磁场定向控制
磁场定向控制
i
i
磁场定向控制框图
-i B
1. Clarke 变换
i α=i A ⎧⎪
⎨i =1i +2i βA B ⎪⎩
数学实现:i α=i A
tmp 1=0. 577331543*i A tmp 2=1. 1546631*i B i β=tmp 1+tmp 2 输入参数:i A 输出参数:i α
i B
i β
1tmp 2 中间参数:tmp
2. Park 变换
⎧i d =i αcos θe +i βsin θe
⎨
i =-i sin θ+i cos θαe βe ⎩q
数学实现:tmp 1=i α*COSTHETAE tmp 2=i β*SINTHETAE i d =tmp 1+tmp 2 tmp 1=i α*SINTHETAE tmp 2=i β*COSTHETAE i q =tmp 2-tmp 1 输入参数:i α输出参数:i d
i β
SINTHETA COSTHETA
i q
中间参数:tmp 1tmp 23. Park 逆变换
⎧u α=u d cos θe -u q sin θe ⎨ u =u sin θ+u cos θd e q e ⎩β
数学实现:tmp 1=u d *COSTHETAE tmp 2=u q *SINTHETAE u α=tmp 1-tmp 2 tmp 1=u d *SINTHETAE tmp 2=u q *COSTHETAE u β=tmp 1+tmp 2 输入参数:u d 输出参数:u α
u q
SINTHETA COSTHETA
u β
1tmp 2 中间参数:tmp
4. 电压前馈解耦
' *
u d =u d -ωe L q i q +R s i d
' * u q =u q +ωe L d i d +ωe ψf +R s i q
数学实现:tmp 1=L q *i q
tmp 2=R *s *i d
tmp 3=ωe *tmp 1 tmp 4=tmp 2-tmp 3
u ' d =u d +tmp 4
tmp 1=L d *i d tmp 2=tmp 1+ψf tmp 3=ωe *tmp 2 tmp 2=R *
s *i q tmp 4=tmp 2+tmp 3 u '
q =u q +tmp 4 输入参数:ωe L d L q R s i d i q
i *
d 输出参数:u d
u q
中间参数:tmp 1tmp 2tmp 3tmp 4
5. Q 轴定子电流调节器
u '
q (t ) =K Pq e q (t ) +K Iq ⎰e q (t ) dt
e *
q (t ) =i q
(t ) -i q (t )
数学实现:e *
q =i q -i q tmp 1=K Pq *e q tmp 2=u Iq +tmp 1
i *q ψu '
f d u ' q
if if
tmp 2>u max q tmp 2
then then
' u q =u max q ' u q =u min q
otherwise
'
u q =tmp 2
'
tmp 3=u q -tmp 2
tmp 4=K Cq *tmp 3 tmp 1=K ITq *e q
1+tmp 4 tmp 2=tmp
u Iq =u Iq +tmp 2 输入参数:K Pq 输出参数:u q
'
K ITq u Iq
K Cq
*
i q i q
u max q u min q u Iq
中间参数:tmp 1tmp 2tmp 3tmp 46. D 轴定子电流调节器
e q
'
u d (t ) =K Pd e d (t ) +K Id ⎰e d (t ) dt
e d (t ) =i (t ) -i d (t )
*数学实现:e d =i d -i d
*
d
tmp 1=K Pd *e d tmp 2=u Id +tmp 1 if if
tmp 2>u max d tmp 2
then then
'
u d =u max d ' u d =u min d
otherwise
'
'
u d =tmp 2
tmp 3=u d -tmp 2 tmp 4=K Cd *tmp 3 tmp 1=K ITd *e d
1+tmp 4 tmp 2=tmp
u Id (k ) =u Id +tmp 2 输入参数:K Pd
'
输出参数:u d
K IT d K Cd
*i d
i d u max d u min d u Id
u Id
e d
中间参数:tmp 1tmp 2tmp 3tmp 4
7. Q 轴定子电流调节器参数计算(简化型)
K Pq =
L q 2T f
K Iq =
R S
2T f
R S
T ctrl 2T f
K ITq =K Iq T ctrl =
K Cq =
K ITq K Pq
=
R S
T ctrl L q
L q 2*T f
数学实现:K Pq =
K Iq =
R S
2*T f
tmp =R S *T ctrl K ITq =
tmp
2T f tmp
L q
K Cq =输入参数:L q 输出参数:K Pq 中间参数:tmp
R S T f T ctrl
K Iq K ITq K Cq
8. D 轴定子电流调节器参数计算(简化型)
K Pd =
L d
2T f R S
2T f
R S
T ctrl 2T f
K Id =
K ITd =K Id T ctrl =
K Cd =
K ITd R S
=T ctrl K Pd L d
数学实现:K Pd =
L d
2*T f R S
2*T f
K Id =
tmp =R S *T ctrl K ITd =
tmp
2T f
tmp
L d
K Cd =输入参数:L d 输出参数:K Pd 中间参数:tmp
R S K Id
T f T ctrl K ITd
K Cd