五相PMSM改进型无差拍直接转矩和磁链控制

doi:10.19595/j.cnki.1000-6753.tces.221730

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摘要传统无差拍直接转矩磁链控制(DB-DTFC)策略应用于五相永磁同步电机(PMSM)时存在稳态性能差、转矩和磁链耦合、谐波电流大等问题,本文提出了一种改进型DB-DTFC策略。首先,为实现转矩和磁链的解耦控制,在两相静止坐标系中对定子电压与转矩和磁链之间的关系进行分析,求解满足控制要求的电压矢量。其次,设计电流和磁链观测器补偿数字控制系统的延时。再次,采用基于四个非零电压矢量的空间矢量脉宽调制(SVPWM)技术,抑制相电流的三次谐波分量。实验结果表明,该策略计算简便、抑制了转矩和磁链脉动、降低了三次谐波电流,提升了控制系统动稳态性能。

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	刘国海
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关键词 ：无差拍控制, 直接转矩和磁链控制, 永磁同步电机, 延时补偿, 空间矢量脉宽调制

Abstract：With the advantages of higher bus voltage utilization and more degrees of control freedom, multiphase permanent magnet synchronous motors (PMSMs) are widely used in electric vehicles, ship propulsion and other fields. Direct torque control (DTC) and vector control (VC) are the most popular methods. Compared with VC, DTC needs two hysteresis comparators of stator flux linkage and torque and a switching table, which has simple structure and fast dynamic response. However, traditional DTC has the disadvantages of large torque and flux linkage ripples, high current harmonics, and et al. Model predictive torque control (MPTC) selects the optimal voltage vector from a control set according to the cost function to improve the torque and flux dynamic response, but it has drawbacks such as heavy computational burden and difficulty in tuning the weighting factor. Deadbeat direct torque and flux control (DB-DTFC) can eliminate the errors of torque and flux linkage within one sampling period by a voltage vector, which is obtained by discretizing the mathematical model. The control structure is simple and unnecessary to adjust redundant parameters. However there is the coupled relationship between torque and stator flux linkage, the traditional DB-DTFC has poor dynamic and steady-state performance. To improve the operation performance, an improved DB-DTFC strategy is proposed for five-phase PMSM.
Firstly, the PMSM model is discretized in the two stationary frame, and a voltage vector is obtained from the relationship among stator voltage, torque and stator flux linkage. Thus, the decoupling control of torque and stator flux linkage can be achieved. Secondly, current and flux linkage observers are built to compensate for delay and parameter disturbance in digital control system. Finally, due to the existence of harmonic space in the five phase PMSM, the space vector pulse width modulation (SVPWM) bases on four none-zero vectors is designed to restrain the third harmonic currents.
To evaluate the steady-state performance, experimental results with the traditional and improved DB-DTFC were tested at rated speed. Compared with the traditional DB-DTFC, the improved DB-DTFC can better suppress the torque and flux linkage ripples, the waveform of phase current is more sinusoidal, and the CPU execution time is shorter. Therefore, the voltage vector obtained by the improved DB-DTFC is more consistent with the deadbeat control goal, can improve the stator flux and torque control accuracy, and can restrain current harmonics. Compared with the traditional DB-DTFC during dynamic experiments, the improved DB-DTFC has faster torque and speed responses, shorter adjustment time, more dynamic response, and can ensure the control accuracy of flux linkage.
The effectiveness of proposed strategy is verified through theoretical analysis and experiments, and the following conclusions can be drawn. 1) Compared with the traditional DB-DTFC, the stator voltage of the method is much easier to obtained, thus requiring less computation. 2) The model of torque and flux linkage is more accurate, their decoupling control is achieved, and their ripples are less at steady-state operation, thus improving the steady-state and dynamic performance. 3) Current and flux linkage observers are designed to eliminate the delay of digital control and to improve the parameter robustness. 4) SVPWM based on four none-zero vectors can effectively restrain the third harmonic currents and reduce the distortion of phase current.

Key words： deadbeat control direct torque and flux control (DTFC) permanent magnet synchronous motor (PMSM) delay compensation space vector pulse width modulation (SVPWM)

PACS:

TM351

基金资助:国家自然科学基金项目(52277052),江苏高校“青蓝工程”

通讯作者: 周华伟男,1980年生,教授,博士生导师,研究方向为电动汽车和电磁悬架用特种永磁电机驱动控制、容错控制等。E-mail：zhouhuawei@ujs.edu.cn

作者简介: 刘国海男,1964年生,教授,博士生导师,研究方向为电机控制、复杂系统控制及非线性智能控制等。E-mail：ghliu@ujs.edu.cn;孙汶超男,1998年生,硕士研究生,研究方向为永磁电机控制。E-mail：1310170658@qq.com;刘正蒙男,1991年生,讲师,博士,研究方向为特种永磁电机设计与控制。

引用本文:

刘国海, 孙汶超, 周华伟, 刘正蒙. 五相PMSM改进型无差拍直接转矩和磁链控制[J]. 电工技术学报, 0, (): 87-87. Liu Guohai, Sun Wenchao, Zhou Huawei, Liu Zhengmeng. An Improved Deadbeat Direct Torque and Flux Control Strategy of Five-Phase PMSM. Transactions of China Electrotechnical Society, 0, (): 87-87.

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