基于MATLAB/Simulink的异步电机直接转矩控制（DTC）仿真

% 电机参数设置
R_s = 0.5;    % 定子电阻(Ω)
L_d = 0.0028; % d轴电感(H)
L_q = 0.0027; % q轴电感(H)
P = 4;        % 极对数
J = 0.1;      % 转动惯量(kg·m²)
​
% Simulink模型构建
add_block('simulink/Simscape/Electrical/Machines/Induction Motor', 'DTC_Model/IM');
set_param('DTC_Model/IM', 'StatorResistance', num2str(R_s));
set_param('DTC_Model/IM', 'Ld', num2str(L_d));
set_param('DTC_Model/IM', 'Lq', num2str(L_q));

function [psi_s, T_e] = estimator(i_s, omega_m)
    % 电压模型估算
    L_s = 0.025; % 定子电感
    R_r = 0.4;   % 转子电阻
    
    % 磁链计算
    psi_s = L_s * i_s + (L_r - L_s) * i_s * exp(-R_r * omega_m * dt / L_r);
    
    % 转矩计算
    T_e = (3/2) * P * (psi_s * i_s_q - L_d * i_s_d * i_s_q);
end

% 滞环参数设置
hysteresis_T = 0.1;  % 转矩滞环宽度(N·m)
hysteresis_Psi = 0.01; % 磁链滞环宽度(Wb)
​
% 比较器逻辑
torque_error = T_ref - T_e;
flux_error = Psi_ref - psi_s;
​
% 选择电压矢量
switch (torque_error > 0) + 2*(flux_error > 0)
    case 1
        voltage_vector = 1; % V1
    case 2
        voltage_vector = 2; % V2
    case 3
        voltage_vector = 3; % V3
    ...
end

switch_table = {
    [1,2,3,4],   % 磁链扇区1
    [4,5,6,1],   % 磁链扇区2
    [2,3,4,5],   % 磁链扇区3
    }; % 磁链扇区4
​
% 电压矢量选择
sector = floor(atan2(i_q,i_d)/pi*6)+1;
voltage_vector = switch_table{sector, error_state};

param = struct();
param.fs = 10e3;      % 采样频率
param.dt = 1/fs;      % 时间步长
param.Ts = 0.0001;    % 开关周期
param.R_load = 5;     % 负载电阻(Ω)

for k = 1:num_steps
    % 电机状态更新
    [i_d,i_q] = motor_dynamics(u_dc, omega_m);
    
    % 磁链/转矩估算
    [psi_s, T_e] = estimator(i_d,i_q, omega_m);
    
    % 滞环控制
    [voltage_vector, sector] = hysteresis_control(T_e, psi_s);
    
    % PWM生成
    gate_signals = generate_PWM(voltage_vector, sector);
    
    % 逆变器建模
    [u_dc, i_dc] = inverter_model(gate_signals);
end

subplot(3,1,1);
plot(t,omega_m*60/pi); % 转速(rpm)
xlabel('时间(s)'); ylabel('转速(rpm)');
​
subplot(3,1,2);
plot(t,T_e_ref-T_e);   % 转矩误差
xlabel('时间(s)'); ylabel('转矩误差(N·m)');
​
subplot(3,1,3);
stem(t,switch_table_idx); % 开关频率分析
xlabel('时间(s)'); ylabel('开关状态');

% 滑模观测器设计
psi_s_hat = L_s*i_s + (L_r - L_s)*exp(-R_r*omega_m*dt/L_r)*i_s_hat;
e = psi_s - psi_s_hat;
psi_s_hat = psi_s_hat + K_s*sign(e)*dt; % 滑模增益K_s=0.1

% 动态滞环宽度调整
hysteresis_T = 0.05 + 0.05*sin(pi*omega_m/60);
hysteresis_Psi = 0.008 + 0.002*abs(omega_m);

% 空间矢量调制
function pwm = svpwm(v1,v2,v3)
    T0 = Ts - (T1+T2+T3);
    duty = [T1/Ts, T2/Ts, T3/Ts, T0/Ts];
    pwm = [duty(1) duty(4) duty(2) duty(3) duty(2) duty(4)];
end