CN100362739C - Method and device for producing electric motor arbitrary mechanical characteristic based on PWM technique - Google Patents
Method and device for producing electric motor arbitrary mechanical characteristic based on PWM technique Download PDFInfo
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Abstract
The present invention relates to a method and a device which are used for generating free mechanical characteristics of a motor on the basis of PWM technology. The device comprises a three-phase asynchronous motor, a DC generator which is coaxially connected with the three-phase asynchronous motor, an inverter circuit which is coaxially connected with the three-phase asynchronous motor, a digital control circuit of an AC motor and a computer. The present invention can realize free mechanical characteristics of comprehensive load, which is represented by a motor through the grasp and the change for the control law of an inverter by software; the defects of traditional load modeling has uniqueness, and a laboratory is difficult to realize are overcome. The simulation and the scheme of the mechanical characteristics of comprehensive load are realized, the effect on voltage stabilization caused by any load model can be analyzed conditionally; besides, the safety and the stabilization of an electric power system can be further analyzed and researched by the free mechanical characteristics of comprehensive load.
Description
Technical Field
The invention belongs to the field of voltage stability research of a power system and motor characteristic test, and particularly relates to a method and a device for forming mechanical load with any characteristics of a motor.
Background
The mechanical characteristics of the motor are important test contents of the motor, and the mechanical load of the motor has a great difference with the voltage and the rotating speed, so that various mechanical characteristics are always pending to test the motor. In addition, the development of any mechanical characteristics is also a need for the stability research of the power system.
According to the national standard 'three-phase asynchronous motor test method' (GB 1032-85), the test contents of an asynchronous motor are wide, the core content is a load test, and through the motor test, an idle load characteristic curve and a load characteristic curve under rated voltage are generally obtained, so that in order to know the load characteristics of the motor in various working occasions, the working characteristic curves under different voltages need to be tested. The torque-speed characteristic curve (T-n curve for short) of an asynchronous motor is an important characteristic of an asynchronous motor. Because the shape of the curve and the starting torque, the minimum torque, the maximum torque and the rated torque in the curve are all important indexes for measuring the performance of the motor. The starting torque represents the starting performance of the motor, the minimum torque determines whether the motor can smoothly accelerate, the maximum torque indicates the overload capacity of the motor, the rated torque represents the output power of the motor, and the measuring method of the T-n curve of the asynchronous motor is roughly divided into two categories: the first type is that angular acceleration of the asynchronous motor is measured to reflect the torque of the motor during no-load starting; the second type is measurement using a dynamometer (or a dc generator), a torque/rotation speed measuring instrument, a sensor, an X-Y function recorder, or the like.
Therefore, accurately measuring and using this characteristic curve is important for grasping basic characteristics of a motor load or a power system integrated load represented by a motor, and for studying system stability.
Voltage stabilization refers to the ability of a system to maintain the load point voltage operating near the equilibrium point under the combined action of system characteristics and load characteristics after the system is disturbed. The voltage stability of the power system refers to the capability of maintaining the load voltage within the allowable range on the premise that the system meets the load power requirement, and when the system has the capability, the system voltage is stable, otherwise, the system voltage is unstable.
The mechanism of voltage stability has been formed as a result of the combined action of the system characteristic and the load characteristic, when the system operating point is strong (if the system is idle), the load characteristic is not greatly influenced, but continuous failure occurs, the system is in a weak condition, whether the voltage is unstable or even collapses, the load characteristic plays a role in determining, and the simulation of the recurrence of the voltage collapse accident verifies that different results are obtained by using different load models, and whether the voltage is stable or not is determined by the stability of the load. Therefore, the establishment and the intensive research of the load model become one of the most important and critical contents in the voltage stability research.
The load model which is more commonly adopted in the voltage stability analysis is an induction motor mechanism model, but the model is changed according to the mechanical load, so that the action of the motor in the voltage stability can be correctly reflected, and because the induction motor accounts for 60% -80% of the total load in the power system, the mechanical characteristics describing and simulating any properties of the motor can be one of the breakthrough of research.
The mechanical characteristics of the motor, which are characteristic of the motor during steady operation and transition, are determined by the mechanical load carried by the motor at nominal voltage. The rotation speed n of the motor and the electromagnetic torque M of the motor are neglected s Have corresponding relationship between them, and can be written into M by using functional relationship s = f (n), and the relational expression does not indicate M s And the non-linear relation of u and I is equal. The present invention can then produce any form of mechanical behavior, exhibiting a nonlinear load characteristic of f (u, i, w).
From the fundamental analysis of the mechanical characteristics of the motor, including the mechanical characteristics of the asynchronous motor and the direct current motor and the analysis of their control methods, it is not easy to generate any characteristics, and the generation of the mechanical characteristics M = f (n, u, I, \ 8230;) of the motor is determined by the characteristics of the mechanical load carried, and is not changeable by the control. In order to simulate the mechanical load of any property of the motor in a laboratory, the conventional control thought and the existing experimental means cannot be used for achieving the purpose, a scheme for generating any mechanical characteristic of the motor must be found, and conditions are created for researching voltage stability and other power system safety and stability problems.
Disclosure of Invention
The problem to be solved by the invention is to provide a method and a device that can produce any mechanical characteristic of an electric motor.
The technical scheme provided by the invention is as follows: a method for generating any mechanical characteristic of an electric motor based on PWM technique, comprising the steps of:
(1) Three-phase symmetrical power buses supply power to the three-phase asynchronous motor, and the three-phase asynchronous motor drives the matched direct-current generator to rotate coaxially; generating direct current in an excitation adjusting mode;
(2) Converting the direct current into alternating current through an inverter circuit;
(3) The voltage and current from the bus are input into the voltage transformer and the current transformer through the filter circuit, and the voltage and current signals output by the voltage transformer and the current transformer are converted into weak voltage signals u through the voltage transmitter and the current transmitter respectively ax 、u bx 、u bx Weak current signal i ax 、i bx 、i bx ；
(4) Collecting weak voltage signal u ax 、u bx 、u bx And weak current signal i ax 、i bx 、i bx And calculating the amplitude U of each phase voltage X Phase;
(5) Detecting a zero crossing point of the voltage of the power grid;
(6) The inverter circuit trigger circuit sends out trigger pulses, and alternating current output by the inverter circuit is merged into a three-phase symmetrical power bus under the condition of meeting grid connection;
(7) Predetermining a required current waveform, decomposing the current waveform into each subharmonic component, solving a nonlinear transcendental equation set according to a mathematical method for eliminating specific order harmonics to obtain a switching angle of a PWM waveform, and sending a PWM waveform signal to an inverter driving circuit by a PWM controller according to the signal to enable the output current of the inverter to be identical to the predetermined required current waveform;
(8) The grid-connected direct current generator and the inverter circuit are used as equivalent mechanical loads of the asynchronous motor, and the control rule of the inverter circuit is changed through the modulation signal and the switching angle of the PWM waveform sent by the PWM controller, so that the required current waveform with any certainty is obtained.
The method for changing the control rule of the inverter circuit is based on a method for generating a PWM switching mode, the switching angle of the PWM pulse is calculated according to the specific harmonic times obtained by resolving the current waveform required by predetermination, and the transcendental equation set is solved through the following mathematical model, so that the switching angle is determined:
the arbitrary waveform obtained by utilizing the PWM principle is expressed as a certain definite constant which controls the coefficient arbitrarily appointed in the Fourier coefficient expression of the actual waveform; by using the symmetry of the waveform, the cosine component, the direct current component and the even sine component of the Fourier series are 0, and the general expression of the mathematical model is obtained:
wherein N represents [0, π/2 ]]The number of switching angles within the interval; tau. n Is the nth switching angle in the interval; k is the order of the fundamental and each subharmonic. a is a k Is the cosine Fourier coefficient corresponding to the k harmonic, b k For sinusoidal Fourier coefficients, U, corresponding to the k-th harmonic m Which is half the dc voltage input to the inverter. If q is ordered k Is the amplitude of the fundamental k-th order of waves, then
This constitutes a complex N-unknowns (τ) 1 ，τ 2 ，…τ N ) A system of N-dimensional equations. Solving the equation system to obtain a set of [0, pi/2 ]]The switching angle of the pulse wave in the interval can further obtain the switching angle in the whole period.
The invention also provides a device for realizing the method, which comprises the following steps: the system comprises a three-phase asynchronous motor, a direct-current generator coaxially connected with the three-phase asynchronous motor, an inverter circuit, an alternating-current motor digital control circuit and a computer; the alternating current motor digital control circuit is composed of a voltage and current sampling conversion circuit, an inversion driving circuit, a power grid voltage shaping circuit connected with a three-phase power system bus, a PWM (pulse-width modulation) controller, a filter circuit and a grid-connected switch; the input of the voltage and current sampling conversion circuit is connected with the output of the inverter circuit, the output end of the voltage and current sampling conversion circuit is connected with the input end of a data acquisition card of the PWM controller, the output end of the grid voltage shaping circuit is connected with an external interrupt interface of the PWM controller, the output end of the PWM controller is connected with the input end of the inverter driving circuit, the output end of the inverter driving circuit is connected with the inverter circuit, the inverter circuit is connected with a three-phase power supply system bus through a filter circuit and a grid-connected switch, and the computer is connected with a JATG port of the PWM controller.
The invention relates to a simulation method and a device for any load characteristic, namely, a digital control system of an alternating current motor is determined and applied to research the relation between the voltage stability of a power system and a load model, and the mechanism of voltage collapse and the simulation of any mechanical characteristic of a comprehensive load represented by a motor are searched on the basis of the relation.
The invention has the following advantages and positive effects:
(1) The method is a new method for generating any mechanical characteristics, has advanced principle and is easy to realize.
(2) The motor, the digital control system and the power electronic components of the motor control system are compact in arrangement, complete in function and convenient to expand, any characteristics of comprehensive loads can be realized through software, and the defects of singleness and difficulty in change of motor mechanical load simulation are overcome;
(3) The method can be used for testing the motor by integrating any mechanical characteristic of the load, and can intuitively understand and analyze the influence of a load model with any property on voltage stability so as to search the mechanism and essential characteristics of voltage stability and voltage collapse;
(4) The PC is adopted for control, the automation degree is high, the control software interface is friendly, the operation is simple and convenient, and the maintenance is easy;
(5) The method is tightly combined with an actual power system, clear in physical concept, high in operation speed, easy to practice and popularize and high in operability.
Drawings
FIG. 1 is a schematic diagram of the connection relationship between the device for generating any mechanical characteristic of the motor based on the PWM technology and a bus of a power distribution network system;
fig. 2 is a diagram of an example of the device for generating any mechanical characteristics of the motor based on the PWM technique according to the present invention.
Detailed Description
The working principle of the present invention is further explained in the following by combining the drawings and the embodiments.
The method of the invention comprises the following steps:
1. three-phase symmetrical power buses supply power to the three-phase asynchronous motor, and the three-phase asynchronous motor drives the matched direct-current generator to coaxially rotate; generating direct current in an excitation adjusting mode;
2. converting the direct current into alternating current through an inverter circuit;
3. the voltage and current from the bus are input into the voltage transformer and the current transformer through the filter circuit, and the voltage and current signals output by the voltage transformer and the current transformer are converted into weak voltage signals u through the voltage transmitter and the current transmitter respectively ax 、u bx 、u bx Weak current signal i ax 、i bx 、i bx ；
4. Collecting weak voltage signal u ax 、u bx 、u bx And weak current signal i ax 、i bx 、i bx And calculating the amplitude U of each phase voltage X Phase;
5. detecting a zero crossing point of the voltage of the power grid;
6. the inverter circuit trigger circuit sends out trigger pulses, and alternating current output by the inverter circuit is merged into a three-phase symmetrical power bus under the condition of meeting grid connection;
7. predetermining a required current waveform, decomposing the current waveform into subharmonic components, solving a nonlinear transcendental equation set according to a mathematical method for eliminating specific order harmonics to obtain a switching angle of the PWM waveform, and sending a PWM waveform signal to an inverter driving circuit by a PWM controller according to the signal so as to enable the output current of the inverter to be identical to the predetermined required current waveform;
8. the grid-connected direct current generator and the inverter circuit are used as equivalent mechanical loads of the asynchronous motor, and the control rule of the inverter circuit is changed through a modulation signal and a switch angle of a PWM waveform sent by a PWM controller, so that a required current waveform with arbitrary certainty is given.
As shown in fig. 1, the apparatus of the present invention comprises: the three-phase asynchronous motor 2, the direct current generator 3 which is provided with excitation voltage by the excitation circuit 4, the inverter circuit 5 and the alternating current motor digital control circuit thereof and the computer 14, wherein the three-phase asynchronous motor 2 and the direct current generator 3 form a coaxial unit through a mechanical connection relationship by a balance connection shaft; the alternating current motor digital control circuit is composed of voltage and current sampling conversion circuits 8 and 9, an inverter driving circuit 10, a power grid voltage shaping circuit 12 connected with a three-phase power system bus 1, a PWM controller 13, a filter circuit 6 and a grid-connected switch 7; the voltage and current sampling conversion circuit consists of a voltage and current transformer 8 and a voltage and current transducer 9; the input of the voltage and current sampling conversion circuits 8 and 9 is connected with the output of the inverter circuit 5, the output ends of the voltage and current sampling conversion circuits 8 and 9 are connected with the input end of a data acquisition card of a PWM controller 13, the output end of a grid voltage shaping circuit 12 is connected with an external interrupt interface of the PWM controller 13, the output end of the PWM controller 13 is connected with the input end of an inverter driving circuit 10, the output end of the inverter driving circuit 10 is connected with the inverter circuit 5, the inverter circuit 5 is connected with a three-phase power supply system bus 1 through a filter circuit 6 and a grid-connected switch 7, and a computer 14 is connected with a JATG port of the PWM controller 13.
The invention uses a three-phase 380V distribution network 1 as a power supply to drive an asynchronous motor 2, and the asynchronous motor 2 is equivalent to the load of a power grid and operates as a motor; the three-phase asynchronous motor 2 is coaxial with the direct current motor 3, the direct current motor 3 is driven by mechanical interconnection, at the moment, the direct current motor 3 is used as a generator to run to generate direct current, and the direct current is converted into three-phase alternating current through the inverter circuit 5 to be output; the three-phase alternating current output by the inverter circuit 5 is connected to a three-phase power grid in a grid-connected manner, and the three-phase power grid from the inverter circuit 5 to the grid-connected state is equivalent to the load of the asynchronous motor.
In fig. 2, the three-phase asynchronous motor: rated power is 1.1kW, rated frequency is 50Hz, rated rotating speed is 1410rad/min, rated voltage is 380V, rated current is 2.67A, and star connection is realized; a direct current generator: the rated power is 1.1kW, the excitation mode is that the rotor is excited (the excitation voltage is 220V), the rated voltage is 220V, the rated current is 6.5A, and the rated rotating speed is 1500r/min.
The alternating current motor digital control circuit is an alternating current motor digital control system (DSP) taking TMS320F2407A as a core. The electrical parameters (voltage, current) and mechanical parameters (speed, position) measured by the sensors are fed to the microprocessor through the A/D conversion interface. The microprocessor controls the motor movement through the D/a interface and the driving device, or directly controls the switching element to control the motor movement. TMS320F2407A is a TMS320F2407 enhanced type which is a fixed point DSP chip newly introduced by US TI company and is suitable for industrial control, particularly for motor control. The internal bus of the motor control system adopts a Harvard structure, the instruction execution speed is 40MIPS, most instructions can be executed in a single cycle (25 ns), the system comprises two event managers (EVMs), each EVM comprises 2 16-bit clocks, a Pulse Width Modulation (PWM) unit with 8 channels, an asynchronous serial interface (SCI) synchronous serial interface (SPI) and the like, the hardware structure of the motor control system is greatly simplified by applying the configuration, and the high-speed processing characteristic of the motor control system can enable a plurality of advanced control algorithms to be realized, so the implementation scheme belongs to a scheme with the minimum system, the strongest real-time performance and the optimal performance. The three-phase asynchronous motor and the direct current generator form a coaxial unit through a balance connecting shaft and a mechanical connection relationship; the inverter circuit and the alternating current motor digital control circuit thereof are composed of an output voltage and current sampling circuit, a thyristor trigger circuit, a thyristor switch group, a power grid voltage shaping circuit, a PWM controller and an arbitrary waveform generator; the output ends of the voltage transmitter and the current transmitter are respectively connected with the input end of a data acquisition card on an alternating current motor digital control circuit, the output end of the alternating current motor digital control circuit is respectively connected with the input ends of a thyristor trigger circuit and a PWM controller, the thyristor trigger circuit is connected with a thyristor switch group, and the inverter circuit is connected to a three-phase power supply system bus through a filter circuit and a grid-connected switch.
The control rule of an alternating current motor digital control system on an inverter circuit is changed, the method is based on a specific harmonic elimination method of a general voltage type inverter, a switching angle sequence obtained by a natural sampling triangular carrier SPWM method is used as an initial value, 1/4 period symmetrical pulse waveforms are adopted, specific order generation or elimination of certain order harmonics is taken as a target, a Newton iteration method is adopted, a nonlinear transcendental equation set is solved, the switching angle of a SHEPWM waveform is obtained, PWM of an arbitrary waveform generator is obtained through calculation, a PWM controller sends the PWM waveform to the arbitrary waveform generator according to the signal, and therefore arbitrary change of mechanical characteristics of an asynchronous motor is achieved, arbitrary load characteristics are simulated, and influence of the load change on voltage stability is achieved.
All control and regulation of the system are completed by software, and finally, a logic level type pulse width modulation control signal PWM is directly output to drive a power switch device. The current feedback signal is taken out from a current transformer connected in series in the main loop, and is sent to an ADC interface in the DSP after being isolated and amplified, and is converted into digital quantity to form a current loop. The speed feedback signal is taken out from the photoelectric pulse encoder and directly connected to the DSP, and the speed and the direction of the motor are obtained through the internal QEP circuit, so that the speed closed-loop control is completed.
The mathematical model of specific harmonic elimination SHEPWM generates selected order or eliminates certain order harmonic by the optimization selection of switching time, namely, an arbitrary waveform obtained by utilizing the SHEPWM principle shows that the arbitrary designated coefficient in a Fourier series expression of an actual waveform is controlled to be a certain fixed constant. By using the symmetry of the waveform, the cosine component, the direct current component and the even sine component of the Fourier series are 0, and the general expression is obtained:
wherein N represents [0, π/2 ]]The number of switching angles within the interval; tau is n Is the nth switching angle in the interval; k is the fundamental and the order of each harmonic. If q is ordered k Is the amplitude of the fundamental k-th order of waves, then
This constitutes a complex N-unknowns (τ) 1 ，τ 2 ，…τ N ) A system of N-dimensional equations. Solving the equation system to obtain a set of [0, pi/2 ]]The switching angle of the pulse wave in the interval can further obtain the switching angle in the whole period, and the switching angle is the mathematical model of SHEPWM. Specific harmonic cancellation PWM (SHEPWM) is considered an optimized PWM method. By using a SHEPWM mathematical model, any subharmonic and any amount of waveform characteristics can be obtained. Because the mathematical model of the SHE method is a nonlinear transcendental equation system, real-time solution is very difficult, and the use of the SHE technology in engineering is limited for a long time. The development of numerical calculation method and the appearance of high-speed digital signal processing device DSP provide application opportunity for the method. And the Newton iterative algorithm is adopted, so that the nonlinear transcendental equation set can be conveniently solved at high speed and high precision in a large range in real time.
Claims (3)
1. A method for generating any mechanical characteristic of an electric motor based on PWM technique, comprising the steps of:
(1) Three-phase symmetrical power buses supply power to the three-phase asynchronous motor, and the three-phase asynchronous motor drives the matched direct-current generator to rotate coaxially; generating direct current in an excitation adjusting mode;
(2) Converting the direct current into alternating current through an inverter circuit;
(3) Voltage and current signals output by the voltage transformer and the current transformer are converted into weak voltage and weak current signals through a voltage transmitter and a current transmitter respectively;
(4) Acquiring weak voltage signals and weak current signals, and calculating the amplitude and phase of each phase voltage;
(5) Detecting a zero crossing point of the voltage of the power grid;
(6) The inverter circuit trigger circuit sends out trigger pulses, and alternating current output by the inverter circuit is merged into a three-phase symmetrical power bus under the condition of meeting grid connection;
(7) Predetermining a required current waveform, decomposing the current waveform into subharmonic components, solving a nonlinear transcendental equation set according to a mathematical method for eliminating specific order harmonics to obtain a switching angle of a PWM (pulse-width modulation) waveform, and sending a PWM waveform signal to an inverter driving circuit by a PWM controller according to the signal so as to enable the output current of an inverter to be identical to the predetermined required current waveform;
(8) The grid-connected direct current generator and the inverter circuit are used as equivalent mechanical loads of the asynchronous motor, and the control rule of the inverter circuit is changed through a PWM waveform modulation signal and a switch angle sent by a PWM controller, so that a required current waveform with any certainty is given.
2. The method of claim 1, wherein: changing the control rule of the inverter circuit is based on a method for generating a PWM (pulse-width modulation) switching mode, calculating to obtain a switching angle of a PWM pulse according to specific harmonic times obtained by predetermining required current waveform decomposition, and solving an transcendental equation set through a following mathematical model to further determine the switching angle;
the arbitrary waveform obtained by utilizing the PWM principle is expressed as a certain definite constant which controls the coefficient arbitrarily appointed in the Fourier coefficient expression of the actual waveform; by using the symmetry of the waveform, the cosine component, the direct current component and the even sine component of the Fourier series are 0, and a general expression of a mathematical model is obtained:
wherein N represents [0, π/2]The number of switching angles within the interval; tau. n Is the nth switching angle in the interval; k is the fundamental wave and the frequency of each subharmonic; a is a k Is the cosine Fourier coefficient corresponding to the k harmonic, b k For sinusoidal Fourier corresponding to the k harmonicCoefficient, U m Is half of the DC voltage input into the inverter; if q is ordered k Is the amplitude of the k-th order of the fundamental wave, then
This constitutes a complex N-unknowns (τ) 1 ，τ 2 ，…τ N ) Solving the system of equations to obtain a set of equations in [0, [ pi ]/2]The switching angle of the pulse wave in the interval can further obtain the switching angle in the whole period.
3. A device for generating any mechanical characteristic of a motor based on a PWM technology is characterized in that: the system comprises a three-phase asynchronous motor, a direct-current generator coaxially connected with the three-phase asynchronous motor, an inverter circuit, an alternating-current motor digital control circuit and a computer; the alternating current motor digital control circuit consists of a voltage and current sampling conversion circuit, an inversion driving circuit, a power grid voltage shaping circuit connected with a three-phase power system bus, a PWM (pulse width modulation) controller, a filter circuit and a grid-connected switch; the input of the voltage and current sampling conversion circuit is connected with the output of the inverter circuit, the output end of the voltage and current sampling conversion circuit is connected with the input end of a data acquisition card of the PWM controller, the output end of the grid voltage shaping circuit is connected with an external interrupt interface of the PWM controller, the output end of the PWM controller is connected with the input end of the inverter driving circuit, the output end of the inverter driving circuit is connected with the inverter circuit, the inverter circuit is connected with a three-phase power supply system bus through a filter circuit and a grid-connected switch, and the computer is connected with a JATG port of the PWM controller.
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| US7449859B2 (en) * | 2007-02-20 | 2008-11-11 | Gm Global Technology Operations, Inc. | Reduction of subharmonic oscillation at high frequency operation of a power inverter |
| CN102830629B (en) * | 2012-08-29 | 2015-02-25 | 东北大学 | Testing device and method of power electronic control system |
| CN105372074B (en) * | 2015-10-29 | 2017-11-07 | 重庆长安汽车股份有限公司 | A kind of non-linear order component extraction analysis method of engine |
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