鎽�  瑕�锛氶嚌灏�(du矛)鏁欏(xu茅)閬�(gu貌)绋嬩腑姘哥鍚屾闆绘(j墨)(permanent magnet synchronous motor, PMSM)鐩存帴杞�(zhu菐n)鐭╂帶鍒�(direct torque control, DTC)鐞嗚珫涓嶆槗鐞嗚В锛屽缓妯″洶闆ｇ瓑鍟�(w猫n)椤�锛岃┏绱�(x矛)浠嬬垂浜哖MSM DTC绯荤当(t菕ng)鍚勫€�(g猫)鐠�(hu谩n)绡€(ji茅)鐨凪ATLAB/Simulink寤烘ā鏂规硶銆傚熀浜嶱MSM鍦�αβ鍧愭(bi膩o)绯讳笅鐨勬暩(sh霉)瀛�(xu茅)妯″瀷锛屽皣閲囨ǎ鍒扮殑涓夌浉瀹氬瓙闆绘祦銆侀浕澹撻€氶亷(gu貌)鍧愭(bi膩o)璁婃彌閫佸叆纾侀張銆佽綁(zhu菐n)鐭╀及绠楁ā鍨�锛岀祼(ji茅)鍚堥浕姗�(j墨)杞�(zhu菐n)瀛愪綅缃�锛岀閺堝拰杞�(zhu菐n)鐭╄宸俊铏�(h脿o)鍚堢悊閬告搰閫嗚畩鍣ㄧ殑闁�(k膩i)闂�(gu膩n)鐭㈤噺锛屼互閬�(d谩)鍒伴浕姗�(j墨)瑾�(di脿o)閫熺殑鐩殑銆傚湪鏀硅畩杞�(zhu菐n)閫熷拰绐佸姞璨�(f霉)杓夌殑鎯呮硜涓嬪皪(du矛)绯荤当(t菕ng)閫�(j矛n)琛屼豢鐪�锛岀祼(ji茅)鏋滆〃鏄�锛岃┎绯荤当(t菕ng)鍏锋湁寰堝ソ鐨勮綁(zhu菐n)閫�銆佺閺�銆佽綁(zhu菐n)鐭╅熆鎳�(y墨ng)锛屽緸鑰岄(y脿n)璀変簡瑭叉ā鍨嬬殑鏈夋晥鎬�锛屽悓鏅�(sh铆)涔熺偤PMSM DTC鐨勮粺纭欢瑷�(sh猫)瑷�(j矛)鎻愪緵浜嗙悊璜栧熀绀�(ch菙)銆�

闂�(gu膩n)閸靛瓧: PMSM锛汥TC锛涗豢鐪�

Abstract: In order to deal with these problems about permanent magnet synchronous motor (PMSM) direct torque control (DTC) theory in the teaching process, which is difficult to understand, modeling difficulties and other issues, all aspects of the DTC system MATLAB / Simulink modeling method is introduced in detail. Based on the mathematical model in the αβ coordinate system, sampling to the three-phase stator current and voltage are admitted the flux and torque estimation model through the coordinate transformation, it is a reasonable choice of the inverter switching vector, combined with the rotor position, flux and the torque error signal, to achieve the purpose of the motor speed. The simulation is carried out in the case of changing the speed and suddenly increasing in load, the results show that the DTC system gives a good response to the rotation, flux and torque, which show that the model is effective, and the method provides a base for software and hardware design of an actual PMSM DTC.

Key words: PMSM; DTC; Simulation

寮曡█

闅ㄨ憲闆诲姏闆诲瓙鎶€琛�(sh霉)銆佸井鍨嬭▓(j矛)绠楁(j墨)鎶€琛�(sh霉)銆佺█鍦熸案纾佹潗鏂欏拰鎺у埗鐞嗚珫鐨勯閫熺櫦(f膩)灞�锛孭MSM鍏锋湁楂旂⿳灏忋€侀噸閲忚紩銆佹晥鐜囬珮銆佽綁(zhu菐n)鍕�(d貌ng)鎱ｉ噺灏�銆佸彲闈犳€ч珮绛夊劒(y艒u)榛�(di菐n)宸茬嵅寰楄秺渚�(l谩i)瓒婂唬娉涚殑鎳�(y墨ng)鐢紝灏嘍TC绛栫暐鎳�(y墨ng)鐢ㄤ簬PMSM鎺у埗涓�锛屼互鎻愰珮闆绘(j墨)鐨勫揩閫熻綁(zhu菐n)鐭╅熆鎳�(y墨ng)锛屾垚鐐虹爺绌惰€呴棞(gu膩n)娉ㄧ殑瑾查銆�

鐩存帴杞�(zhu菐n)鐭╂帶鍒剁悊璜栦簬20涓栫磤(j矛)80骞翠唬鐢卞痉鍦�(gu贸)瀛�(xu茅)鑰匨(j矛n).Depenbrock鍜屾棩鏈(xu茅)鑰匢.Takahashi棣栧厛閲濆皪(du矛)鐣版闆诲嫊(d貌ng)姗�(j墨)鎻愬嚭锛�90骞翠唬鐢盳hong.L,RahmanMF,Hu.YW绛夊(xu茅)鑰呮彁鍑篜MSMDTC鐞嗚珫[6]銆傚叾鍩烘湰鎬濇兂鏄皣闆绘(j墨)绲﹀畾杞�(zhu菐n)閫熷拰瀵�(sh铆)闅涜綁(zhu菐n)閫熺殑瑾ゅ樊锛岀稉(j墨ng)PI瑾�(di脿o)绡€(ji茅)鍣ㄨ几鍑轰綔鐐鸿綁(zhu菐n)鐭╃殑绲﹀畾淇¤櫉(h脿o)锛涘悓鏅�(sh铆)绯荤当(t菕ng)鏍规摎(j霉)妾㈡脯(c猫)鐨勯浕姗�(j墨)涓夌浉闆绘祦鍜岄浕澹撳€硷紝鍒╃敤纾侀張妯″瀷鍜岃綁(zhu菐n)鐭╂ā鍨嬪垎鍒ヨ▓(j矛)绠楅浕姗�(j墨)鐨勭閺堝拰杞�(zhu菐n)鐭╃殑澶у皬锛岃▓(j矛)绠楅浕姗�(j墨)杞�(zhu菐n)瀛愮殑浣嶇疆銆侀浕姗�(j墨)绲﹀畾纾侀張鍜岃綁(zhu菐n)鐭╃閺堣垏瀵�(sh铆)闅涘€肩殑瑾ゅ樊锛涙渶鍚庢牴鎿�(j霉)瀹冨€戠殑鐙€鎱�(t脿i)閬告搰閫嗚畩鍣ㄧ殑闁�(k膩i)闂�(gu膩n)闆诲鐭㈤噺锛屼娇闆绘(j墨)鑳芥寜鎺у埗瑕佹眰瑾�(di脿o)瑙ｈ几鍑鸿綁(zhu菐n)鐭�锛屾渶绲傞仈(d谩)鍒拌(di脿o)閫熺殑鐩殑銆傜敱浜庨浕姗�(j墨)杞�(zhu菐n)閫熷拰纾侀張鐨勮▓(j矛)绠楀皪(du矛)鎺у埗绯荤当(t菕ng)鎬ц兘褰遍熆杓冨ぇ锛岀偤浜嗙嵅寰楁豢鎰忕殑杞�(zhu菐n)鐭╄▓(j矛)绠�锛屼豢鐪熺爺绌舵槸鏈€鏈夋晥鐨勫伐鍏峰拰鎵嬫銆�

鏈枃鍒╃敤MATLAB/Simulink浠跨湡宸ュ叿灏�(du矛)PMSMDTC绯荤当(t菕ng)閫�(j矛n)琛屼豢鐪�锛岃┏绱�(x矛)浠嬬垂浜咲TC绯荤当(t菕ng)涓悇鎺у埗鍠厓鐨勬惌寤�锛岀偤PMSM浜ゆ祦浼烘湇绯荤当(t菕ng)鏁�(sh霉)瀛楀寲鎺у埗鐨勫(sh铆)鐝�(xi脿n)鎻愪緵浜嗙悊璜栧熀绀�(ch菙)銆�

1姘哥鍚屾闆绘(j墨)鐨勭洿鎺ヨ綁(zhu菐n)鐭╂帶鍒�

1.1姘哥鍚屾闆绘(j墨)鐨勬暩(sh霉)瀛�(xu茅)妯″瀷

灏�(du矛)PMSM鍋氬涓嬪亣瑷�(sh猫)锛�

1. 瀹氬瓙绻炵祫涓夌浉灏�(du矛)绋�锛屽悇鐩哥篂绲勮桓绶氬湪绌洪枔涓婁簰宸�120闆昏搴�锛�
2. 杞�(zhu菐n)瀛愪笂娌�(m茅i)鏈夐樆灏肩篂绲勶紝姘哥楂旀矑(m茅i)鏈夐樆灏间綔鐢�锛�
3. 蹇界暐纾佽矾椋藉拰銆佺婊拰娓︽祦褰遍熆锛屽彲鐢ㄧ枈鍔犲師鐞嗛€�(j矛n)琛屽垎鏋�锛�
4. 鍙嶉浕鍕�(sh矛)姝ｅ鸡锛屽畾瀛愰浕娴佸湪姘ｉ殭涓彧鐢�(ch菐n)鐢熸寮﹀垎甯冪鍕�(sh矛)锛屽拷鐣ラ珮娆¤娉€€�

寰�α-β鍧愭(bi膩o)绯讳笅PMSM闆诲鏂圭▼鍒嗗垾鐐�

绉诲悜骞剁⿳鍒嗗緱纾侀張鏂圭▼鐐�

闆荤杞�(zhu菐n)鐭╂柟绋嬬偤

闆诲姏鎷栧嫊(d貌ng)绯荤当(t菕ng)閬�(y霉n)鍕�(d貌ng)鏂圭▼

寮忎腑锛�鐐哄畾瀛愮閺�α銆�β杌稿垎閲�锛�鐐哄畾瀛愰浕娴�α銆�β杌稿垎閲忥紱鐐哄畾瀛愰浕澹撹桓鍒嗛噺锛�鐐哄畾瀛愮篂绲勯浕闃�锛沺鐐哄井鍒嗙畻瀛愶紱鐐鸿綁(zhu菐n)瀛愭(j墨)姊拌閫熷害锛�鐐洪浕纾佽綁(zhu菐n)鐭╋紱鐐洪浕姗�(j墨)妤靛皪(du矛)鏁�(sh霉)锛�鐐鸿矤(f霉)杓夎綁(zhu菐n)鐭�锛�J鐐洪浕姗�(j墨)杞�(zhu菐n)鍕�(d貌ng)鎱ｉ噺锛�B鐐虹矘婊郴鏁�(sh霉)銆�

1.2鐩存帴杞�(zhu菐n)鐭╂帶鍒剁郴绲�(t菕ng)

DTC绯荤当(t菕ng)鍘熺悊妗嗗湒濡傚湒1鎵€绀猴紝瀹冪敱闆诲婧愰€嗚畩鍣�銆丳MSM銆侀浕澹撹▓(j矛)绠�銆侀噰妯ｉ浕娴�3s/2s銆佺閺堜及绠�銆佽綁(zhu菐n)鐭╀及绠椼€佽綁(zhu菐n)瀛愪綅缃及绠�銆丳I瑾�(di脿o)绡€(ji茅)鍣�銆佹化鐠�(hu谩n)姣旇純鍣�銆侀枊(k膩i)闂�(gu膩n)琛ㄧ瓑妯″绲勬垚銆�

鍦�1     鐩存帴杞�(zhu菐n)鐭╂帶鍒剁郴绲�(t菕ng)妗嗗湒

1.3 闆诲鐭㈤噺

涓夌浉闆诲鍨嬮€嗚畩鍣ㄥ強闆诲嫊(d貌ng)姗�(j墨)閫ｆ帴鍘熺悊绲�(ji茅)妲�(g貌u)绨�(ji菐n)鍦栧鍦�2鎵€绀�锛岀洿娴佹瘝绶氶浕澹撶偤銆傚叚鍊�(g猫)闁�(k膩i)闂�(gu膩n)绠″垎鍒ョ敤鐞嗘兂闁�(k膩i)闂�(gu膩n)1~6绲勬垚a銆乥銆乧涓夊€�(g猫)姗嬭噦锛屾瘡鍊�(g猫)姗嬭噦涓婁笅闁�(k膩i)闂�(gu膩n)绠′簰閹栧皫(d菐o)閫�锛屽垎鍒ョ敤闁�(k膩i)闂�(gu膩n)璁婇噺渚�(l谩i)琛ㄧずa銆乥銆乧涓夊€�(g猫)姗嬭噦闁�(k膩i)闂�(gu膩n)绠￠枊(k膩i)闂�(gu膩n)鎯呮硜銆�

鐩告噳(y墨ng)鐨勯€嗚畩鍣ㄨ几鍑洪浕澹撶┖闁撶煝閲忓彲琛ㄧず鐐�

鍋囪ō(sh猫)鍏€�(g猫)闁�(k膩i)闂�(gu膩n)绠′綔閫欐ǎ涓€鍊�(g猫)鍛ㄦ湡寰挵(hu谩n)锛�456銆�561銆�612銆�123銆�234銆�345锛屽墖閫嗚畩鍣ㄤ笁鐩稿叡鏈�8绋媭鎱�(t脿i)绲勫悎锛屽叾涓�6鍊�(g猫)闈為浂闆诲鐭㈤噺銆�銆�銆�銆�銆�鍜屽叐鍊�(g猫)闆堕浕澹撶煝閲�銆�鍒嗗竷濡傚湒3鎵€绀�銆傚緸閫嗚畩鍣ㄧ殑姝ｅ父宸ヤ綔渚�(l谩i)鐪�锛屽墠鍏ó鏄湁鏁堢殑锛屽悗2绋媭鎱�(t脿i)鏄劇(w煤)鏁堢殑锛屽洜?y脿n)妾獲鏅�(sh铆)閫嗚畩鍣ㄥ苟娌�(m茅i)鏈夐浕澹撹几鍑恒€�

鍦�2    涓夌浉闆诲鍨嬮€嗚畩鍣ㄧ祼(ji茅)妲�(g貌u)绨�(ji菐n)鍦�                     鍦�3    杓稿嚭鐨勭┖闁撻浕澹撶煝閲�

2 绯荤当(t菕ng)鐨凷imulink浠跨湡绲勫缓

鏈豢鐪熺郴绲�(t菕ng)涓昏鍖呮嫭閫熷害鐠�(hu谩n)PI瑾�(di脿o)绡€(ji茅)鍣�銆侀噰妯ｉ浕娴�3/2璁婃彌銆佸畾瀛愮閺堜及绠楋紙鍖呭惈闆诲瑷�(j矛)绠楋級銆佽綁(zhu菐n)鐭╀及绠椼€佸崁(q奴)娈靛垽鏂�銆侀枊(k膩i)闂�(gu膩n)琛ㄧ殑鍚堢悊閬告搰銆侀枊(k膩i)闂�(gu膩n)鐭㈤噺杓稿嚭鐨勫畾缇╃瓑瀛愭ā濉婄祫鎴愩€�

2.1 鍧愭(bi膩o)璁婃彌

鍦ㄥ(sh铆)闅涚殑鐩存帴杞�(zhu菐n)鐭╂帶鍒剁郴绲�(t菕ng)涓�锛岃兘閲囨ǎ鍒扮殑闆绘祦鏄浕姗�(j墨)鐨勪笁鐩搁浕娴�锛岄渶瑕侀€氶亷(gu貌)鍧愭(bi膩o)璁婃彌鎵嶈兘寰楀埌闇€瑕佺殑鍏╃浉闈滄鍧愭(bi膩o)绯讳笅鐨勫叐鐩搁浕娴佷互渚夸簬瑷�(j矛)绠�锛岄€欏氨闇€瑕佺敤鍒�3/2璁婃彌銆�

鍧愭(bi膩o)璁婃彌鍏紡濡備笅锛�

鍦�4     閲囨ǎ闆绘祦鐨�3/2璁婃彌

2.2 瀹氬瓙纾侀張鍜岃綁(zhu菐n)鐭╀及绠楁ā鍨�

PMSM瀹氬瓙涓夌浉闆诲鐢卞紡锛�7锛夎▓(j矛)绠楋細

鍏朵腑鏄枊(k膩i)闂�(gu膩n)鐙€鎱�(t脿i)鐭╅櫍銆�

鐢卞紡锛�2锛�銆侊紙3锛夊拰锛�7锛夊彲绲勫缓瀹氬瓙纾侀張鍜岃綁(zhu菐n)鐭╀及绠楁ā鍨嬪鍦�5鍜屽湒6銆�

鍦�5     瀹氬瓙纾侀張浼扮畻妯″瀷

鍦�6     杞�(zhu菐n)鐭╀及绠楁ā鍨�

2.3纾侀張骞呭€艰垏瑙掑害瑷�(j矛)绠楁ā鍨�

鐢卞叕寮忥紙8锛夊拰锛�9锛夊彲寰楃閺堝箙鍊煎拰瑙掑害瑷�(j矛)绠楁ā鍨嬪鍦�7鍜屽湒8鎵€绀�銆�

鍦�7   纾侀張骞呭€艰▓(j矛)绠楁ā鍨�                           鍦�8   杞�(zhu菐n)鐭╄▓(j矛)绠楁ā鍨�

2.4  鍗€(q奴)娈靛垽鏂锋ā鍨�

灏�(du矛)鐓�?q菒ng)D3锛屽仛浠ヤ笅鍒嗗崁(q奴)濡傝〃1鎵€绀�锛屽畾瀛愮閺�?zh菙n)鍣跺厠顙呰定^(q奴)娈靛彲浠ユ牴鎿�(j霉)纾侀張鍦�α-β鍧愭(bi膩o)涓婄殑鍒嗛噺閫�(j矛n)琛屽垽瀹氾紝鐢�鐨勬璨�(f霉)纰哄畾瀹氬瓙纾侀張?zh菙n)鍣跺悍鍗楃瑱?锛屽啀鐢卞紡?锛夋焙瀹氬畾瀛愮閺�?zh菙n)鍣跺悍鏈ㄥ敡w浣嶇疆锛屽(sh铆)鐝�(xi脿n)妯″濡傚湒9鎵€绀�銆�

琛�1    纾侀張鍗€(q奴)娈靛拰瑙掑害鐨勯棞(gu膩n)绯�

鍦�9     鍗€(q奴)娈靛垽瀹氭ā鍨�

2.5 杞�(zhu菐n)鐭╃閺堣宸俊铏�(h脿o)妯″瀷

鍦ㄨ綁(zhu菐n)鐭╂帶鍒剁郴绲�(t菕ng)涓�锛岃綁(zhu菐n)鐭╃郸瀹氱敱绲﹀畾杞�(zhu菐n)閫熼€氶亷(gu貌)PI瑾�(di脿o)绡€(ji茅)鍣ㄨ几鍑虹嵅寰楃殑锛岀閺堝拰杞�(zhu菐n)鐭╃殑瑾ゅ樊淇¤櫉(h脿o)閫氶亷(gu貌)婊挵(hu谩n)姣旇純鍣ㄨ垏鍙嶉鍥炰締(l谩i)鐨勫崁(q奴)娈靛€间竴璧烽€佺郸闁�(k膩i)闂�(gu膩n)鐭㈤噺琛紝閫氶亷(gu貌)鏌ヨ〃鐨勫舰寮忚几鍑烘墍闇€瑕佺殑闆诲鐭㈤噺銆�

鍦�10     杞�(zhu菐n)鐭┿€佺閺堣宸俊铏�(h脿o)妯″瀷                    鍦�11     閫熷害鐠�(hu谩n)PI瑾�(di脿o)绡€(ji茅)鍣�

2.6  闁�(k膩i)闂�(gu膩n)琛ㄩ伕鎿囨ā鍨嬪強鍏朵粬妯″瀷

鍦ㄧ洿鎺ヨ綁(zhu菐n)鐭╂帶鍒剁郴绲�(t菕ng)涓�锛岀暥(d膩ng)鏂藉姞闆诲鐭㈤噺澶捐澶т簬鏅�(sh铆)锛岀閺堝箙鍊兼笡??锛涚暥(d膩ng)鏂藉姞闆诲鐭㈤噺澶捐灏忎簬鏅�(sh铆)锛岀閺堝箙鍊煎鍔�銆傜暥(d膩ng)闆诲鐭㈤噺钀藉悗浜�鏅�(sh铆)锛岃綁(zhu菐n)鐭╂笡??锛涚暥(d膩ng)闆诲鐭㈤噺瓒呭墠浜�鏅�(sh铆)锛岃綁(zhu菐n)鐭╁鍔犮€傜従(xi脿n)鐢�銆�鍒嗗垾琛ㄧず闆绘(j墨)纾侀張鍜岃綁(zhu菐n)鐭╃殑瑾ゅ樊鐙€鎱�(t脿i)锛岀暥(d膩ng)绲﹀畾鍊兼瘮瀵�(sh铆)闅涘€煎ぇ鏅�(sh铆)鐙€鎱�(t脿i)鐐�1锛屽惁鍓囩媭鎱�(t脿i)鐐�0锛屽墖鐢�銆�鐨勭媭鎱�(t脿i)浠ュ強鍙嶉鍥炰締(l谩i)鐨勫崁(q奴)娈靛€间笁鑰呬究鍙寜琛�2閫�(j矛n)琛岄枊(k膩i)闂�(gu膩n)闆诲鐭㈤噺鐨勯伕鎿�銆傝〃2涓殑S鏄偤浜嗕究浜庡湪Simulink涓(sh铆)鐝�(xi脿n)鏌ヨ〃鑰岃ō(sh猫)缃殑涓€鍊�(g猫)璁婇噺锛屽叾涓�銆�

琛�2      DTC绯荤当(t菕ng)闁�(k膩i)闂�(gu膩n)琛�

鍦�12     闁�(k膩i)闂�(gu膩n)閬告搰琛�銆侀€嗚畩鍣ㄥ強闆绘(j墨)妯″瀷

鍏朵腑Lookup Table(2-D)鍙冩暩(sh霉)瑷�(sh猫)缃垎鍒ョ偤锛�

Row index input values:  int16([1,2,3,4]);   Column index input values: uint16([1,2,3,4,5,6]);

Table data: uint16(reshape([1,2,5,6,5,3,4,2,4,1,6,3,6,5,2,1,2,4,3,5,3,6,1,4],4,6));

Embedded MATLAB Function涓畾缇╅浕澹撻枊(k膩i)闂�(gu膩n)鐭㈤噺M瑾�(y菙)瑷€鐐猴細

function y = fcn(u)

y = [ 0; 0; 0; 0; 0; 0];

switch u

         case 1

             y= [ 0; 1; 0; 1; 1; 0]; %灏�(du矛)鎳�(y墨ng)闆诲鐭㈤噺

         case 2

             y= [ 0; 1; 1; 0; 0; 1]; %灏�(du矛)鎳�(y墨ng)闆诲鐭㈤噺

         case 3

             y= [ 0; 1; 1; 0; 1; 0]; %灏�(du矛)鎳�(y墨ng)闆诲鐭㈤噺

         case 4

             y= [ 1; 0; 0; 1; 0; 1]; %灏�(du矛)鎳�(y墨ng)闆诲鐭㈤噺

         case 5

             y= [ 1; 0; 0; 1; 1; 0]; %灏�(du矛)鎳�(y墨ng)闆诲鐭㈤噺

         case 6

             y= [ 1; 0; 1; 0; 0; 1]; %灏�(du矛)鎳�(y墨ng)闆诲鐭㈤噺

 end

3 浠跨湡绲�(ji茅)鏋滃強鍒嗘瀽

鏈郴绲�(t菕ng)鍙冩暩(sh霉)瑷�(sh猫)瀹氱偤锛氶噰妯ｆ檪(sh铆)闁撶偤10鐩寸窔姣嶇窔闆诲鐐�310V锛屾鍗€(q奴)鏅�(sh铆)闁撶偤2ms锛岄檺骞呭€肩偤[-3,+3],闆绘(j墨)妤靛皪(du矛)鏁�(sh霉)瀹氬瓙闆婚樆绲﹀畾纾侀張杞�(zhu菐n)鍕�(d貌ng)鎱ｉ噺绮樻化绯绘暩(sh霉)鐩�銆佷氦杌哥殑绛夋晥闆绘劅绲﹀畾杞�(zhu菐n)閫熺偤50rad/s,鍦╰=0s鏅�(sh铆)鍒婚浕姗�(j墨)绌鸿級鍟熷嫊(d貌ng)锛屽湪t=0.2s鏅�(sh铆)灏囩郸瀹氳綁(zhu菐n)閫熺獊鍔犲埌60rad/s锛屽湪t=0.3s绐佸姞0.7Nm鐨勮矤(f霉)杓夎綁(zhu菐n)鐭�锛屼豢鐪熸檪(sh铆)闁撶偤0.4s銆傞浕鍕�(d貌ng)姗�(j墨)杞�(zhu菐n)閫�銆佸畾瀛愮閺�?zh菙n)鍣�?銆佽綁(zhu菐n)鐭�銆佺閺堢殑娉㈠舰鍒嗗垾濡傚湒锛坅锛夈€侊紙b锛�銆侊紙c锛�銆侊紙d锛夈€�

锛坅锛�  杞�(zhu菐n)閫熸尝褰�                                      锛坆锛�  瀹氬瓙纾侀張?zh菙n)鍣跺潕銊�?/p>

锛坈锛�   杞�(zhu菐n)鐭╂尝褰�                                          锛坉锛�    纾侀張娉㈠舰

鐢变豢鐪熺祼(ji茅)鏋滃彲浠ョ湅鍑�锛岄浕姗�(j墨)鍟熷嫊(d貌ng)閫熷害寰堝揩锛岃兘蹇€熻窡韫ょ郸瀹氳綁(zhu菐n)閫�锛泃=0.2s鏅�(sh铆)绲﹀畾杞�(zhu菐n)閫熺敱50rad/s绐佽畩?y艒u)?0rad/s锛岃綁(zhu菐n)閫熶篃鑳藉揩閫熻窡韫�锛岃綁(zhu菐n)鐭╁彈鍒颁竴瀹氬奖闊夸絾寰堝揩灏辫兘澶犺嚜鍕�(d貌ng)淇濇寔绌�(w臎n)瀹氾紱t=0.3s鏅�(sh铆)绐佸姞璨�(f霉)杓夛紝杞�(zhu菐n)閫熷湪鍏佽ū鑼冨湇鍏�(n猫i)鍛堜笅闄嶈定鍕�(sh矛)浣嗛毃鍚庝繚鎸佺┅(w臎n)瀹�锛岄浕纾佽綁(zhu菐n)鐭╀篃寰堝揩绌�(w臎n)瀹氬湪瑷�(sh猫)瀹氬€�0.7Nm涓婁笅娉㈠嫊(d貌ng)銆�

4  绲�(ji茅)璜�

鍦≒MSM DTC鐞嗚珫鐨勫熀绀�(ch菙)涓�锛屽埄鐢∕ATLAB/Simulink寤虹珛浜哖MSM DTC绯荤当(t菕ng)锛屼豢鐪熺祼(ji茅)鏋滆〃鏄庯細娉㈠舰绗﹀悎鐞嗚珫鍒嗘瀽锛岀郴绲�(t菕ng)鍏锋湁杓冨ソ鐨勯潨銆佸嫊(d貌ng)鎱�(t脿i)鐗规€�銆傚湪寤虹珛瀵�(sh铆)闅涚郴绲�(t菕ng)鍓�锛岄€氶亷(gu貌)浠跨湡鐮旂┒鍙互娓涜紩澶ч噺鐨勪汉鍔涚墿鍔涳紝灏ゅ叾鐐篜MSM DTC鐨勮粺纭欢瑷�(sh猫)瑷�(j矛)鎻愪緵浜嗙悊璜栧熀绀�(ch菙)銆�

鍙冭€冩枃鐛�(xi脿n)

[1] 鍔夎嫳鍩癸紝钀�(w脿n)鍋ュ锛屾榈. 鍩轰簬鎿�(ku貌)灞曞崱鐖炬浖婵炬尝鍣ㄥ拰绌洪枔闆诲鐭㈤噺瑾�(di脿o)鍒剁殑姘哥鍚屾闆绘(j墨)鐩存帴杞�(zhu菐n)鐭╂帶鍒禰J]. 涓湅(gu贸)闆绘(j墨)宸ョ▼瀛�(xu茅)鍫�(b脿o), 2009锛�29(27)锛�67-74.

[2] Zhong L锛孯ahman M.F. Analysis of Direct Torque Control in Permanent Magnet Drives [J]. IEEE Transactions on Power Electronics锛�1997锛�12(3)锛�528-535.

[3] 鐢版烦锛岃儭鑲叉枃. 姘哥鍚屾闆绘(j墨)鐩存帴杞�(zhu菐n)鐭╂帶鍒剁郴绲�(t菕ng)鐞嗚珫鍙婃帶鍒舵柟妗堢殑鐮旂┒[J]. 闆诲伐鎶€琛�(sh霉)瀛�(xu茅)鍫�(b脿o)锛�2002锛�(2)锛�8-11.

[4] 妤婂缓椋�锛岃儭鑲叉枃. 姘哥鍚屾闆绘(j墨)鐩存帴杞�(zhu菐n)鐭╂帶鍒惰綁(zhu菐n)鐭╄(di脿o)绡€(ji茅)鍣ㄨō(sh猫)瑷�(j矛)[J]. 涓湅(gu贸)闆绘(j墨)宸ョ▼瀛�(xu茅)鍫�(b脿o)锛�2011锛�31(9)锛�76-81.

[5] 绔ュ厠鏂�锛屽嫉鑸堬紝寮垫槺绛�. 鍩轰簬鏂板瀷瓒ㄨ繎寰嬬殑姘哥鍚屾闆诲嫊(d貌ng)姗�(j墨)婊戞ā璁婄祼(ji茅)妲�(g貌u)鎺у埗[J]. 涓湅(gu贸)闆绘(j墨)宸ョ▼瀛�(xu茅)鍫�(b脿o)锛� 2008锛�28(21)锛�102-106.

[6] 鍛ㄦ彋(y谩ng)蹇�锛岃儭鑲叉枃. 浜ゆ祦闆诲嫊(d貌ng)姗�(j墨)鐩存帴杞�(zhu菐n)鐭╂帶鍒禰M]. 鍖椾含锛氭(j墨)姊板伐妤�(y猫)鍑虹増绀撅紝2009锛�10.

[7] 璎濋亱(y霉n)绁�锛岀洤鏌卞挤(qi谩ng). 鍩轰簬MATLAB/Simulink鐨勬案纾佸悓姝ラ浕姗�(j墨)鐩存帴杞�(zhu菐n)鐭╂帶鍒朵豢鐪熷缓妯J]. 鑿崡鐞嗗伐澶у(xu茅)瀛�(xu茅)鍫�(b脿o)锛�2004锛�32(1)锛�19-23.

[8]  鐜嬫垚鍏�锛屽鍔犲锛屾淇婂弸绛�. 闆绘(j墨)鐝�(xi脿n)浠ｆ帶鍒舵妧琛�(sh霉)[M]. 鍖椾含锛氭(j墨)姊板伐妤�(y猫)鍑虹増绀�锛�2009锛�1.

[9] 鍛ㄦ彋(y谩ng)蹇�. 闆诲嫷(l矛)纾佸悓姝ラ浕鍕�(d貌ng)姗�(j墨)鐩存帴杞�(zhu菐n)鐭╂帶鍒剁悊璜栫爺绌跺強瀵�(sh铆)韪怺D]. 鍗椾含锛氬崡浜埅绌鸿埅澶╁ぇ瀛�(xu茅)锛�2006.