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Direct Torque Control System and Sensorl Ess Technique of Permanent Magnet Synchronous Motor
Direct Torque Control System and Sensorl Ess Technique of Permanent Magnet Synchronous Motor
Abstract: T he direct torque contr ol theor y has achieved g reat success in the control of induction
motor s. How ever, in the DT C dr ive system of Permanent M ag net Synchronous M achine ( PM SM )
pr oposed a few years ago, ther e are many basic theoretical problems that must be clarified. T his pa-
per describes an investigatio n about the effect of the zer o voltage space v ector s in the DT C sy stem of
PM SM and points out that if using t he zero voltage space vectors rat ionally , not only can the DT C
sy stem be driven successfully but also the tor que r ipple is reduced and the perfo rmance of the sy stem
is impr oved . T his paper also st udies the senso rless technique in the DT C system of P M SM and con-
figures the DT C system o f P M SM w ith sensor less technique including zero voltage space v ecto rs. N u-
mer ical simulations and ex per iment al tests have pr oved the theo ry corr ect . In the conditio n of sensor -
less , the DT C sy stem of PM SM is wide-rang ely speed adjusting, and the ratio o f speed adjustment is
1∶ 100.
Key words: power electr onics; dir ect tor que contr ol; permanent magnet motor s; sensor less; st ator
flux linkage
无速度传感器永磁同步电机直接转矩控制系统 . 胡育文, 田淳, 游志青, 汤立新, M . F . Rahman . 中
国航空学报( 英文版) , 2003, 16( 2) : 97- 102.
摘 要: 详细阐述了零矢量在永磁直接转矩控制系统中的作用, 指出如果合理应用零矢量, 不仅能
使永磁电机( P M SM ) 的 DT C 系统正常运行, 而且能减少转矩脉动的频率和改善系统的性能。还研
究了 PM SM 的 DT C 系统的无速度 传感器技术, 构建了包含零矢量在内的无速度传感器 P M SM 的
DT C 系统。仿真和实验都证明了理论的正确性。在无速度传感器的条件下, PM SM 的 DT C 系统实
现了宽范围调速, 调速比达到了 1∶ 100。
关键词: 电力电子; 直接转矩控制; 永磁电机; 无速度传感器; 定子磁链
文章编号: 1000-9361( 2003) 02-0097-06 中图分类号: T M 921. 5 文 献标识码: A
T he DT C for induction machines proposed in many potent ial advant ages w ere found in t his
the middle of 1980' s has been used in many appli- scheme: f or example, the f ield-w eakening cont rol
cations already. In 1990' s, many at t empt s have becomes easier because the st at or flux linkage can
been m ade to implem ent t he idea of the DT C of in- be controlled direct ly in t he DT C syst em of a
[ 3]
duction to PM SM , how ever , the current con- PM SM ; sensorless cont rol becom es possible be-
trollers w ere not eliminated in these st rategies and cause t he met hod does not need accurate rot or posi-
could not cont rol t he torque direct ly by volt ag e tion inf ormat ion. In recent y ears, the m odif ied
[ 1]
space vect ors . Only the DT C t heory of PM SM st rat egy of the DT C sy stem of P MSM , w hich is
proposed in 1997 has t he same advant ag es as t he named Space Vector Modulat ion ( SVM ) , has been
[ 2]
DT C of an induction machine . Not just so, st udied further to reduce the t orque ripple [ 4] . T his
[ 2]
is a st rat egy t o produce mult iple volt age space vec- rived
tors in t he sampling int erval. For convenience , T = 3 p[ D ( ix sin + iy cos ) -
this st rat eg y is called SVM -DT C, and the t radi- 2
tional st rateg y, w hich produces only one volt ag e 3
Q ( ix cos - iy sin ) ] = p s iy ( 1)
2
space vect or , is called Basic DT C . How ever , t he
dT 3p s
DT C syst em of PMSM has many basic theoret ical = [ 2 f L Q cos -
dt 4L D L Q
problem s t hat hav e not been clarif ied yet. F or ex- 3p s
am ple, what kind of role exact ly do t he zero volt- 2 s ( L Q - L D ) cos2 ] = [ 2 f cos -
4L D
ag e space v ect ors play on t he DT C system of 2 s ( 1 - L D / L Q) cos2 ] ( 2)
PM SM ? It show s clearly in Ref . [ 2] t hat zero volt- w here p is the Number of pole pairs; s and f are
ag e space vectors should not be used in the DT C t he st at or flux linkag e and rot or flux linkag e; D
syst em of PM SM w hen Basic DT C is adopt ed; and Q are t he components of the st at or flux link-
otherw ise, t he system cannot w ork properly . So , ag e on t he ax is of D and Q; ix and iy are the com-
there are no zero voltage space vectors in t he corre- ponent s of t he axis of x and y . T he load angle is
sponding sw itch table but six ot her volt ag e space t he ang le bet ween t he stat or f lux s and f . Here,
vectors. How ever, for t he SVM-DT C, w hy does f = constant , because the rotor is PM ex cit ed.
the syst em run in order when using t he zero volt- L D , L Q are D-ax is and Q-ax is inductance respec-
ag e space vect ors? Certainly, some abnormal st at us
tively.
could be emerged w hile debug ging t he SVM -DT C
Eq. ( 2) implies t hat t he torque increases with
control program. Is it because of t he zero volt ag e
t he increase in subject t o som e conditions. By
space vect ors? T herefore , w hat t he zero volt ag e changing quickly, the t orque can be changed
space vectors act as in the DT C sy stem of PM SM
quickly t oo.
is one import ant theoret ical problem. If t his prob-
In fact , any change consists of tw o part s:
lem is not solved, it cannot be said t hat a perf ect
angular change s of s and ang ular change f of
theory on t he DT C of a PMSM is established . f.
T he sensorless cont rol is an import ant t ech-
= s + f ( 3)
nique. In the F ield Orient ed Cont rol sy stem of
can be cont rolled by select ing the proper
s
PM SM , the sensorless cont rol scheme has been
volt age space vect ors. s = 0, w hen zero volt ag e
show n up in literat ure , while , in the DT C sy stem ,
space vectors are select ed.
it has just began t o be st udied. DT C does not need
f is due t o the motion of t he rotor. T he
accurate rot or position information, w hich leads to
fast er t he rotor rotat es, t he larger t he f is. If t he
much easier im plement of sensorless control in t he
rotat ing speed is zero, f = 0.
DT C than in the Field Orient ed Cont rol of
PM SM . 2 Effect of the Zero Voltage
T his paper w ill carry out deeply research f rom Space Vectors
the aspects of basic t heory of DT C of PMSM and
the sensorless cont rol, etc; at t he same t ime, a ra- = s + f = ang ( Ui T s ) - !f T s ( 4)
tio of w ide-range speed adjust ment of 1∶100 is re- w here Ui is a v olt age space v ect or; T s is sampling
alized in t he experim ent device. int erval. If zero voltage space vectors are selected,
t hen it is seen t hat = f = - !f T s . T his m eans
1 Basic T heory of DT C of PM SM
t hat w ill decrease and hence the developed torque
If controlling s , let s = const ant , and ne- w ill be reduced, w hich is exact ly t he sam e as in t he
glect ing the st at or resist ance, t he t orque of t he induct ion machine syst em . T hus, it should be ac-
PM SM and it s diff erent ial coeff icient can be de- cepted naturally t hat if t he cont rol mode of the in-
© 1994-2010 China Academic Journal Electronic Publishing House. Open access under CC BY-NC-ND license. http://www.cnki.net
Direct T orque Cont rol Syst em and Sensorless T echnique of
M ay 2003 ・ 99・
Permanent M agnet S yn chronous M ot or
duction machine is adopt ed, the syst em would also Only w hen zero voltage space vectors are eliminat-
w ork properly . And t hen , the cont rol switch table ed , can t he motor w ork properly , t hat is t o replace
for t he positive direction operation is show n in T able 1 w it h T able 2. T he condit ion of t he neg a-
T able 1. Ref . [ 2] indicat es t hat the syst em w ill be tive direction is similar t o that of the posit ive direc-
oft en in a prot ect ed condition and operat es out of tion, w hich has been discussed above .
order if P MSM is under the cont rol of t his t able .
Tabl e 1 The switch tabl e for the positive direction operation
∀ , #, ∃( N) ∃( 1) ∃( 2) ∃( 3) ∃( 4) ∃( 5) ∃( 6)
#= 1 U 2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0)
∀ = 1
#= 0 U 7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0)
#= 1 U 3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0)
∀ = 0
#= 0 U 0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1)
[ 5] .
The t able is exactly t he same as t he one in t he induct ion mot or
Table 2 The switch table for the positive direction operation without using zero voltage space vectors
∀ , #, ∃( N) ∃( 1) ∃( 2) ∃( 3) ∃( 4) ∃( 5) ∃( 6)
#= 1 U 2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0)
∀ = 1
#= 0 U 6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1)
#= 1 U 3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0)
∀ = 0
#= 0 U 5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1)
In T able 1 and T able 2, ∀ and # are t he out- 100%s, only equals - 1. 8°
. If driving a heavy
put s of the hyst eresis controller for t he flux linkag e load, is about 90°
, so t hat f / = 2% , t here-
and torque, respectively . If ∀ = 1, then t he actual fore, change of is very small. If !f = 300 r/ m in,
flux linkage is smaller t han the ref erence value. f / = 0. 2% only. Due t o t his reason, t he
T he same is true f or the torque. ∃( 1) -∃( 6) are region change of torque caused by f is also very small.
[ 2, 5]
numbers f or t he st at or f lux linkage positions .
On t he ot her hand, according t o t he ex peri-
U0-U7 are t he volt age space vect ors.
mental result , average change of set of f by t he
T herefore, Ref . [ 2] concludes t hat zero volt-
non -zero volt ag e space vect ors in sampling interval
ag e space vect ors w ork dif ferent ly in t he induct ion
T s , i. e. s , becom es about 9°
-18°
, which is 10-
machine and PM SM , and zero voltage space vec-
100 times t hat of f . T hus, the zero volt ag e
tors cannot be used in the PM SM . Ex planat ion
space vectors in t he DT C sy stem of a PM SM hold
cannot be given at t hat t im e, but experiment
t he t orque rat her than decrease it . T his is t rue on-
show s it clearly .
ly in t he case t hat the rot at ing speed is not too
However , in recent years, zero voltage space
high. If t he speed ex ceeds 10 000 rev/ min, de-
vectors have been used again nat urally w ith sat isf y-
creased t orque cont ribut ed by the zero volt ag e
ing experimental result s when SVM -DT C st rategy
space vect ors w ill cause more t han 6°of chang e in
is studied further . Why do bot h t he experim ent s
come t o t he contradictory conclusion? For the sake during T s of 100 %s. T heref ore t he decrease in
of the im provement of t he DT C t heory in PM SM , t orque cont ribut ed by t he zero volt age space vec-
it is necessary t o make clear w hat role zero voltage tors should be considered .
space vect ors play on t he DT C syst em of PM SM. 3 A Novel Cont rol Strategy of
s and f should have t o be calculat ed care-
DT C of P M SM
fully in order to make clear the role of the zero
volt age space vectors in sy nchronous m ot ors. It Considering t hat the zero volt age space vectors
can be seen t hat w hen t he rot or speed is less t han, have t he ability t o hold t he f unct ion holding
say , 5000 r / min, f is so small t hat it can be ne- t orque. T his novel st rategy including zero volt ag e
glect ed . F or example , if !f = 3000 r / min , T s = space vectors is show n below
© 1994-2010 China Academic Journal Electronic Publishing House. Open access under CC BY-NC-ND license. http://www.cnki.net
・ 100・ HU Y u-w en, TIA N Cun, Y O U Zhi-qing , T ang Li-xin, M . F . R ahm an CJA
*
1 T e - Te > T/2 w here T is the range of t he allow ed torque rip-
if #= * *
0 T e - Te ≤ T/ 2 ple; T e is t orque reference; T e is the real torque .
*
- 1 T e - Te < - T/ 2 T hen t he sw itch table can be obtained as T able 3.
Tabl e 3 The switch tabl e f or the positive direction operation using zero vol tage space vectors
∀ , #, ∃( N) ∃( 1) ∃( 2) ∃( 3) ∃( 4) ∃( 5) ∃( 6)
#= 1 U 2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0)
∀ = 1 #= 0 U 7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0)
#= - 1 U 6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1)
#= 1 U 3 ( 0 1 0) U4 ( 0 1 1) U5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0)
∀ = 0 #= 0 U 0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1) U0 ( 0 0 0) U7 ( 1 1 1)
#= 0 U 5 ( 0 0 1) U6 ( 1 0 1) U1 ( 1 0 0) U2 ( 1 1 0) U3 ( 0 1 0) U4 ( 0 1 1)
for D = U D - i DR s
Q = U Q - i QR s
then
( U Q - i QR s ) - ( U D - iD R s )
!r = !s =
D Q
2 F ig . 1 T he block diagr am of a PM SM drive with DT C
D + 2Q
© 1994-2010 China Academic Journal Electronic Publishing House. Open access under CC BY-NC-ND license. http://www.cnki.net
Direct T orque Cont rol Syst em and Sensorless T echnique of
M ay 2003 ・ 101・
Permanent M agnet S yn chronous M ot or
DSP T MS320C32 is used for real t im e cont rol of zero voltage space vectors. It is proved correct that
the PM SM . t he response t ime of a t orque chang e f rom 5N m
Fig. 2 is t he simulation result s of the torque t o - 5N m is only 2ms, which is thoroughly sim i-
ripple under the control st rat eg y including and ex- lar t o t he results of simulation.
cluding zero voltage space vect ors , that is, Fig . 2
( a ) corresponds to t he control method in T able 2
and Fig. 2( b) to that in T able 3.
© 1994-2010 China Academic Journal Electronic Publishing House. Open access under CC BY-NC-ND license. http://www.cnki.net