基于自适应二阶终端滑模的SRM直接转矩控制

刘勇智; 鄯成龙; 林博闻; 宋金龙

doi:10.13700/j.bh.1001-5965.2017.0781

基于自适应二阶终端滑模的SRM直接转矩控制

doi: 10.13700/j.bh.1001-5965.2017.0781

空军工程大学航空工程学院, 西安 710038

基金项目:

国家自然科学基金 61304120

详细信息

作者简介:
刘勇智男, 博士, 教授, 博士生导师。主要研究方向:航空电气工程

鄯成龙男, 硕士研究生。主要研究方向:开关磁阻电机直接转矩控制系统

通讯作者:
刘勇智, E-mail:kathrynkent@126.com

中图分类号: V242.44
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出版历程
- 收稿日期: 2017-12-19
- 录用日期: 2018-03-23
- 网络出版日期: 2018-10-20

Direct torque control of switched reluctance motor based on adaptive second-order terminal sliding mode

Aeronautics Engineering College, Air Force Engineering University, Xi'an 710038, China

Funds:

National Natural Science Foundation of China 61304120

More Information

Corresponding author: LIU Yongzhi, E-mail:kathrynkent@126.com

摘要

摘要:
传统的直接转矩控制（DTC）可以在一定程度上减小开关磁阻电机（SRM）的转矩脉动，但是在换相区的转矩脉动抑制效果较差，并且传统的PI控制存在超调量大、鲁棒性差、抗负载扰动能力有限的缺点。因此，设计了基于负载转矩变化率自适应估计的二阶终端滑模转速控制器，在有限时间内使得系统状态迅速收敛到平衡点，实现无需已知扰动上界快速输出给定转矩。此外，对传统的扇区规则进行改进以优化电压矢量的选取，减少由于换相产生的转矩脉动。仿真和实验结果表明：改进后的DTC系统拥有良好的调速控制性能，抗干扰能力强，鲁棒性好，能进一步减少转矩脉动。
- 直接转矩控制(DTC) /
- 开关磁阻电机(SRM) /
- 二阶终端滑模 /
- 扇区细分 /
- 自适应估计 /
- 鲁棒性
Abstract:
The torque ripple of switched reluctance motor (SRM) can be reduced to some extent by traditional direct torque control (DTC), but the torque ripple suppression effect is poor in the commutation zone. And the traditional PI control has disadvantages of large overshoot, poor robustness and limited anti-disturbance ability. Therefore, a second-order terminal sliding speed controller based on adaptive estimation of load torque change rate was designed, which made the state of the system quickly converge to the equilibrium point within a finite time. The controller will output the reference torque without the upper bound of the perturbation. In addition, an improved sector segmentation method was used to optimize the voltage vector selection principle in order to reduce the torque ripple which resulted from the commutation. The simulation and experimental results show that the improved DTC system has good speed and control characteristics, strong anti-interference capability and good robustness, which can further reduce the torque ripple.
- direct torque control (DTC) /
- switched reluctance motor (SRM) /
- second-order terminal sliding mode /
- sector segmentation /
- adaptive estimation /
- robustness

HTML全文

图 1 SRM-DTC系统框图

Figure 1. Block diagram of SRM-DTC system

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图 2 相绕组功率管开关状态设定

Figure 2. Switch state setting of phase winding power tube

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图 3 传统的电压矢量选取方式

Figure 3. Traditional voltage vector selection method

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图 4 扇区细分方法

Figure 4. Sector segmentation method

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图 5 矩角特性和磁链特性

Figure 5. Torque-angle and flux-linkage characteristics

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图 6 3种控制方式转速和输出转矩曲线对比

Figure 6. Comparison of curves of speed and output torque of three control modes

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图 7 磁链轨迹

Figure 7. Flux-linkage track

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图 8 输出转矩波形

Figure 8. Output torque waveform

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图 9 转速为500 r/min时转速和输出转矩波形

Figure 9. Speed and output torque waveform at 500 r/min

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图 10 转速为1 500 r/min时转速和输出转矩波形

Figure 10. Speed and output torque waveform at 1 500 r/min

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表 1 电压矢量选取规则

Table 1. Voltage vector selection principle

转矩和磁链变化	电压矢量
T↑, ψ↑	V_N+1
T↑, ψ↓	V_N+2
T↓, ψ↑	V_N-1
T↓, ψ↓	V_N-2

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表 2 合成磁链幅值变化

Table 2. Change of synthetic flux-linkage amplitude

θ/(°)	θ_vψ1/(°)	θ_vψ2/(°)	加V₂后磁链幅值变化量/Wb	加V₃后磁链幅值变化量/Wb
0	90	150	0	－0.866x
10	80	140	0.174x	－0.766x
20	70	130	0.342x	－0.643x
30	60	120	0.5x	－0.5x
40	50	110	0.643x	－0.342x
50	40	100	0.766x	－0.174x
60	30	90	0.866x	0
注：θ_vψ1为电压矢量V₂与磁链的夹角; θ_vψ2为电压矢量V₃与磁链的夹角。

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表 3 基于扇区细分方法优化电压矢量选取

Table 3. Voltage vector selection optimization based on sector segmentation method

变化需求		区域N(N=1, 2, …, 6)
变化需求		NA	NB	NC
ψ↑	T↑ T↓	V_N V_N－1	V_N+1 V_N－1	V_N+1 V_N
ψ↓	T↑ T↓	V_N+2 V_N+3	V_N+2 V_N+4	V_N+3 V_N+4

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