双闭环FOC

双闭环FOC

参考自《现代永磁同步电机控制原理及MATLAB仿真》袁雷编著

1.Clark变换

自然坐标系->α-β坐标系(Clark变换)

$${\left[\begin{array}{ccc}{f}_{\alpha }& f_{\beta }& f_0\end{array}\right]}^T=T_{3S/2S}{\left[\begin{array}{ccc}{f}_A& f_B& f_C\end{array}\right]}^T$$

f代表电机的电压、电流或磁链等变量；T_3s/2s为坐标变换矩阵

$$T_{3S/2S}=k\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ & & \\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\\ & & \\ \frac{\sqrt{2}}{2}& \frac{\sqrt{2}}{2}& \frac{\sqrt{2}}{2}\end{array}\right]$$

$$幅值不变k=\frac{2}{3}$$

$$功率不变k=\sqrt{\frac{2}{3}}$$

$$三相对称系统，静止坐标系中f_0可忽略$$

void Clark_cal(void)
{
    
  Clark.Alpha = (Clark.A - (Clark.B + Clark.C) * 0.5) * 2.0 / 3.0;
  Clark.Beta = (Clark.B - Clark.C) * 0.8660254037844386 * 2.0 / 3.0;
} 

α-β坐标系->自然坐标系(反Clark变换)

$${\left[\begin{array}{ccc}{f}_A& f_B& f_C\end{array}\right]}^T=T_{3S/2S}{\left[\begin{array}{ccc}{f}_{\alpha }& f_{\beta }& f_0\end{array}\right]}^T$$

T_2s/3s为坐标变换矩阵

$$T_{2S/3S}=T_{3S/2S}^{-1}=\left[\begin{array}{ccc}1& 0& \frac{\sqrt{2}}{2}\\ & & \\ -\frac{1}{2}& \frac{\sqrt{3}}{2}& -\frac{\sqrt{2}}{2}\\ & & \\ -\frac{1}{2}& -\frac{\sqrt{3}}{2}& \frac{\sqrt{2}}{2}\end{array}\right]$$

static void Anti_Clark_cal(void)
{
   
  Anti_Clark.A = Anti_Clark.Alpha;
  Anti_Clark.B = -0.5 * Anti_Clark.Alpha + 0.8660254037844386 * Anti_Clark.Beta;
  Anti_Clark.C = -0.5 * Anti_Clark.Alpha - 0.8660254037844386 * Anti_Clark.Beta;
}

2.Park变换

α-β坐标系->d-q坐标系（Park变换）

$${\left[\begin{array}{cc}{f}_d& f_q\end{array}\right]}^T=T_{2s/2r}{\left[\begin{array}{cc}{f}_{\alpha }& f_{\beta }\end{array}\right]}^T$$

$$T_{2S/2r}=\left[\begin{array}{cc}cos{\theta }_e& sin{\theta }_e\\ & \\ -sin{\theta }_e& cos{\theta }_e\end{array}\right]$$

void Plark_cal(void)
{
   
  Plark.D = Plark.Alpha * cos(Plark.The) + Plark.Beta * sin(Plark.The);
  Plark.Q = -Plark.Alpha * sin(Plark.The) + Plark.Beta * cos(Plark.The);
}

d-q坐标系->α-β坐标系（反Park变换）

$${\left[\begin{array}{cc}{f}_{\alpha }& f_{\beta }\end{array}\right]}^T=T_{2r/2s}{\left[\begin{array}{cc}{f}_d& f_q\end{array}\right]}^T$$

$$T_{2r/2s}=T_{2s/2r}^{-1}=\left[\begin{array}{cc}cos{\theta }_e& -sin{\theta }_e\\ & \\ sin{\theta }_e& cos{\theta }_e\end{array}\right]$$

void Anti_Park_cal(void)
{
   
  Anti_Park.Ualpha = cos(Anti_Park.The) * Anti_Park.Vd - sin(Anti_Park.The) * Anti_Park.Vq;
  Anti_Park.Ubeta = sin(Anti_Park.The) * Anti_Park.Vd + cos(Anti_Park.The) * Anti_Park.Vq;
}

3.内置式三相PMSM电机方程（d-q坐标系）

定子电压方程

$$\{\begin{array}{l}{u}_d=R{i}_d+\frac{d}{dt}{\psi }_d-{\omega }_e{\psi }_q\\ u_q=R{i}_d+\frac{d}{dt}{\psi }_q+{\omega }_e{\psi }_d\end{array}$$

定子磁链方程

$$\{\begin{array}{l}{\psi }_d=L_d+{\psi }_f\\ {\psi }_q=L_q{i}_q\end{array}$$

定子电压方程

{ u d = R i