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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Appendices<br />
⎡ ⎤<br />
⎢ 1 0 ⎥<br />
⎡K<br />
A ⎤ ⎢ ⎥<br />
⎢ 1 3 K<br />
K<br />
⎥ ⎢ ⎥ ⎡ α ⎤<br />
⎢ B ⎥<br />
=<br />
⎢<br />
−<br />
2 2 ⎥⎢ K<br />
⎥<br />
β<br />
⎢K<br />
⎣ ⎦<br />
⎣ ⎥<br />
C ⎦ ⎢ ⎥<br />
⎢ 1 3⎥<br />
⎢<br />
− −<br />
⎣ 2 2 ⎥⎦<br />
xy , ⇒ α,<br />
β<br />
Kα = Kxcosθ K<br />
+ Kycos( π / 2 + θK) = KxcosθK − KysinθK<br />
Kβ = Kxcos( π / 2 − θK) + KycosθK = KxsinθK + KycosθK<br />
⎡Kα<br />
⎤ ⎡cosθK<br />
−sinθ<br />
K<br />
K⎤⎡ x ⎤<br />
⎢<br />
K<br />
⎥ = ⎢<br />
β sinθK<br />
cosθ<br />
⎥⎢ K<br />
⎥<br />
⎣ ⎦ ⎣<br />
K ⎦⎣ y ⎦<br />
α, β ⇒ x,<br />
y<br />
Kx = Kα cosθ K<br />
+ Kβ cos( π / 2 − θK) = Kα cosθK + Kβ<br />
sinθK<br />
Ky = Kα cos( π / 2 + θK) + Kβ cosθK =− Kα sinθK + Kβ<br />
cosθK<br />
⎡Kx ⎤ ⎡ cosθK sinθ<br />
K<br />
K ⎤⎡ α ⎤<br />
⎢<br />
K<br />
⎥ = ⎢<br />
y sinθK cosθ<br />
⎥⎢ K<br />
⎥<br />
⎣ ⎦ ⎣−<br />
K⎦⎣ β ⎦<br />
A3 Model <strong>of</strong> PM synchronous motor<br />
# This template models the permanent magnet synchronous motor(pmsm)<br />
# t1,t2 and t3 are motor input terminals<br />
# rotor speed (in rad/s) is the output<br />
# rs-Stator windings' resistence per phase(in Ohms)<br />
# ld-d_axis inductance(in H)<br />
# lq-q_axis inductance(in H)<br />
# pm-Rotor magnet flux(Wb)<br />
# j-Moment <strong>of</strong> inertia(in kgm2)<br />
# d- Damping constant (Nm/rad/s)<br />
# tl-motor load (Nm)<br />
# p-Number <strong>of</strong> pole pairs<br />
# power-The total input power (W)<br />
# Assumptions:No core losses,no saturation,thermal effects<br />
#(rs,ld,lq and pm values are constants)<br />
element template pmsm_dtc t1 t2 t3 t0 speed out_me out_psi out_thetam out_ualf out_ubet out_psia<br />
out_psib out_ialf out_ibet out_theta<br />
out_tl=rs,ld,lq,pm,d,tl,j,p,init_theta_m,init_omega_m,omega_m_const<br />
electrical t1,t2,t3,t0 # motor input terminals and stator neutral point<br />
output nu speed,<br />
out_me,out_psi,out_thetam,out_ualf,out_ubet,out_psia,out_psib,out_ialf,out_ibet,out_theta,out_tl<br />
number rs=0.692,ld=6m,lq=6m,pm=0.26379,d=0.002044,tl=0.0,j=0.003,p=3.0,<br />
init_theta_m=0.0,init_omega_m=0.0,omega_m_const=0.0<br />
{<br />
165