seung-Ki. Direct Torque Control of Brushless DC Motor with Nonideal Trapezoidal Back EMF. IEEE Trans. on Power Electronics. 1995, (6):796~802
19季画,陈宝林,胡育文. PMSM直接转矩控制调速系统的研究现状与发展前景.电气传动自动化. 2004, 26(4):10~11
20 C. Lascu, A.M.Traynadlowsky. A Sensorless Hybrid DTC Drive for High-Volume Low-Cost Application. IEEE Transactions on Industrial Electronics. 2004, 51(5):1048~1055
21郭前岗,李耀华,孟彦京.现代交流传动系统调速技术综述.微计算机信息. 2004, 20(11):74~76
22王钦若,杜玉晓.交流电机直接转矩控制技术研究综述.机电工程技术. 2005, 34(11):13~15
23张春,郭兴众.模糊直接转矩控制系统的设计与仿真研究.电子科技大学学报. 2004, 33(5):582~585
24翁颖钧,吴守箴,臧英杰.异步电动机无速度传感器直接转矩控制的研究.微特电机. 2001, (1):22~24
25曹承志,魏光华,张彦超.基于小波神经网络的定子电阻参数辨识的研究.信息与控制. 2004, 33(6):745~749
26肖岸文,佘致延.模糊控制技术在异步电机直接转矩控制中的应用.长沙交通学院学报. 2005, 21(2):50~54
27李永坚,胡俊达.一种模糊参数自适应控制器在直接转矩控制中的应用.中小型电机. 2003, 30(5):29~32
28汤蕴秒,史乃.电机学.机械工业出版社, 1994:11~14
29秦忆,周永鹏.现代交流伺服系统.华中理工大学出版社, 1995:81~107
30玉瑞,游林儒,毛宗源.永磁同步电机直接转矩控制系统和仿真.微计算机信息. 2006, 22(2):69~71
31孙丹.高性能永磁同步电机直接转矩控制.浙江大学博士学位论文. 2004:160~102
32马小亮.大功率交——交变频调速及矢量控制技术.机械工业出版社, 1996:58~61
33田淳.无位置传感器同步电机直接转矩控制理论研究与实践.南京航空航天大学博士学位论文. 2001:17~24
34 Broeckhw. Analysis and Realization of a Pulse Width Modulator Based on Voltage Space Vectors.IEEE Trans.on Industry Application. 1998,24(1):142~150
35李崇坚.交流同步电机调速系统.科学出版社, 2006:259~261
36师军.永磁同步电机直接转矩控制技术应用研究.西北工业大学硕士学位论文. 2006:25~26
37 Wang Huangang, Xu Wenli, Li Jian. A New Approach to Direct Torque Control of Induction Machines. Proceedings of the CSEE. 2004, 24 (1):107~111
38 Qian Kun, Xie Shousheng, Gao Meiyan. Improved Direct Torque Control Method for Induction Motor Applications. Proceedings of the CSEE. 2004, 24(7):210~214
39 Li Yayuan, Tang Puhua, Song Changlin. A New Flux Estimation Method of the Direct Torque Control. Proceedings of the CSEE. 2000, 20(5):22~24
40 P. Tiitinen, M. Surandra. The Next Generation Motor Control Method, DTC Direct Torque Control. Proceedings of the CSEE. 2000, 20(5):22~24
41 X. Yang, W. Oghanna. Fuzzy Direct Torque Control of Induction Motor with Stator Flux Estimation Compensation. New York, USA. International Conference on Industrial Electronics, Control and Instrumentation. IEEE, 1997:221~225
42 Sun Dan, He Yikang, Zhu Jianguo. Fuzzy Logic Direct Torque Control for Permanent Magnet Synchronous Motors. Hangzhou. WCICA, 2004:108~112
43 C.A. Martins, X. Roboam, T.A. Meynard. Switching Frequency Imposition and Ripple Reduction in DTC Drives by Using a Multilevel Converter. IEEE Transactions on Power Electronics. 2002, 17(2):286~297
44 A.M. Prars Ma, G. Escobar, E. Galvan. A Switching Control Strategy Based on Output Regulation Subspaces for the Control of Induction Motors Using a Three-Level Inverter. Power Electronics Letters, IEEE. 2003, 1(2):29~32
45 Sun Xiaohui, Zhang Zengke, Han Zengjin. Research on Torque Ripple Minimum of Inductance Motor Based on Direct Torque Control. Proceedings of the CSEE. 2002, 22(8):109~112
46 T.G. Habetler, D.M. Divan. Control Strategies for Direct Torque Control Using Discrete Pulse Modulation. IEEE Transactions on Industry Applications. 1991, 27(5):893~901
47 Tang Lixin, Zhong Limin, M.F. Rahman. A Novel Direct Torque Control Scheme for Interior Permanent Magnet Synchronous Machine Drive System with Low Ripple in Torque and Flux, and Fixed Switching Frequency. USA. IEEE PESC, 2002:195~202
48杨贵杰,孙力.空间矢量脉宽调制方法的研究.中国电机工程学报. 2001, 21(5):79~83
49洪乃刚.电力电子和电力拖动控制系统的Matlab仿真.机械工业出版社, 2006:1~3, 30~32
50安群涛,李波,王有琨.采用SVPWM的永磁同步电动机系统建模与仿真.微电机. 2006, 39(9):38~40
51王晓明,王玲.电动机的DSP控制——TI公司DSP应用.北京航空航天大学出版社, 2004:1~2
2胡虎,李永东.交流电机直接转矩控制策略——现状与趋势.电气传动. 2004, (3):3~4
3郭宏,郭庆吉.永磁同步电机伺服系统.哈尔滨工业大学学报. 1996, 28 (3):82~89
4许镇琳,窦汝振,翟轶强.永磁同步电动机直接转矩控制系统的研究.电气自动化. 2000, (4):7~9
5 L. Zhong, M.F. Rahman, W.Y. Hu. Analysis of Direct Torque Control in Permanent Magnet Synchronous Motor Drives. IEEE Trans. on Power Electronics. 1997, 12(3):528~535
6王展英,秦连城,张旭.无速度传感器电机控制系统的意义、研究与发展方向.防爆电机. 2007, 1(42):31~32
7谭茀娃,金如鳞,李川.现代交流电机控制的现状与发展.微特电机. 2002, (2): 3~6
8肖金凤,盛义发,徐祖华.电机控制的现状与研究动向.电机技术. 2005, (3):13~14
9谷爱昱,王春茹. DSP在电机控制领域的应用展望.微电机.2001, 34(2):35~36
10 S. Bolognani, R. Oboe, M.Zigliotto. Sensorless Full-Digital PMSM Drive with EKF Estimation of Speed and Rotor Position. IEEE Trans. Ind. Electron. 1999, 46(1):184~190
11巫庆辉,邵诚,徐占国.直接转矩控制技术的研究现状与发展趋势.信息与控制. 2005, 34(4):444~445
12 F. Blaschke. The Principles of Field Orientation as Applied to the New Transvektor Closed-Loop Control System for Rotating Field Machines. Siemens Review. 1972, 39(5):217~220
13 F. Blaschke. New Method for the Structure Decoupling of AC Induction Machines. Second IFAC Symposium on Multivareable Technical Control Systems, Dusseldorf, Genmany, 1971:11~15
14郭庆鼎,王成元.交流伺服系统.机械工业出版社, 1994:11~14
15 I. Takahashi, T. Noguchi. A New Quick Response and High Efficiency Strategy of an Induction Motor. Conf. Rec. IEEE-IAS Annu Meeting, 1985:495~502
16 M. Depenbrock. Direct Self Control for High Dynamics Performance of Inverter Feed AC Machines. Conf. Rec. ETZ. Arch, 1985:211~218
17赵伟峰,朱承高.直接转矩控制的发展现状及前景.电气传动.1999, (3): 3~4
18 Kang. Seog-Joo, Sul. Seung-Ki. Direct Torque Control of Brushless DC Motor with Nonideal Trapezoidal Back EMF. IEEE Trans. on Power Electronics. 1995, (6):796~802
19季画,陈宝林,胡育文. PMSM直接转矩控制调速系统的研究现状与发展前景.电气传动自动化. 2004, 26(4):10~11
20 C. Lascu, A.M.Traynadlowsky. A Sensorless Hybrid DTC Drive for High-Volume Low-Cost Application. IEEE Transactions on Industrial Electronics. 2004, 51(5):1048~1055
21郭前岗,李耀华,孟彦京.现代交流传动系统调速技术综述.微计算机信息. 2004, 20(11):74~76
22王钦若,杜玉晓.交流电机直接转矩控制技术研究综述.机电工程技术. 2005, 34(11):13~15
23张春,郭兴众.模糊直接转矩控制系统的设计与仿真研究.电子科技大学学报. 2004, 33(5):582~585
24翁颖钧,吴守箴,臧英杰.异步电动机无速度传感器直接转矩控制的研究.微特电机. 2001, (1):22~24
25曹承志,魏光华,张彦超.基于小波神经网络的定子电阻参数辨识的研究.信息与控制. 2004, 33(6):745~749
26肖岸文,佘致延.模糊控制技术在异步电机直接转矩控制中的应用.长沙交通学院学报. 2005, 21(2):50~54
27李永坚,胡俊达.一种模糊参数自适应控制器在直接转矩控制中的应用.中小型电机. 2003, 30(5):29~32
28汤蕴秒,史乃.电机学.机械工业出版社, 1994:11~14
29秦忆,周永鹏.现代交流伺服系统.华中理工大学出版社, 1995:81~107
30玉瑞,游林儒,毛宗源.永磁同步电机直接转矩控制系统和仿真.微计算机信息. 2006, 22(2):69~71
31孙丹.高性能永磁同步电机直接转矩控制.浙江大学博士学位论文. 2004:160~102
32马小亮.大功率交——交变频调速及矢量控制技术.机械工业出版社, 1996:58~61
33田淳.无位置传感器同步电机直接转矩控制理论研究与实践.南京航空航天大学博士学位论文. 2001:17~24
34 Broeckhw. Analysis and Realization of a Pulse Width Modulator Based on Voltage Space Vectors.IEEE Trans.on Industry Application. 1998,24(1):142~150
35李崇坚.交流同步电机调速系统.科学出版社, 2006:259~261
36师军.永磁同步电机直接转矩控制技术应用研究.西北工业大学硕士学位论文. 2006:25~26
37 Wang Huangang, Xu Wenli, Li Jian. A New Approach to Direct Torque Control of Induction Machines. Proceedings of the CSEE. 2004, 24 (1):107~111
38 Qian Kun, Xie Shousheng, Gao Meiyan. Improved Direct Torque Control Method for Induction Motor Applications. Proceedings of the CSEE. 2004, 24(7):210~214
39 Li Yayuan, Tang Puhua, Song Changlin. A New Flux Estimation Method of the Direct Torque Control. Proceedings of the CSEE. 2000, 20(5):22~24
40 P. Tiitinen, M. Surandra. The Next Generation Motor Control Method, DTC Direct Torque Control. Proceedings of the CSEE. 2000, 20(5):22~24
41 X. Yang, W. Oghanna. Fuzzy Direct Torque Control of Induction Motor with Stator Flux Estimation Compensation. New York, USA. International Conference on Industrial Electronics, Control and Instrumentation. IEEE, 1997:221~225
42 Sun Dan, He Yikang, Zhu Jianguo. Fuzzy Logic Direct Torque Control for Permanent Magnet Synchronous Motors. Hangzhou. WCICA, 2004:108~112
43 C.A. Martins, X. Roboam, T.A. Meynard. Switching Frequency Imposition and Ripple Reduction in DTC Drives by Using a Multilevel Converter. IEEE Transactions on Power Electronics. 2002, 17(2):286~297
44 A.M. Prars Ma, G. Escobar, E. Galvan. A Switching Control Strategy Based on Output Regulation Subspaces for the Control of Induction Motors Using a Three-Level Inverter. Power Electronics Letters, IEEE. 2003, 1(2):29~32
45 Sun Xiaohui, Zhang Zengke, Han Zengjin. Research on Torque Ripple Minimum of Inductance Motor Based on Direct Torque Control. Proceedings of the CSEE. 2002, 22(8):109~112
46 T.G. Habetler, D.M. Divan. Control Strategies for Direct Torque Control Using Discrete Pulse Modulation. IEEE Transactions on Industry Applications. 1991, 27(5):893~901
47 Tang Lixin, Zhong Limin, M.F. Rahman. A Novel Direct Torque Control Scheme for Interior Permanent Magnet Synchronous Machine Drive System with Low Ripple in Torque and Flux, and Fixed Switching Frequency. USA. IEEE PESC, 2002:195~202
48杨贵杰,孙力.空间矢量脉宽调制方法的研究.中国电机工程学报. 2001, 21(5):79~83
49洪乃刚.电力电子和电力拖动控制系统的Matlab仿真.机械工业出版社, 2006:1~3, 30~32
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