Direct Torque Control with Space Vector Modulation (DTC-SVM) of ...
Direct Torque Control with Space Vector Modulation (DTC-SVM) of ...
Direct Torque Control with Space Vector Modulation (DTC-SVM) of ...
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<strong>Direct</strong> <strong>Torque</strong> <strong>Control</strong> <strong>with</strong> <strong>Space</strong> <strong>Vector</strong> <strong>Modulation</strong><br />
After differentiating <strong>of</strong> the above equation one obtains:<br />
2<br />
sy sy Ls<br />
sy<br />
= Rs + Ψ<br />
s<br />
+ pb<br />
Ψ<br />
PM<br />
dU dI d I dΩm<br />
( )<br />
dt dt dt dt<br />
Take into account that from equation (5.61) the y-axis current is equal<br />
I<br />
sy<br />
(5.69)<br />
2M<br />
e<br />
=<br />
3p<br />
Ψ ,<br />
b<br />
s<br />
dΩ m 1 = ( M<br />
e − M<br />
l ) and under assumption that the motor is no loaded equation (5.69) takes<br />
dt J<br />
form:<br />
dU dM L d M p<br />
( )<br />
dt p dt p dt J<br />
2<br />
sy 2 e s 2<br />
e b<br />
= Rs + Ψ<br />
s<br />
+ M<br />
e<br />
3<br />
b<br />
Ψs ΨPM 3<br />
b<br />
Ψs<br />
(5.70)<br />
Using Laplace transformation and after some arrangements the equation (5.70) can be written:<br />
2Ls<br />
2 2R<br />
Ψs<br />
p<br />
s<br />
b<br />
sU<br />
sy<br />
= M<br />
e<br />
( s + s + )<br />
3p Ψ 3p Ψ J<br />
b PM b s<br />
(5.71)<br />
Hence, the transfer function between electromagnetic torque<br />
be obtained as:<br />
G<br />
M<br />
e<br />
M<br />
2<br />
sy()<br />
M M<br />
M<br />
e<br />
and y-axis voltage<br />
U<br />
sy<br />
can<br />
M () s A s<br />
() s = =<br />
U s s + B s+ C<br />
(5.72)<br />
Where:<br />
A<br />
M<br />
2<br />
3pbΨ<br />
PM<br />
RsΨ<br />
3 Ψ<br />
PM<br />
s<br />
ΨPM pb<br />
= and BM<br />
= CM<br />
=<br />
2L<br />
Ψ L<br />
2JL<br />
s<br />
s<br />
s<br />
s<br />
Using the motor parameters (see Appendices) we may calculates:<br />
A = 198 , B = 115.3 and C = 9065<br />
M<br />
M<br />
M<br />
Continuous s-domain<br />
The torque control loop <strong>of</strong> the block scheme <strong>DTC</strong>-<strong>SVM</strong> from Fig. 5.25 is shown in Fig. 5.35,<br />
where CM<br />
( s ) is a transfer function <strong>of</strong> the PI controller given by equation 5.28:<br />
100