Izravno upravljanje momentom asinkronoga stroja temeljeno na određivanju optimalnoga vektora napona prema kriteriju smanjenja valovitosti momenta

doctoral thesis

• Title (english): Direct torque contrl of induction machine based on optimal voltage vector determination according to criterion of torque ripple reduction
• Author: Dubravko Krušelj
• Mentor: Damir Sumina (mentor)
• Committee member: Damir Sumina (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Electric Machines, Drives and Automation); Zagreb
• Defense date and country: 2019, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Electromechanical Engineering
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

U radu je opisana metoda izravnog upravljanja momentom asinkronoga stroja temeljena na određivanju optimalnoga vektora napona prema kriteriju smanjenja valovitosti momenta. Elementi izvornog znanstvenog doprinosa rada su metoda za određivanje promjena vektora statorskog toka i elektromagnetskog momenta u ovisnosti o odabiru upravljačkog vektora napona i modificirani algoritam izravnog upravljanja momentom asinkronoga stroja temeljen na određivanju optimalnoga vektora napona prema kriteriju smanjenja valovitosti momenta. Pri tome je analiziran glavni pogon niskopodnog tramvaja serije TMK 2200 za Zagreb. Opisana metoda je najprije provjerena simulacijski, a zatim eksperimentalno u ispitnom laboratoriju tvrtke Končar - Elektronika i informatika. Metoda za određivanje promjena vektora statorskog toka i elektromagnetskog momenta u ovisnosti o odabiru upravljačkog vektora napona temelji se na izvedenim jednadžbama koje opisuju na koji način pojedini vektori napona izmjenjivača djeluju na upravljačke veličine. Metoda izravnog upravljanja momentom temeljena na određivanju optimalnoga vektora napona prema kriteriju smanjenja valovitosti momenta zahtijeva određivanje točnog položaja vektora statorskog toka unutar sektora kompleksne ravnine. Kod metode se ovisno o pogonskim uvjetima uzimaju u obzir po tri različita vektora napona izmjenjivača, za njih se računaju prediktivne vrijednosti momenta, a odabir vektora napona izmjenjivača koji će se primijeniti u sljedećem vremenskom periodu ovisi o funkciji cilja definiranoj bez težinskih faktora. Stoga se metoda može uvrstiti u prediktivne metode, ali je u odnosu na prediktivno upravljanje momentom jednostavnija. Budući da se računaju samo statorske veličine, te nije potrebno poznavati sve parametre asinkronoga stroja ni brzinu vrtnje, metoda je također robusnija u odnosu na prediktivno upravljanje momentom. Dobiveni rezultati pokazuju kako primjena metode izravnog upravljanja momentom temeljene na određivanju optimalnoga vektora napona prema kriteriju smanjenja valovitosti momenta rezultira najmanjim vrijednostima elektromagnetskog momenta od vrha do vrha i gotovo najmanjom valovitošću momenta koja se za zadane pogonske uvjete može postići primjenom prediktivnog upravljanja momentom.

Abstract (english)

In the doctoral thesis the direct torque control of induction machine based on optimal voltage vector determination according to criterion of torque ripple reduction is proposed. The first element of the doctoral thesis original scientific contribution is the method for the determination of the voltage vectors influence on the stator flux vector and the electromagnetic torque and the second element is the modified algorithm for direct torque control of induction machine based on optimal voltage vector determination according to criterion of torque ripple reduction. Simulation and experimental results for the main propulsion drive of the low-floor tram series TMK 2200 operating in the city of Zagreb are presented in order to show the effectiveness of the proposed method. The experiments were carried out on a model of the main propulsion drive in Končar – Electronics and Informatics, Inc. test laboratory. The method for the determination of the stator flux vector module and the electromagnetic torque changes in dependence on the chosen voltage vector is based on the derived equations which describe the voltage vectors influence on the control variables. The method for the direct torque control of induction machine based on optimal voltage vector determination according to criterion of torque ripple reduction uses exact position of the stator flux vector in the complex plane sector. Depending on the operating conditions, three voltage vectors are taken into account and the predicted values of the electromagnetic torque are calculated for these voltage vectors. The voltage vector that will be applied in the next discrete time period is chosen according to the minimal value of the cost function which does not require weighting factors. Therefore, the proposed method belongs to predictive control methods but the proposed method is simpler in comparison with predictive torque control. The proposed method is also more robust because only stator variables should be calculated, and all induction machine parameters as well as the induction machine speed are not required. The obtained simulation and experimental results show that the application of the direct torque control of induction machine based on optimal voltage vector determination according to criterion of torque ripple reduction results with minimal electromagnetic torque peak to peak values and almost minimal torque ripple which can be achieved when the predictive torque control is applied.

• Keywords: izravno upravljanje momentom; asinkroni stroj; modelsko prediktivno upravljanje; valovitost momenta; valovitost modula vektora statorskog toka
• Keywords (english): direct torque control; induction machine; model predictive control; torque ripple; stator flux vector module ripple
• Language: croatian
• URN:NBN: urn:nbn:hr:168:230176
• Study programme: Title: Electrical Engineering and Computing; Study programme type: university; Study level: postgraduate; Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
• Type of resource: Text
• Extent: 214 str. ; 30 cm
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-01-22 08:01:46