永磁交流伺服电动机的定子磁场由定子的三相绕组的磁势( 或磁动势) 产生的,根据电动机旋转磁场理论可知,向对称的三相绕组中通以对称的三相正弦电流时,就会产生合成磁势,它是一个在空间以 ω 速度旋转的空间矢量。如果用磁势或电流空间矢量来描述等效的三相磁场、两相磁场和旋转直流磁场,并对它们进行坐标变换,就称为矢量坐标变换。Clarke变换是三相平面坐标系0ABC 向两相平面直角坐标系 0 α β 0\alpha \beta 0αβ的转换。
1. 等幅值变换
在复平面上的矢量
v
⃗
\vec{v}
v总能够用互差 120 度的 abc 三轴系中的分量
x
a
{{x}_{a}}
xa、
x
b
{{x}_{b}}
xb、
x
c
{{x}_{c}}
xc等效表示(a 轴与复平面的实轴重合),如下所示(
x
⃗
\vec{x}
x和
x
⃗
0
{{\vec{x}}_{0}}
x0将合成矢量
v
⃗
\vec{v}
v)。
( 1-1 )
x
⃗
=
k
(
x
a
+
ρ
x
b
+
ρ
2
x
c
)
\vec{x}\text{ }=k({{x}_{a}}+\rho {{x}_{b}}+\text{ }{{\rho }^{\text{2}}}{{x}_{c}})\tag{ 1-1 }
x =k(xa+ρxb+ ρ2xc)( 1-1 )
( 1-2 )
x
⃗
0
=
k
0
(
x
a
+
x
b
+
x
c
)
{{\vec{x}}_{0}}\text{ }={{k}_{0}}({{x}_{a}}+{{x}_{b}}+{{x}_{c}})\tag{ 1-2 }
x0 =k0(xa+xb+xc)( 1-2 )
其中,
ρ
=
e
j
2
3
π
=
−
1
2
+
j
3
2
\rho ={{e}^{j\frac{2}{3}\pi }}=-\dfrac{1}{2}+j\dfrac{\sqrt{3}}{2}
ρ=ej32π=−21+j23、
ρ
2
=
e
j
4
3
π
=
e
−
j
2
3
π
=
−
1
2
−
j
3
2
{{\rho }^{2}}={{e}^{j\frac{4}{3}\pi }}={{e}^{-j\frac{2}{3}\pi }}=-\dfrac{1}{2}-j\dfrac{\sqrt{3}}{2}
ρ2=ej34π=e−j32π=−21−j23;
x
⃗
0
{{\vec{x}}_{0}}
x0的方向与复平面的实轴方向一致。所以有(1-2)式可表示为:
( 1-3 )
x
0
=
k
0
(
x
a
+
x
b
+
x
c
)
{{x}_{0}}\text{ }={{k}_{0}}({{x}_{a}}+{{x}_{b}}+{{x}_{c}})\tag{ 1-3 }
x0 =k0(xa+xb+xc)( 1-3 )写出(1-1)式的实部与虚部如下:
( 1-4 )
Re
{
x
⃗
}
=
k
(
x
a
−
1
2
x
b
−
1
2
x
c
)
=
k
[
x
a
−
1
2
(
x
b
+
x
c
)
]
~\text{Re}\left\{ {\vec{x}} \right\}=k({{x}_{a}}-\dfrac{1}{2}{{x}_{b}}-\dfrac{1}{2}{{x}_{c}})=k[{{x}_{a}}-\dfrac{1}{2}({{x}_{b}}+{{x}_{c}})]\tag{ 1-4 }
Re{x}=k(xa−21xb−21xc)=k[xa−21(xb+xc)]( 1-4 )
( 1-5 )
Im
{
x
⃗
}
=
k
3
2
(
x
b
−
x
c
)
\text{Im}\left\{ {\vec{x}} \right\}=k\dfrac{\sqrt{3}}{2}({{x}_{b}}-{{x}_{c}})\tag{ 1-5 }
Im{x}=k23(xb−xc)( 1-5 )由(1-3)式可得:
( 1-6 )
x
b
+
x
c
=
x
0
k
0
−
x
a
{{x}_{b}}+{{x}_{c}}=\dfrac{{{x}_{0}}}{{{k}_{0}}}-{{x}_{a}}\tag{ 1-6 }
xb+xc=k0x0−xa( 1-6 ) 代入(1-6)到(1-4)式中可得:
( 1-7 )
Re
{
x
⃗
}
=
k
[
x
a
−
1
2
(
x
b
+
x
c
)
]
=
k
[
x
a
−
1
2
(
x
0
k
0
−
x
a
)
]
=
3
2
k
x
a
−
1
2
k
x
0
k
0
~\text{Re}\left\{ {\vec{x}} \right\}=k[{{x}_{a}}-\dfrac{1}{2}({{x}_{b}}+{{x}_{c}})]=k[{{x}_{a}}-\dfrac{1}{2}(\dfrac{{{x}_{0}}}{{{k}_{0}}}-{{x}_{a}})]=\dfrac{3}{2}k{{x}_{a}}-\dfrac{1}{2}\dfrac{k{{x}_{0}}}{{{k}_{0}}}\tag{ 1-7 }
Re{x}=k[xa−21(xb+xc)]=k[xa−21(k0x0−xa)]=23kxa−21k0kx0( 1-7 ) 等幅值变换时,规定
( 1-8 )
Re
{
x
⃗
}
=
x
a
+
x
0
~\text{Re}\left\{ {\vec{x}} \right\}={{x}_{a}}+{{x}_{0}}\tag{ 1-8 }
Re{x}=xa+x0( 1-8 )
代入(1-8)到(1-7)可得:
( 1-9 )
3
2
k
x
a
−
1
2
k
x
0
k
0
=
x
a
+
x
0
~\dfrac{3}{2}k{{x}_{a}}-\dfrac{1}{2}\dfrac{k{{x}_{0}}}{{{k}_{0}}}={{x}_{a}}+{{x}_{0}}\tag{ 1-9 }
23kxa−21k0kx0=xa+x0( 1-9 )
对比(1-9)式两端的
x
a
{{x}_{a}}
xa和
x
0
{{x}_{0}}
x0的系数可解得:
k
=
2
3
k=\dfrac{2}{3}
k=32、
k
0
=
1
3
{{k}_{0}}=\dfrac{1}{3}
k0=31。
将实轴用a 轴代替,虚轴用 b 轴代替,代入
k
k
k、
k
0
{{k}_{0}}
k0到(1-3)(1-4)(1-5)得到 Clarke 变换的等幅值变换形式:
( 1-10 )
{
x
α
=
2
3
[
x
a
−
1
2
(
x
b
+
x
c
)
]
=
2
3
x
a
−
1
3
x
b
−
1
3
x
c
x
β
=
2
3
⋅
3
2
(
x
b
−
x
c
)
=
3
3
(
x
b
−
x
c
)
x
0
=
1
3
x
a
+
1
3
x
b
+
1
3
x
c
\begin{cases} {{x}_{\alpha }}=\dfrac{2}{3}[{{x}_{a}}-\dfrac{1}{2}({{x}_{b}}+{{x}_{c}})]=\dfrac{2}{3}{{x}_{a}}-\dfrac{1}{3}{{x}_{b}}-\dfrac{1}{3}{{x}_{c}} \\ {{x}_{\beta }}=\dfrac{2}{3}\cdot \dfrac{\sqrt{3}}{2}({{x}_{b}}-{{x}_{c}})=\dfrac{\sqrt{3}}{3}({{x}_{b}}-{{x}_{c}}) \\ {{x}_{0}}=\dfrac{1}{3}{{x}_{a}}+\dfrac{1}{3}{{x}_{b}}+\dfrac{1}{3}{{x}_{c}}\\ \end{cases} \tag{ 1-10 }
⎩⎪⎪⎪⎪⎨⎪⎪⎪⎪⎧xα=32[xa−21(xb+xc)]=32xa−31xb−31xcxβ=32⋅23(xb−xc)=33(xb−xc)x0=31xa+31xb+31xc( 1-10 )
写为矩阵形式为:
( 1-11 )
[
x
α
x
β
x
0
]
=
2
3
[
1
−
1
2
−
1
2
0
3
2
−
3
2
1
2
1
2
1
2
]
[
x
a
x
b
x
c
]
\left[ \begin{matrix} {{x}_{\alpha }} \\ {{x}_{\beta }} \\ {{x}_{0}} \\ \end{matrix} \right]=\dfrac{2}{3}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & -\dfrac{\sqrt{3}}{2} \\ \dfrac{1}{2} & \dfrac{1}{2} & \dfrac{1}{2} \\ \end{matrix} \right]\left[ \begin{matrix} {{x}_{a}} \\ {{x}_{b}} \\ {{x}_{c}} \\ \end{matrix} \right]\tag{ 1-11 }
⎣⎡xαxβx0⎦⎤=32⎣⎢⎢⎢⎢⎡1021−212321−21−2321⎦⎥⎥⎥⎥⎤⎣⎡xaxbxc⎦⎤( 1-11 )
即,等幅值的Clarke变换矩阵为:
C
C
l
a
r
k
e
=
2
3
[
1
−
1
2
−
1
2
0
3
2
−
3
2
1
2
1
2
1
2
]
{{C}_{Clarke}}=\dfrac{2}{3}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & -\dfrac{\sqrt{3}}{2} \\ \dfrac{1}{2} & \dfrac{1}{2} & \dfrac{1}{2} \\ \end{matrix} \right]
CClarke=32⎣⎢⎢⎢⎢⎡1021−212321−21−2321⎦⎥⎥⎥⎥⎤
2. 等功率Clarke变换
等功率矢量坐标变换必须要遵循如下原则:
- (1) 应遵循变换前后电流所产生的旋转磁场等效;
- (2) 应遵循变换前后两系统的电动机功率不变。
将原来坐标下的电压
u
u
u和电流
i
i
i变换为新坐标下的
u
′
{u}'
u′和电流
i
′
{i}'
i′。我们希望它们有相同的变换矩阵
C
C
C,因此有:
( 2-1 )
u
=
C
u
′
u=C{u}'\tag{ 2-1 }
u=Cu′( 2-1 )
( 2-2 )
i
=
C
i
′
i=C{i}'\tag{ 2-2 }
i=Ci′( 2-2 )
为了能实现逆变换,变换矩阵
C
C
C必须存在逆矩阵
C
−
1
{{C}^{-1}}
C−1,因此变换矩阵
C
C
C必须是方阵,而且其行列式的值必须不等于零。因为
u
=
z
i
u=zi
u=zi,
z
z
z是阻抗矩阵,所以
( 2-3 )
u
′
=
C
−
1
u
=
C
−
1
z
i
=
C
−
1
z
C
i
′
=
z
′
i
′
u'={{C}^{-1}}u={{C}^{-1}}zi={{C}^{-1}}z\text{ }Ci'=\text{ }z'i'\tag{ 2-3 }
u′=C−1u=C−1zi=C−1z Ci′= z′i′( 2-3 )
式中,z’是变换后的阻抗矩阵,而它为
( 2-4 )
z
′
=
C
−
1
z
C
z'={{C}^{-1}}z\text{ }C\tag{ 2-4 }
z′=C−1z C( 2-4 ) 为了满足功率不变的原则,在一个坐标下的电功率
i
T
u
=
u
1
i
1
+
u
2
i
2
+
…
+
u
n
i
n
{{i}^{T}}u={{u}_{1}}{{i}_{1}}+\text{ }{{u}_{2}}{{i}_{2}}+\text{ }\ldots \text{ }+\text{ }{{u}_{n}}{{i}_{n}}
iTu=u1i1+ u2i2+ … + unin应该等于另一坐标下的电功率
i
T
′
u
′
=
u
1
′
i
1
′
+
u
2
′
i
2
′
+
…
+
u
n
′
i
n
′
{{i}^{T}}'u'={{u}_{1}}'{{i}_{1}}'+{{u}_{2}}'{{i}_{2}}'+\ldots +{{u}_{n}}'{{i}_{n}}'
iT′u′=u1′i1′+u2′i2′+…+un′in′,即
( 2-5 )
i
T
u
=
i
T
′
u
′
{{i}^{T}}u={{i}^{T}}'u'\tag{ 2-5 }
iTu=iT′u′( 2-5 ) 而
( 2-6 ) i T u = ( C i ′ ) T C u ′ = i T ′ C T C u ′ {{i}^{T}}u={{\left( Ci' \right)}^{T}}Cu'={{i}^{T}}'{{C}^{T}}Cu'\tag{ 2-6 } iTu=(Ci′)TCu′=iT′CTCu′( 2-6 )
为了使式( 2-5) 与式(2- 6) 相同,必须有
( 2-7 )
C
T
C
=
I
或
C
T
=
C
−
1
{{C}^{T}}C\text{ }=\text{ }I \ 或 \ {{C}^{T}}=\text{ }{{C}^{-1}}\tag{ 2-7 }
CTC = I 或 CT= C−1( 2-7 )
因此,变换矩阵 C 应该是一个正交矩阵。
在以上公式中,其中 C − 1 {{C}^{-1}} C−1为 C C C的逆阵; i T {{i}^{T}} iT为 i i i的转置矩阵; i T ′ ~{{i}^{T}}' iT′为 i ′ {i}' i′的转置矩阵; C T {{C}^{T}} CT为 C C C的转置矩阵; I I I为单位矩阵; z z z、 z ′ {z}' z′分别为阻抗矩阵; u,u’,i,i’分别为电压、电流列或行矩阵; 同时,依矩阵运算法则有: C − 1 C = I {{C}^{-1}}C=I C−1C=I; ( C i ′ ) T = i T ′ C T {{\left( Ci' \right)}^{T}}={{i}^{T}}'{{C}^{T}} (Ci′)T=iT′CT; ( k C ) T = k C T {{\left( kC \right)}^{T}}=k{{C}^{T}} (kC)T=kCT; u = C u ′ u=C{u}' u=Cu′,则有 u ′ = C − 1 u {u}'={{C}^{-1}}u u′=C−1u。
图1为定子三相电动机绕组 A、B、C 的磁势矢量和两相电动机绕组
α
\alpha
α、
β
\beta
β的磁势矢量的空间位置关系。其中选定 A 轴与$\alpha $轴重合。根据矢量坐标变换原则,两者的磁场应该完全等效,即合成磁势矢量分别在两个坐标系坐标轴上的投影应该相等,如图 1 所示。
因此有:
( 2-8 )
{
N
2
i
α
=
N
3
i
A
+
N
3
i
B
cos
120
∘
+
N
3
i
C
cos
(
−
120
∘
)
N
2
i
β
=
0
+
N
3
i
B
sin
120
∘
+
N
3
i
C
sin
(
120
∘
)
\begin{cases} {{N}_{2}}{{i}_{\alpha }}=\text{ }{{N}_{3}}{{i}_{A}}+\text{ }{{N}_{3}}{{i}_{B}}\cos 120{}^\circ \text{ }+\text{ }{{N}_{3}}{{i}_{C}}\cos (-120{}^\circ ) \\ {{N}_{2}}{{i}_{\beta }}=\text{ }0\text{ }+\text{ }{{N}_{3}}{{i}_{B}}\sin 120{}^\circ \text{ }+\text{ }{{N}_{3}}{{i}_{C}}\sin (120{}^\circ ) \\ \end{cases}\tag{ 2-8 }
{N2iα= N3iA+ N3iBcos120∘ + N3iCcos(−120∘)N2iβ= 0 + N3iBsin120∘ + N3iCsin(120∘)( 2-8 )
也即:
( 2-9 )
{
i
α
=
N
3
N
2
i
A
−
1
2
i
B
−
1
2
i
C
i
β
=
N
3
N
2
0
+
3
2
i
B
3
2
i
C
\begin{cases} {{i}_{\alpha }}=\dfrac{{{N}_{3}}}{{{N}_{2}}}{{i}_{A}}-\dfrac{1}{2}{{i}_{B}}-\dfrac{1}{2}{{i}_{C}} \\ {{i}_{\beta }}=\dfrac{{{N}_{3}}}{{{N}_{2}}}0\text{ }+\dfrac{\sqrt{3}}{2}{{i}_{B}}\dfrac{\sqrt{3}}{2}{{i}_{C}} \\ \end{cases}\tag{ 2-9 }
⎩⎪⎨⎪⎧iα=N2N3iA−21iB−21iCiβ=N2N30 +23iB23iC( 2-9 )
式中,N2、N3分别表示三相电动机和两相电动机定子每相绕组的有效匝数。式(2-9) 用矩阵表示,即
( 2-10 )
[
i
α
i
β
]
=
N
3
N
2
[
1
−
1
2
−
1
2
0
3
2
3
2
]
[
i
A
i
B
i
C
]
\left[ \begin{matrix} {{i}_{\alpha }} \\ {{i}_{\beta }} \\ \end{matrix} \right]=\dfrac{{{N}_{3}}}{{{N}_{2}}}\left[ \begin{matrix} \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ \end{matrix} \\ \begin{matrix} 0 & \dfrac{\sqrt{3}}{2} & \dfrac{\sqrt{3}}{2} \\ \end{matrix} \\ \end{matrix} \right]\left[ \begin{matrix} {{i}_{A}} \\ {{i}_{B}} \\ {{i}_{C}} \\ \end{matrix} \right]\tag{ 2-10 }
[iαiβ]=N2N3⎣⎢⎡1−21−2102323⎦⎥⎤⎣⎡iAiBiC⎦⎤( 2-10 )
转换矩阵
[
1
−
1
2
−
1
2
0
3
2
3
2
]
\left[ \begin{matrix} \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ \end{matrix} \\ \begin{matrix} 0 & \dfrac{\sqrt{3}}{2} & \dfrac{\sqrt{3}}{2} \\ \end{matrix} \\ \end{matrix} \right]
⎣⎢⎡1−21−2102323⎦⎥⎤不是方阵,因此不能求逆阵。所以需要引进一个独立
i
α
{{i}_{\alpha }}
iα和
i
β
{{i}_{\beta }}
iβ的新变量
i
0
{{i}_{0}}
i0,称它为零轴电流。零轴是同时垂直于
α
\alpha
α和
β
\beta
β轴的轴,因此形成
α
−
β
−
0
\alpha-\beta-0
α−β−0轴坐标系。定义:
( 2-11 )
{
N
2
i
0
=
k
(
N
3
i
A
+
N
3
i
B
+
N
3
i
C
)
i
0
=
N
3
N
2
k
(
i
A
+
i
B
+
i
C
)
\begin{cases} {{N}_{2}}{{i}_{0}}=k({{N}_{3}}{{i}_{A}}+{{N}_{3}}{{i}_{B}}+{{N}_{3}}{{i}_{C}})\\ {{i}_{0}}=\dfrac{{{N}_{3}}}{{{N}_{2}}}k\left( {{i}_{A}}+\text{ }{{i}_{B}}+\text{ }{{i}_{C}} \right) \end{cases}\tag{ 2-11 }
⎩⎨⎧N2i0=k(N3iA+N3iB+N3iC)i0=N2N3k(iA+ iB+ iC)( 2-11 )
式中,k 为待定系数。所以,式(2-10 改写成:
( 2-12 )
[
i
α
i
β
i
0
]
=
N
3
N
2
[
1
−
1
2
−
1
2
0
3
2
3
2
k
k
k
]
[
i
A
i
B
i
C
]
\left[ \begin{matrix} {{i}_{\alpha }} \\ {{i}_{\beta }} \\ {{i}_{0}} \\ \end{matrix} \right]=\dfrac{{{N}_{3}}}{{{N}_{2}}}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & \dfrac{\sqrt{3}}{2} \\ k & k & k \\ \end{matrix} \right]\left[ \begin{matrix} {{i}_{A}} \\ {{i}_{B}} \\ {{i}_{C}} \\ \end{matrix} \right]\tag{ 2-12 }
⎣⎡iαiβi0⎦⎤=N2N3⎣⎢⎢⎢⎡10k−2123k−2123k⎦⎥⎥⎥⎤⎣⎡iAiBiC⎦⎤( 2-12 ) 式中,定义矩阵 C 为:
( 2-13 )
C
=
N
3
N
2
[
1
−
1
2
−
1
2
0
3
2
3
2
k
k
k
]
C=\dfrac{{{N}_{3}}}{{{N}_{2}}}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & \dfrac{\sqrt{3}}{2} \\ k & k & k \\ \end{matrix} \right]\tag{ 2-13 }
C=N2N3⎣⎢⎢⎢⎡10k−2123k−2123k⎦⎥⎥⎥⎤( 2-13 )
其
C
C
C的转置矩阵
C
T
{{C}^{T}}
CT为:
( 2-14 )
C
T
=
N
3
N
2
[
1
0
k
−
1
2
3
2
k
−
1
2
3
2
k
]
{{C}^{T}}=\dfrac{{{N}_{3}}}{{{N}_{2}}}\left[ \begin{matrix} 1 & 0 & k \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & k \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & k \\ \end{matrix} \right]\tag{ 2-14 }
CT=N2N3⎣⎢⎢⎢⎡1−21−2102323kkk⎦⎥⎥⎥⎤( 2-14 )
求其
C
C
C的逆阵
C
−
1
{{C}^{-1}}
C−1为:
( 2-15 )
C
−
1
=
2
N
2
3
N
3
[
1
0
1
2
k
−
1
2
3
2
1
2
k
−
1
2
3
2
1
2
k
]
{{C}^{-1}}=\dfrac{2{{N}_{2}}}{3{{N}_{3}}}\left[ \begin{matrix} 1 & 0 & \dfrac{1}{2k} \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & \dfrac{1}{2k} \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & \dfrac{1}{2k} \\ \end{matrix} \right]\tag{ 2-15 }
C−1=3N32N2⎣⎢⎢⎢⎢⎢⎡1−21−21023232k12k12k1⎦⎥⎥⎥⎥⎥⎤( 2-15 )
为了满足功率不变变换原则,有
C
T
=
C
−
1
{{C}^{T}}=\text{ }{{C}^{-1}}
CT= C−1。令式(2-14) 和式(2-15) 相等,则有:
2
N
2
3
N
3
=
N
3
N
2
;
1
2
k
=
k
\dfrac{2{{N}_{2}}}{3{{N}_{3}}}=\dfrac{{{N}_{3}}}{{{N}_{2}}};\dfrac{1}{2k}=k
3N32N2=N2N3;2k1=k
可分别求得:
( 2-16 )
N
3
N
2
=
2
3
,
k
=
1
2
\dfrac{{{N}_{3}}}{{{N}_{2}}}=\sqrt{\dfrac{2}{3}},k=\sqrt{\dfrac{1}{2}}\tag{ 2-16 }
N2N3=32,k=21( 2-16 )
将式(2-16) 代入式(2- 13) 和式(2- 15) ,则得:
( 2-17 )
C
=
2
3
[
1
−
1
2
−
1
2
0
3
2
3
2
1
2
1
2
1
2
]
C=\sqrt{\dfrac{2}{3}}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & \dfrac{\sqrt{3}}{2} \\ \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]\tag{ 2-17 }
C=32⎣⎢⎢⎢⎢⎢⎡1021−212321−212321⎦⎥⎥⎥⎥⎥⎤( 2-17 )
( 2-18 )
C
−
1
=
2
3
[
1
0
1
2
−
1
2
3
2
1
2
−
1
2
3
2
1
2
]
{{C}^{-1}}=\sqrt{\dfrac{2}{3}}\left[ \begin{matrix} 1 & 0 & \dfrac{1}{\sqrt{2}} \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & \dfrac{1}{\sqrt{2}} \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]\tag{ 2-18 }
C−1=32⎣⎢⎢⎢⎢⎢⎢⎡1−21−2102323212121⎦⎥⎥⎥⎥⎥⎥⎤( 2-18 )
因此: Clarke 变换( 或 3 /2 变换) 式为:
( 2-19 )
[
i
α
i
β
i
0
]
=
C
[
i
A
i
B
i
C
]
=
2
3
[
1
−
1
2
−
1
2
0
3
2
3
2
1
2
1
2
1
2
]
[
i
A
i
B
i
C
]
\left[ \begin{matrix} {{i}_{\alpha }} \\ {{i}_{\beta }} \\ {{i}_{0}} \\ \end{matrix} \right]=C\left[ \begin{matrix} {{i}_{A}} \\ {{i}_{B}} \\ {{i}_{C}} \\ \end{matrix} \right]=\sqrt{\frac{2}{3}}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & \dfrac{\sqrt{3}}{2} \\ \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]\left[ \begin{matrix} {{i}_{A}} \\ {{i}_{B}} \\ {{i}_{C}} \\ \end{matrix} \right]\tag{ 2-19 }
⎣⎡iαiβi0⎦⎤=C⎣⎡iAiBiC⎦⎤=32⎣⎢⎢⎢⎢⎢⎡1021−212321−212321⎦⎥⎥⎥⎥⎥⎤⎣⎡iAiBiC⎦⎤( 2-19 )
Clarke逆变换为:
[
i
A
i
B
i
C
]
=
C
−
1
C
[
i
A
i
B
i
C
]
=
C
−
1
[
i
α
i
β
i
0
]
=
2
3
[
1
0
1
2
−
1
2
3
2
1
2
−
1
2
3
2
1
2
]
[
i
α
i
β
i
0
]
\left[ \begin{matrix} {{i}_{A}} \\ {{i}_{B}} \\ {{i}_{C}} \\ \end{matrix} \right]={{C}^{-1}}C\left[ \begin{matrix} {{i}_{A}} \\ {{i}_{B}} \\ {{i}_{C}} \\ \end{matrix} \right]={{C}^{-1}}\left[ \begin{matrix} {{i}_{\alpha }} \\ {{i}_{\beta }} \\ {{i}_{0}} \\ \end{matrix} \right]=\sqrt{\dfrac{2}{3}}\left[ \begin{matrix} 1 & 0 & \dfrac{1}{\sqrt{2}} \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & \dfrac{1}{\sqrt{2}} \\ -\dfrac{1}{2} & \dfrac{\sqrt{3}}{2} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]\left[ \begin{matrix} {{i}_{\alpha }} \\ {{i}_{\beta }} \\ {{i}_{0}} \\ \end{matrix} \right]
⎣⎡iAiBiC⎦⎤=C−1C⎣⎡iAiBiC⎦⎤=C−1⎣⎡iαiβi0⎦⎤=32⎣⎢⎢⎢⎢⎢⎢⎡1−21−2102323212121⎦⎥⎥⎥⎥⎥⎥⎤⎣⎡iαiβi0⎦⎤
3. a b c − α β − d q abc-\alpha \beta -dq abc−αβ−dq变换(包含Clarke变换和Park变换)
3.1恒幅值变换
(1)
a
b
c
→
d
q
0
abc\to dq0
abc→dq0:
C
=
C
a
b
c
→
d
q
0
=
2
3
[
cos
θ
cos
(
θ
−
2
π
3
)
cos
(
θ
+
2
π
3
)
−
sin
θ
−
sin
(
θ
−
2
π
3
)
−
sin
(
θ
+
2
π
3
)
1
2
1
2
1
2
]
C={{C}_{abc\to dq0}}=\dfrac{2}{3}\left[ \begin{matrix} \cos \theta & \cos (\theta -\dfrac{2\pi }{3}) & \cos (\theta +\dfrac{2\pi }{3}) \\ -\sin \theta & -\sin (\theta -\dfrac{2\pi }{3}) & -\sin (\theta +\dfrac{2\pi }{3}) \\ \dfrac{1}{2} & \dfrac{1}{2} & \dfrac{1}{2} \\ \end{matrix} \right]
C=Cabc→dq0=32⎣⎢⎢⎢⎢⎡cosθ−sinθ21cos(θ−32π)−sin(θ−32π)21cos(θ+32π)−sin(θ+32π)21⎦⎥⎥⎥⎥⎤
(2)
a
b
c
→
α
β
0
abc\to \alpha \beta 0
abc→αβ0:
C
C
l
a
r
k
e
=
C
a
b
c
→
α
β
0
=
2
3
[
cos
0
cos
(
−
2
π
3
)
cos
(
+
2
π
3
)
−
sin
0
−
sin
(
−
2
π
3
)
−
sin
(
+
2
π
3
)
1
2
1
2
1
2
]
=
2
3
[
1
−
1
2
−
1
2
0
3
2
−
3
2
1
2
1
2
1
2
]
{{C}_{Clarke}}=C_{abc\to \alpha \beta 0}^{{}}=\dfrac{2}{3}\left[ \begin{matrix} \cos 0 & \cos (-\dfrac{2\pi }{3}) & \cos (+\dfrac{2\pi }{3}) \\ -\sin 0 & -\sin (-\dfrac{2\pi }{3}) & -\sin (+\dfrac{2\pi }{3}) \\ \dfrac{1}{2} & \dfrac{1}{2} & \dfrac{1}{2} \\ \end{matrix} \right]=\dfrac{2}{3}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & -\dfrac{\sqrt{3}}{2} \\ \dfrac{1}{2} & \dfrac{1}{2} & \dfrac{1}{2} \\ \end{matrix} \right]
CClarke=Cabc→αβ0=32⎣⎢⎢⎢⎢⎡cos0−sin021cos(−32π)−sin(−32π)21cos(+32π)−sin(+32π)21⎦⎥⎥⎥⎥⎤=32⎣⎢⎢⎢⎢⎡1021−212321−21−2321⎦⎥⎥⎥⎥⎤
(3)
α
β
→
d
q
\alpha \beta \to dq
αβ→dq:
C
P
a
r
k
=
C
α
β
→
d
q
=
[
cos
θ
sin
θ
−
sin
θ
cos
θ
]
{{C}_{Park}}=C_{\alpha \beta \to dq}^{{}}=\left[ \begin{matrix} \cos \theta & \sin \theta \\ -\sin \theta & \cos \theta \\ \end{matrix} \right]
CPark=Cαβ→dq=[cosθ−sinθsinθcosθ]
C
P
a
r
k
−
1
=
C
d
q
→
α
β
=
[
cos
θ
−
sin
θ
sin
θ
cos
θ
]
C_{Park}^{-1}=C_{dq\to \alpha \beta }^{{}}=\left[ \begin{matrix} \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \\ \end{matrix} \right]
CPark−1=Cdq→αβ=[cosθsinθ−sinθcosθ]
3.2恒功率变换
(1)
a
b
c
→
d
q
0
abc\to dq0
abc→dq0:
C
=
C
a
b
c
→
d
q
0
=
2
3
[
cos
θ
cos
(
θ
−
2
π
3
)
cos
(
θ
+
2
π
3
)
−
sin
θ
−
sin
(
θ
−
2
π
3
)
−
sin
(
θ
+
2
π
3
)
1
2
1
2
1
2
]
C=C_{abc\to dq0}^{{}}=\sqrt{\dfrac{2}{3}}\left[ \begin{matrix} \cos \theta & \cos (\theta -\dfrac{2\pi }{3}) & \cos (\theta +\dfrac{2\pi }{3}) \\ -\sin \theta & -\sin (\theta -\dfrac{2\pi }{3}) & -\sin (\theta +\dfrac{2\pi }{3}) \\ \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]
C=Cabc→dq0=32⎣⎢⎢⎢⎢⎡cosθ−sinθ21cos(θ−32π)−sin(θ−32π)21cos(θ+32π)−sin(θ+32π)21⎦⎥⎥⎥⎥⎤
C
d
q
0
→
a
b
c
=
(
C
a
b
c
→
d
q
0
)
−
1
=
(
C
a
b
c
→
d
q
0
)
T
C_{dq0\to abc}^{{}}={{({{C}_{abc\to dq0}})}^{-1}}={{({{C}_{abc\to dq0}})}^{T}}
Cdq0→abc=(Cabc→dq0)−1=(Cabc→dq0)T
(2)
a
b
c
→
α
β
0
abc\to \alpha \beta 0
abc→αβ0:
C
C
l
a
r
k
e
=
C
a
b
c
→
α
β
0
=
2
3
[
cos
0
cos
(
−
2
π
3
)
cos
(
+
2
π
3
)
−
sin
0
−
sin
(
−
2
π
3
)
−
sin
(
+
2
π
3
)
1
2
1
2
1
2
]
=
2
3
[
1
−
1
2
−
1
2
0
3
2
−
3
2
1
2
1
2
1
2
]
{{C}_{Clarke}}=C_{abc\to \alpha \beta 0}^{{}}=\sqrt{\dfrac{2}{3}}\left[ \begin{matrix} \cos 0 & \cos (-\dfrac{2\pi }{3}) & \cos (+\dfrac{2\pi }{3}) \\ -\sin 0 & -\sin (-\dfrac{2\pi }{3}) & -\sin (+\dfrac{2\pi }{3}) \\ \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]=\sqrt{\dfrac{2}{3}}\left[ \begin{matrix} 1 & -\dfrac{1}{2} & -\dfrac{1}{2} \\ 0 & \dfrac{\sqrt{3}}{2} & -\dfrac{\sqrt{3}}{2} \\ \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} & \dfrac{1}{\sqrt{2}} \\ \end{matrix} \right]
CClarke=Cabc→αβ0=32⎣⎢⎢⎢⎢⎡cos0−sin021cos(−32π)−sin(−32π)21cos(+32π)−sin(+32π)21⎦⎥⎥⎥⎥⎤=32⎣⎢⎢⎢⎢⎢⎡1021−212321−21−2321⎦⎥⎥⎥⎥⎥⎤
(3)
α
β
→
d
q
\alpha \beta \to dq
αβ→dq:
C
P
a
r
k
=
C
α
β
→
d
q
=
[
cos
θ
sin
θ
−
sin
θ
cos
θ
]
{{C}_{Park}}=C_{\alpha \beta \to dq}^{{}}=\left[ \begin{matrix} \cos \theta & \sin \theta \\ -\sin \theta & \cos \theta \\ \end{matrix} \right]
CPark=Cαβ→dq=[cosθ−sinθsinθcosθ]
C
P
a
r
k
−
1
=
C
d
q
→
α
β
=
[
cos
θ
−
sin
θ
sin
θ
cos
θ
]
C_{Park}^{-1}=C_{dq\to \alpha \beta }^{{}}=\left[ \begin{matrix} \cos \theta & -\sin \theta \\ \sin \theta & \cos \theta \\ \end{matrix} \right]
CPark−1=Cdq→αβ=[cosθsinθ−sinθcosθ]
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