1、ISSN 1000-0054CN 11-2223/N b v (1 S )J T singhua Univ ( Sci 直接转矩控制; 间接转矩控制; 控制算法; 数字滤波 m s | : T M 343 D S M : A c I | : 1000-0054(2008) 04-0469-04Indirect selfcontrolalgorithmforinduction motors without PI/PregulatorsZHANG Xing, QU Wenlong, LU Haifeng, FANYang,CHENG Xiaomeng(StateKeyLaboratoryof Co
2、ntrol andSimulationof PowerSystemsandGenerationEquipments, Department ofElectricalEngineering, TsinghuaUniversity, Beijing100084, China)Abstract: The torque PI regulator and flux P regulator make itdifficult to implement the indirect self control ( ISC) scheme indifferent systems. A novel ISC algori
3、thm was developed to calculatethe flux amplitudeincrement baseon theflux error and the transientposition angle increment based on the torque and flux errors in thesynchronous frame. The steady position angle increment can becalculated fran thetorque, rotor flux and motor speed. Errors in thetorque a
4、re filtered to achieve a steady-state continuous voltage.Since the algorithm does not use a rotation transformation or PI/ Pregulators, it is quite simple and convenient. T he algorithm has fastdynamic response, which is an advantage over traditional directtorque control ( DT C) . Simulations and ex
5、perimental results verifythe good performance of the proposed control scheme.Key words: induction motor ( IM) ; direct torque control ( DTC) ;indirect self control (ISC) ; control algorithm; digitalfilter. d e (DTC) e e a Y y , 7 1 q % , ov a v b 1- 34 3 % Z , W 1 e (ISC) B V 7 1 q / e Z b X Y V e 0
6、 H M W e H b. d ISCY V 1 s (PI) a q 9 # s Y 0 H M M 9 9 , Y V H 1 (P) e 0 H 4b 54 B 1 Z E ,H M 9 1 PI b 7 ,1 “ i E M b 4 B U S “ / H 9 H 9 aH M 9 ISC E ,i P 3 r o ) , L C 0 O b1 新的ISC算法原理m 1 P E “ d e m , H P PI $ B 9 T 3 r o | by N , E 1 o w 0 H M 9 # I O 9 T 4 3 r oZ E b L s , 0 H _ U S “ / Z / :u
7、s = Rsis + pnulls + jnullenulls, ( 1)0 = Rrir + pnullr + j(nulle - null)nullr, ( 2)nulls = L sis + L mir, ( 3)nullr = L mis + L rir, ( 4)T = 3/2nullpn(nulls null is). ( 5)m 1 ISC E “ d e mT : usaRsaisanullsaLsaRrairanullraL raL mapnanullanulleaT s Y 0 a E a aH a , 0 E a aH a , 0 , , 0 , H , p s 0 b
8、Z T T = 1. 5pn( nulls null is + nulls null is). (6) e nullnulls(n+ 1)null= null*s , 0 H :nullnullsnull = nullnulls(n + 1)null - nullnulls(n)null =nullnull*s null - nullnulls(n) null. (7) 0 H O :nulls = nulls(n + 1) - nulls(n) =( nullnull(n)null + nullnullsnull)ej(!+ !d) - nullnull(n) nullej!. (8) :
9、! n e S H Y 0 H , !d / B e 0 H 9 b 0 U S “ / , 0 H 9 ! B e = 0 H 9 nulleT PWMb p P T = 0 O , V Y V T (6)p T = 0 nullsb T ( 8) ,1 p nulls, p ! !d nulleTPWMbT (6) isa is nullsa nulls V U ,w / : 0 H _ U S “ / 6us = Rsis + L sp is + es, (9)es = jnullenulls. (10)es 0 Q b T (1), V pis = pnulls/L s. (11)|
10、V p is / T :is = nulls/Ls = (nulls( n + 1) - nulls(n)/L s.(12) T (2) V pnullr = - Rrir - jnullslnullr. (13) T (3), (4) V :nullr = L r/L mnull(nulls - L sis), (14)ir = (nulls - L sis)/L m. (15)| T (14) p T (13)pnullr = L r/L mnull(pnulls - L spis). (16) T (11) V T ( 16) 0b| T (14)a(15) (13)- Rrir - j
11、nullslnullr = - Rr/L mnull( nulls - L sis) -jL r/Lmnullnullslnulls + jL r/L mnullnullslL sis. (17) T (16)a(17) , e V (nulls - L sis) - jnullslTrnulls - jnullslT rL sis = 0. (18) T (18) V pis = 1 + jnullslTrLs(1 + jnullslT r)nulls =A + jBC nulls. (19)T :A = 1 + null2slT2r 2, B = nullslTr(1 - ) ,C = (
12、1 + null2slT 2r 2)L s.| T (8)a( 12)a(19) nullsa isais T(6), T = 32p nnull (1 - )nullnulls(n)nullLs(1 + null2slT2r 2) null nullnulls(n + 1) nullnullsin( !d) +nullnulls(n + 1)nullcos( !d) - nullnulls(n)nullnullslTr.y !d l , sin( !d) !d, cos( !d)1,e T T = 32p nnull (1 - )nullnulls(n)nullLs(1 + null2slT
13、2r 2) nullnullnulls( n + 1)nullnull !d +470 b v (1 S ) 2008, 48(4)nullnulls(n + 1) null - nullnulls(n) nullnullslT r. T ( 7), T V B e T = 32 pn null (1 - )nullnulls(n) nullLs(1 + null2slT 2r2) nullnullnull*s nullnull !d + nullnullsnullnullnullslT r. (20) 7 T = 0, V !d = T null 2L s(1 + null2slT2r 2)
14、3p n( 1- )nullnulls(n)nullnullnullnull*s null -nullnullsnullnull(nullslT r)/nullnull*s null. (21) H T Tem= 32 p nRrnull2r nullslnullsl = (2T emRr)/( 3pnnull2r) . (22)“ d 4 nullr, :nulle = nullsl + nullr, (23)!= !d + nullenullT PWM. (24) T (21)i(24) V , w V 0H _ U S “ , 9 V # M ,y N , w V 0 US “ / n+
15、 1 e 0 H / :nulls(n + 1) = (nullnulls(n)null + nullnullsnull)ej(!+ !) =1 + nullnullsnullnullnulls(n)nullnulls#(n)cos( !) - nulls(n)sin( !) +j 1 + nullnullsnullnulls(n)nulls(n)cos( !) + nulls#( n)sin( !). N , 0 U S “ / 0 Z , H 9 0 H M 9 , M , G T ( 25) V p 0 I :us#= Rsnullis#+ 1TPWMnull 1+ nullnullsn
16、ullnullnulls(n)null null(cos( !) - 1) nullnulls#(n) -1T PWM 1 +nullnullsnullnullnulls(n) null * sin( !)* nulls(n) ,us = Rsnullis+ 1TPWMnull 1 + nullnullsnullnullnulls(n)nullnullsin( !) nullnulls#(n) +1TPWM1 + nullnullsnullnullnulls(n)null * (cos( !) - 1)* nulls(n).(25) L = “ d , 0 I O nullnullsnulla
17、 T 9 , nullnullsnullM , T 5 c s s , E 9 I O , b N , T 3 r ob ( r oE Y V M - B | F ( , z T , V r T s b9 F r o E - F “ , V l M l M H , H Y b2 仿真和实验结果 ISC E r , B M F T s B T ,| E . d ST-DTC E # . d ISC E 1 _ L b L I M E 8 5 ( Insulated Gate Bipolar Transistor,IGBT ) , e TMS320C32 e C V I ( Field Progr
18、ammable GateArray, FPGA) , e 200%sbs S Y112-4( /Y) , 1 : - q4kW, - L 380V, - L 8. 8A, 0 E 3. 416 7 i: 0.5/div; T: 0. 4/ div)m 3AM S o (t: 400ms/div; i: 0.5/div; T : 0.4/ div)m 4 r o / AM S o 1 3 E ? , / L :! L 100V, H S 0. 4, S 0. 18, V | S 0. 15 l M 0. 27bm 5 3 E Y b V A , ISC E ? (r oZ E - F “ M M
19、 1 , 4 “ , P ISC E ? ST-DTCa. dISC E Y y b3 结 论 0 H _ U S “ / w ISC E , e , P PI , M ,9 Z L ,Y V e 3 r o L C 0 O b_ L T ( V (t: 40ms/div; i: 0. 5/div; T : 0.2/div)m 5l F H AM S Y E z “ d z ? , A , oc A , ? 4 , z L N b I D (References)1 Buja G S, Kazmierkowski M P. Direct torque control ofPWM inverte
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