CN101655690A - Method for simulating electric drive control system under traction working condition of electric-wheel truck - Google Patents
Method for simulating electric drive control system under traction working condition of electric-wheel truck Download PDFInfo
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Abstract
The invention relates to the technical field of electric control systems of electric-wheel trucks, in particular to a method for simulating an electric drive control system under a traction working condition of an electric-wheel truck. Under the traction working condition, the control system consists of a main generator constant power control part and a wheel motor excitation control part, whereinthe main generator constant power control part designs and simulates a main generator excitation current link, decides time constants of various control links and selects a structure of a current regulator, calculates parameters so as to obtain a simulation map, and analyzes the structure of a main generator to obtain a simulation map; the wheel motor excitation control part designs and simulatesa wheel motor excitation current link, decides time constants of various control links, selects the structure of the current regulator and calculates parameters so as to obtain a simulation map; thetwo parts are combined, and the dynamic structure of a wheel motor is considered, so a simulation structural drawing of the whole control system under the traction working condition is obtained; and acontrol strategy for a constant power link in the simulation structural drawing can adopt the classical PI control or fuzzy control.
Description
Technical field
The present invention relates to the emulation mode of electric wheel truck electric-control system technical field, particularly a kind of electric drive control system under traction working condition of electric-wheel truck.
Background technology
Electric wheel truck is present both at home and abroad ideal transportation equipment efficiently in the large surface mine, is bringing into play very important effect.Its Electrified Transmission adopts the STATEXIII type control system of U.S. GE company, and this system can control in real time to automobile, and the on-line dialogue by notebook computer, can obtain the relevant service data of automobile.At present, computer simulation technique is in the application that obtains aspect the automatic control more and more widely, but for the system modelling and emulation of electric wheel truck, this type of research yet there are no to be delivered.
But it does not disclose the control structure of system under the traction working condition, makes the user of system and the logical relation that the researcher can not learn the built-in variable of these many input/outputs, thereby can't understand in depth and study system.
Summary of the invention
The object of the present invention is to provide a kind of emulation mode of electric drive control system under traction working condition of electric-wheel truck.
The object of the present invention is achieved like this:
The emulation mode of electric drive control system under traction working condition of electric-wheel truck of the present invention is characterized in that under traction working condition, and electric drive control system is made up of permanent power control system part of main generator and turbin generator excitation control part branch:
1) the permanent power control system part of main generator:
(1) the main generator excitation electric current loop is designed and emulation, determines the time constant of each controlling unit, the structure and the calculation of parameter of selection current regulator, obtain analogous diagram,
(2) structure of main generator is analyzed, is obtained analogous diagram,
2) turbin generator excitation control section:
Turbin generator exciting current link is designed and emulation, determine the time constant of each controlling unit, the structure and the calculation of parameter of selection current regulator, obtain analogous diagram.
Above two parts are combined, and consider the dynamic structure of direct current motor, obtain the simulation architecture figure of The whole control system under the traction working condition, for the control strategy of the permanent power ring among the simulation architecture figure, classical PI control can be adopted, also fuzzy control can be adopted.
The permanent power control system structure of described main generator is: input quantity engine speed Ne, conversion links through engine speed and main generator electric power draws the given signal P* of main generator electric power, the given signal P* of this main generator electric power is through sending into controller C relatively afterwards with feedback signal in comparer, this controller C output controlled quentity controlled variable is sent into generator field static excitation device AFSE, the output signal of this generator field static excitation device AFSE is sent into the main generator link, rectifier cabinet is sent in the output of this main generator link, the output one tunnel of this rectifier cabinet is as the power of main circuit, and another road is sent into comparer through negative feedback links as power feedback signal.
Negative feedback links in the permanent power control system analogous diagram of described main generator is the power negative feedback links, and its power feedback signal multiplies each other and obtains by taking from the main circuit voltage and current signal: Pf=u*i.
Described turbin generator excitation control structure is: the output current Ia after the rectification of input quantity main generator draws traction motor exciting current Imf* through traction motor exciting current conversion links, this traction motor exciting current Imf* sends into controller C through comparer, this controller C output controlled quentity controlled variable is sent into motor-field static excitation device AFSE, the output Imf of this motor-field static excitation device AFSE, this output Imf one tunnel sends into turbin generator M and controls its rotation speed n, and comparer is sent into through negative feedback links in another road.
Described analogous diagram to The whole control system under the traction working condition is:
Controlled quentity controlled variable engine speed Ne is input to Ne-P* link and Ne-f link, the Ne-P* link draws to be sent into pi controller PI after the power given value P* that tries to achieve main motor makes comparisons with feedback signal power error signal is controlled in comparer, the frequency of operation f of output signal master's motor of this control signal and Ne-f link sends into the ALT subsystem simultaneously, this ALT subsystem is exported suitable voltage signal Eph1 through K-link and voltage amplitude limit link, the output one tunnel of this voltage amplitude limit link outputs to the Ua feedback element and sends into synthetic link, first multiplier is sent in another road output of voltage amplitude limit link, the Ua/2 link is sent in the Third Road output of voltage amplitude limit link, the output of this Ua/2 link is sent into the Um-Ia link after making comparisons with feedback signal Em in another comparer, the output signal of this Um-Ia link is sent into the current limit link, and the output one tunnel of this current limit link is sent into the Imf link and obtain the magnetic flux Φ of turbin generator after the nonlinear transformation of Imf-magnetic flux m link
mSend into magnetic flux m multiplier, another road of output of this current limit link link is sent into next comparer and load signal and is sent into the Ia-Em link after relatively, the output one tunnel of Ia-Em link is fed back into described next comparer of input, magnetic flux m multiplier is sent into through the 1/Ce link in another road, obtain the output of turbin generator rotation speed n with the magnetic flux Φ of above-mentioned turbin generator after synthetic, the output Third Road of this current limit link is sent into first multiplier respectively, with form output Out from the synthetic back of the output signal of above-mentioned voltage amplitude limit link, the output the four tunnel of this current limit link link is sent into compositor and the signal sent into above-mentioned Ua feedback element is sent into wave filter after synthetic through the Ia feedback element, send into comparer again, wherein:
(1) Ne is an engine speed, when emulation, has adopted non-linear given input, the process of progressively quickening when starting to walk with simulating vehicle.
(2) simultaneously, vehicle is equipped with engine speed sensor, can detection of engine also be the rotating speed of main generator, can calculate the frequency of operation of main motor, and this conversion is realized by the Ne-f link among the figure.
(3) system is provided with the PI controller at power ring, also can adopt other control strategy.
(4) exciting current of exporting for turbin generator exciting current ring can obtain the magnetic flux Φ of turbin generator after the nonlinear transformation of Imf-magnetic flux m
mHere multiply by 1/Ce (being equivalent to) with the electromotive force Em of turbin generator and divided by magnetic flux Φ divided by Ce
mThereby, obtained speed n output,
Ce is the characteristic coefficient of motor, in case finish design of electrical motor, its characteristic coefficient is determined.
Described ALT subsystem promptly to main generator and the motor-field static excitation device AFSE analogous diagram partly that the structure of main generator is analyzed is:
Controlled quentity controlled variable u and the input of frequency f two-way, controlled quentity controlled variable u sends into exciter current of generator 1af control loop, through exciting current 1af control loop regulate and after the correction of Kaf link output exciting current Iaf, the exciting current of output can obtain main flux Φ respectively after the nonlinear transformation of Iaf-magnetic flux 1 link and Iaf-magnetic flux 3A link
1, third harmonic harmonic flux Φ
3AAnd deliver to the front end of two multipliers respectively, the output signal of a multiplier is after the conversion of E 3A-Ud03A link, feed back to the Kaf link through proportional component by 1/80 scale-up factor, another road input f also delivers to the front end of two multipliers with the branch road of constant coefficient 4.44 proportional components, N1K1 proportional component, N3AK3A proportional component, coefficient 3 proportional components composition respectively, two multipliers are exported phase voltage Eph and third harmonic voltage respectively, wherein:
(1) 4.44 is alternating current generator electromotive force coefficient, and N1, N3A are respectively every phase coil number of turn of main winding, the humorous wave winding of T13-14, and K1 and K3A are respectively the winding coefficient K ω of main winding
1, the humorous wave winding of T13-14 winding coefficient K ω
3A,
(2) Iaf-magnetic flux 1 and Iaf-magnetic flux 3A represent magnetic field electric current of generator I respectively
AfWith main flux Φ
1, third harmonic harmonic flux Φ
3ANonlinear relationship.
(3) E3A represents the third harmonic winding voltage, E3A-Ud03A represents the conversion from T13-14 third harmonic winding voltage to AFSE DC side maximum voltage value, 1/80 is a scale-up factor, when real work, controlled quentity controlled variable u difference along with input, field voltage also changes, and exciting current Iaf and u are not simple linear relationship, has therefore added expression main generator excitation electric current amending unit Kaf here.
The simulation architecture of described main generator excitation electric current link is:
Step function Step is input to the filtering link, after making comparisons, the output signal set-point Imf* of this filtering link and feedback signal Imff send into proportional component Kp simultaneously, integral element Ki, the output signal of these two links is sent into single-phase thyristor half control rectifier bridge through what compositor synthesized with value, the output of this single-phase thyristor half control rectifier bridge divides two tunnel outputs after the field copper link is done the Uaf-Iaf conversion, one the tunnel sends into comparer through the exciting current feedback element as feedback signal Imff, export as Out1 on another road, wherein, the feedback factor of exciting current is 0.0025, the enlargement factor of single-phase thyristor half control rectifier bridge is 8, be 0.0006s time delay, the enlargement factor of field copper link is 6.173, and be 0.126s time delay.
Described Imf link promptly designs with analogous diagram turbin generator exciting current ring:
Controlled quentity controlled variable Ia sends into Ia-Imf* link 30, filtering link 31, in comparer 32, send into the Kp link simultaneously with relatively back its difference of Imf feedback signal, the Ki link, the output signal of these two links is sent into single-phase thyristor half control rectifier bridge after compositor is synthetic, the output of this single-phase thyristor half control rectifier bridge divides two tunnel outputs after the field copper link is done the Umf-Imf conversion, one the tunnel returns comparer through the exciting current feedback element, export as Out1 on another road, wherein, Ia is the main generator armature supply, it also is the armature supply of turbin generator, Iaf-Imf is turbin generator armature supply-exciting current transform part, the feedback factor of exciting current is 0.0025, the enlargement factor of the whole bridge of single-phase thyristor half control is 8, be 0.0006s time delay, and the enlargement factor of field copper link is 12.378, and be 0.223s time delay.
Wherein permanent power control line in the analogous diagram of system in the curve of traction characteristics of permanent powertrace and system is consistent, and just actual current arrives maximal value and fluctuates to some extent in start-up course, and is different with the Ideal Characteristics curve.
The present invention utilizes the MATLAB/Simulink environment at electric wheel truck multivariable nonlinearity complex control system, the thinking of separation structure-synthesis of artificial has been proposed: the system under the traction working condition is divided into main generator and two control sections of turbin generator, their each free different exciting current closed-loop controls.At first each control closed loop is carried out emulation, on the correct basis of simulation result, progressively set up the realistic model of total system, and, verified the correctness of scheme by simulation result is compared with the demand characteristics curve of system.
If according to the mentality of designing of routine, not only the derivation of each link calculating is very complicated, and also very difficult for the design of Controller of entire system structure, has increased difficulty to system debug equally.
(1) disclosed control structure under system's traction working condition for the user of system and researcher;
(2) researcher can launch the simulation study of relevant controlling scheme on this basis to system, and optimization system, and the researcher can attempt the various control strategy on emulation platform, and compares its performance very easily, and then chooses the most suitable control strategy;
(3) establish the control strategy of system by simulation study, a large amount of performance comparative experiments that repeat in the systems development process have been avoided, simplified the complicacy of the structural design of derivation calculating in the system design and controller greatly, can shorten system development cycle greatly, and save considerable experimental expenses.
Description of drawings
Fig. 1 is the permanent power control system theory diagram of electric wheel truck main generator.
Fig. 2 is a turbin generator excitation control principle block diagram.
Fig. 3 is the analogous diagram of main generator excitation electric current loop.
Fig. 4 partly controls analogous diagram for main generator and AFSE.
Fig. 5 is the analogous diagram of turbin generator exciting current ring.
Fig. 6 is the simulation architecture figure of The whole control system under the traction working condition.
Fig. 7 is the comparison (right side) of analogous diagram (left side) and system's curve of traction characteristics.
Embodiment
Further specify the specific embodiment of the present invention below in conjunction with accompanying drawing.
The emulation mode of a kind of electric drive control system under traction working condition of electric-wheel truck of the present invention is characterized in that under traction working condition, and control system is made up of permanent power control system part of main generator and turbin generator excitation control part branch:
1) the permanent power control system part of main generator:
(1) the main generator excitation electric current loop is designed and emulation, determines the time constant of each controlling unit, the structure and the calculation of parameter of selection current regulator, obtain analogous diagram,
(2) structure of main generator is analyzed, is obtained analogous diagram,
2) turbin generator excitation control section:
Turbin generator exciting current link is designed and emulation, determines the time constant of each controlling unit, the structure and the calculation of parameter of selection current regulator, obtain analogous diagram,
Above two parts are combined, and consider the dynamic structure of direct current motor, obtain the simulation architecture figure of The whole control system under the traction working condition, for the control strategy of the permanent power ring among the simulation architecture figure, classical PI control can be adopted, also fuzzy control can be adopted.
As shown in Figure 1, the permanent power control system structure of described main generator is: input quantity engine speed Ne, conversion links 1 through engine speed and main generator electric power draws the given signal P* of main generator electric power, the given signal P* of this main generator electric power is through sending into controller C relatively afterwards with feedback signal in comparer 2, this controller C output controlled quentity controlled variable is sent into generator field static excitation device AFSE, the output signal of this generator field static excitation device AFSE is sent into main generator link ALT, rectifier cabinet 3 is sent in the output of this main generator link ALT, the output one tunnel of this rectifier cabinet is as the power of main circuit, and another road is sent into comparer 2 through negative feedback links as power feedback signal.ALT represents main generator.
Negative feedback links in the permanent power control system analogous diagram of described main generator is the power negative feedback links, and its power feedback signal multiplies each other and obtains by taking from the main circuit voltage and current signal: Pf=u*i.
As shown in Figure 2, described turbin generator excitation control structure is: the input quantity main circuit current is that the output current Ia after the main generator rectification draws the given signal Imf* of turbin generator exciting current through turbin generator exciting current conversion links 4, the given signal Imf* of this turbin generator exciting current sends into controller C through comparer 5, this controller C output controlled quentity controlled variable is sent into turbin generator magnetic field static excitation device MFSE, the output Imf one tunnel of this turbin generator magnetic field static excitation device MFSE sends into turbin generator M and controls its rotation speed n, and another road is sent into comparer 5 through negative feedback links fb as the exciting current feedback signal.
Turbin generator magnetic field static excitation device MFSE is according to the excitation of controller C output controlled quentity controlled variable control turbin generator M, thereby participate in the rotating speed control of turbin generator, to realize power match, under traction working condition, the output current Ia after the main generator rectification equates with the armature supply Im of turbin generator.
As shown in Figure 6, described analogous diagram to The whole control system under the traction working condition is:
Controlled quentity controlled variable engine speed Ne is input to Ne-P* link 41 and Ne-f link 42, Ne-P* link 41 draws the power given value P* that tries to achieve main motor and sends into 50 pairs of power error signals of pi controller PI and control with feedback signal its difference of back of making comparisons in comparer 43, the frequency of operation f of output signal master's motor of this control signal and Ne-f link 42 sends into ALT subsystem 51 simultaneously, this ALT subsystem 51 is exported suitable voltage signal through K-link 52 and voltage amplitude limit link 53, the output one tunnel of this voltage amplitude limit link 53 outputs to Ua feedback element 46, and to send into the synthetic link of power signal be multiplier 45, first multiplier 48 is sent in another road output of voltage amplitude limit link 53, Ua/2 link 56 is sent in the Third Road output of voltage amplitude limit link 53, the output of this Ua/2 link 56 its difference after making comparisons with feedback signal Em in another comparer 57 is sent into Um-Ia link 58, the output signal of this Um-Ia link 58 is sent into current limit link 59, and the output one tunnel of this current limit link 59 is sent into turbin generator exciting current controlling unit 68 output wheel motor excitation electric currents and through turbin generator exciting current Imf-magnetic flux Φ
mObtain the magnetic flux Φ of turbin generator after the nonlinear transformation of link 69
mSend into magnetic flux m multiplier 66, another road of output of this current limit link link 59 is sent into next comparer 60 and is sent into Ia-Em link 62 with load signal 61 its differences of comparison back, the described comparer 57 of output one tunnel feedback input of Ia-Em link 62, multiplier 66 is sent into through 1/Ce link 65 in another road, divided by the magnetic flux Φ of above-mentioned turbin generator
mObtain turbin generator rotation speed n output 67 after synthetic, the output Third Road of this current limit link 59 through Ia feedback element 47 send into power feedback signal compositor 45 and the synthetic power feedback signal of signal sent into above-mentioned Ua feedback element after send into wave filter 44, send into comparer 43 again, the output the four tunnel of current limit link 59 forms power signal and delivers to Output Display Unit 49 in the synthetic link 48 of power with above-mentioned 53 link output voltage signal.
Among the figure:
(1) Ne is an engine speed, when emulation, has adopted non-linear given input, the process of progressively quickening when starting to walk with simulating vehicle.
(2) simultaneously, vehicle is equipped with engine speed sensor, can detection of engine also be the rotating speed of main generator, can calculate the frequency of operation of main motor, and this conversion is realized by the Ne-f link among the figure.
(3) system is provided with the PI controller at power ring, also can adopt other control strategy.
(4) exciting current of exporting for turbin generator exciting current ring can obtain the magnetic flux Φ of turbin generator after the nonlinear transformation of Imf-magnetic flux m
mHere multiply by 1/Ce (being equivalent to) with the electromotive force Em of turbin generator and divided by magnetic flux Φ divided by Ce
mThereby, obtained speed n output.
Ce is the characteristic coefficient of motor, in case finish design of electrical motor, its characteristic coefficient is determined.
As shown in Figure 4, described ALT subsystem is that main generator and AFSE partly control true figure and be:
Controlled quentity controlled variable u and the input of frequency f two-way, controlled quentity controlled variable u sends into exciter current of generator 1af control loop 16, export exciting current Iaf through the adjusting of exciting current 1af control loop and after Kaf link 17 is revised, the exciting current of output can obtain main flux Φ respectively after the nonlinear transformation of I af-magnetic flux 1 link 25 and I af-magnetic flux 3A link 19
1, third harmonic harmonic flux Φ
3AAnd deliver to the front end of two multipliers 27,20 respectively, link 20 through 21 conversion of E3A-Ud03A link after proportional component 18 feeds back to Kaf link 17 by 1/80 scale-up factor, another road input f also delivers to the front end of two multipliers 27,20 with the branch road of constant coefficient 4.44 proportional components 22, N1K1 proportional component 24, N3AK3A proportional component 23, coefficient 3 proportional components 26 compositions respectively, two multipliers are exported phase voltage Eph and third harmonic voltage respectively, wherein:
(1) 4.44 is alternating current generator electromotive force coefficient, and N1, N3A are respectively every phase coil number of turn of main winding, the humorous wave winding of T13-14, and K1 and K 3A are respectively the winding coefficient K ω of main winding
1, the humorous wave winding of T13-14 winding coefficient K ω
3A,
(2) same, magnetic flux Φ represents that with magnetic flux Iaf-magnetic flux1 and I af-magnetic flux3A represent magnetic field electric current of generator I respectively
AfWith main flux Φ
1, third harmonic harmonic flux Φ
3ANonlinear relationship.
(3) E3A represents the third harmonic winding voltage, E3A-Ud03A represents the conversion from T13-14 third harmonic winding voltage to AFSE DC side maximum voltage value, 1/80 is a scale-up factor, when real work, controlled quentity controlled variable u difference along with input, field voltage also changes, and exciting current Iaf and u are not simple linear relationship, has therefore added expression main generator excitation electric current amending unit Kaf here.Label 29 among the figure is a display.
This figure has reflected the steering logic structure of main generator and AFSE (generator field static excitation device) part, and the main generator unit stator winding of this type automobile is made of main winding (first-harmonic winding) and two third harmonic windings.The main winding (first-harmonic winding) and the structure of T13-14 third harmonic winding have wherein been shown among the figure.
As shown in Figure 3, the analogous diagram of described main generator excitation electric current 1af controlling unit is:
Step function Step is input to filtering link 6, after making comparisons, the output signal set-point Imf* of this filtering link 6 and turbin generator exciting current feedback signal Imff send into proportional component Kp8 simultaneously, integral element Ki9, the output signal of these two links is sent into single-phase thyristor half control rectifier bridge 11 through what compositor 10 synthesized with value, the output of this single-phase thyristor half control rectifier bridge 11 divides two tunnel outputs after field copper link 12 is done the Uaf-Iaf conversion, one the tunnel sends into comparer 7 through exciting current feedback element 13 as feedback signal Imff, another road is as Out1 output 14, wherein, the feedback factor of exciting current is 0.0025, the enlargement factor of single-phase thyristor half control rectifier bridge is 8, be 0.0006s time delay, the enlargement factor of field copper link is 6.173, and be 0.126s time delay.
As shown in Figure 5, described Imf link promptly designs with analogous diagram turbin generator exciting current ring and is:
Controlled quentity controlled variable Ia sends into Ia-Imf* link 30, filtering link 31, in comparer 32, send into Kp link 34 simultaneously with relatively back its difference of Imf feedback signal, Ki link 33, the output signal of these two links is sent into single-phase thyristor half control rectifier bridge 36 after compositor 35 synthesizes, the output of this single-phase thyristor half control rectifier bridge 36 divides two tunnel outputs after field copper link 37 is done the Umf-Imf conversion, one the tunnel returns comparer 32 through exciting current feedback element 39, another road is as Out1 output 40, wherein, Ia is the main generator armature supply, it also is the armature supply of turbin generator, Iaf-Imf is turbin generator armature supply-exciting current transform part, the feedback factor of exciting current is 0.0025, the enlargement factor of single-phase thyristor half control rectifier bridge is 8, be 0.0006s time delay, the enlargement factor of field copper link is 12.378, and be 0.223s time delay.Label 38 among the figure is a display.
Claims (9)
1, a kind of emulation mode of electric drive control system under traction working condition of electric-wheel truck is characterized in that under traction working condition, and control system is made up of permanent power control system part of main generator and turbin generator excitation control part branch:
1) the permanent power control system part of main generator:
(1) the main generator excitation electric current loop is designed and emulation, determines the time constant of each controlling unit, the structure and the calculation of parameter of selection current regulator, obtain analogous diagram,
(2) structure of main generator is analyzed, is obtained analogous diagram,
2) turbin generator excitation control section:
Turbin generator exciting current link is designed and emulation, determines the time constant of each controlling unit, the structure and the calculation of parameter of selection current regulator, obtain analogous diagram,
Above two parts are combined, and consider the dynamic structure of direct current motor, obtain the simulation architecture figure of The whole control system under the traction working condition,, adopt classical PI control or fuzzy control for the control strategy of the permanent power ring among the simulation architecture figure.
2, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 1, it is characterized in that the permanent power control system structure of described main generator is: input quantity engine speed Ne, conversion links through engine speed and main generator electric power draws the given signal P* of main generator electric power, the given signal P* of this main generator electric power is through sending into controller C relatively afterwards with feedback signal in comparer, this controller C output controlled quentity controlled variable is sent into generator field static excitation device AFSE, the output signal of this generator field static excitation device AFSE is sent into main generator link ALT, rectifier cabinet is sent in the output of this main generator link ALT, the output one tunnel of this rectifier cabinet is as the power of main circuit, another road is sent into comparer through negative feedback links as power feedback signal
Negative feedback links in the permanent power control system analogous diagram of described main generator is the power negative feedback links, and its power feedback signal multiplies each other and obtains by taking from the main circuit voltage and current signal: Pf=u*i.
3, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 1, it is characterized in that described turbin generator excitation control structure is: the output current Ia after the rectification of input quantity main generator draws traction motor exciting current Imf* through traction motor exciting current conversion links, this traction motor exciting current Imf* sends into controller C through comparer, this controller C output controlled quentity controlled variable is sent into motor-field static excitation device AFSE, the output Imf of this motor-field static excitation device AFSE, this output Imf one tunnel sends into turbin generator M and controls its rotation speed n, and comparer is sent into through negative feedback links in another road.
4, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 1 is characterized in that described analogous diagram to The whole control system under the traction working condition is:
Controlled quentity controlled variable engine speed Ne is input to Ne-P* link and Ne-f link, the Ne-P* link draws to be sent into pi controller PI after the power given value P* that tries to achieve main motor makes comparisons with feedback signal power error signal is controlled in comparer, the frequency of operation f of output signal master's motor of this control signal and Ne-f link sends into the ALT subsystem simultaneously, this ALT subsystem is exported suitable voltage signal Eph1 through K-link and voltage amplitude limit link, the output one tunnel of this voltage amplitude limit link outputs to the Ua feedback element and sends into synthetic link, first multiplier is sent in another road output of voltage amplitude limit link, the Ua/2 link is sent in the Third Road output of voltage amplitude limit link, the output of this Ua/2 link is sent into the Um-Ia link after making comparisons with feedback signal Em in another comparer, the output signal of this Um-Ia link is sent into the current limit link, and the output one tunnel of this current limit link is sent into the Imf link and obtain the magnetic flux Φ of turbin generator after the nonlinear transformation of Imf-magnetic flux m link
mSend into magnetic flux m multiplier, another road of output of this current limit link link is sent into next comparer and load signal and is sent into the Ia-Em link after relatively, the output one tunnel of Ia-Em link is fed back into described next comparer of input, magnetic flux m multiplier is sent into through the 1/Ce link in another road, obtain the output of turbin generator rotation speed n with the magnetic flux Φ of above-mentioned turbin generator after synthetic, the output Third Road of this current limit link is sent into first multiplier respectively, with form output Out from the synthetic back of the output signal of above-mentioned voltage amplitude limit link, the output the four tunnel of this current limit link link is sent into compositor and the signal sent into above-mentioned Ua feedback element is sent into wave filter after synthetic through the Ia feedback element, send into comparer again, wherein:
(1) Ne is an engine speed, when emulation, has adopted non-linear given input, the process of progressively quickening when starting to walk with simulating vehicle.
(2) simultaneously, vehicle is equipped with engine speed sensor, can detection of engine also be the rotating speed of main generator, can calculate the frequency of operation of main motor, and this conversion is realized by the Ne-f link among the figure.
(3) system is provided with the PI controller at power ring, also can adopt other control strategy.
(4) exciting current of exporting for turbin generator exciting current ring can obtain the magnetic flux Φ of turbin generator after the nonlinear transformation of Imf-magnetic flux m
mHere multiply by 1/Ce (being equivalent to) with the electromotive force Em of turbin generator and divided by magnetic flux Φ divided by Ce
mThereby, obtained speed n output,
Ce is the characteristic coefficient of motor, in case finish design of electrical motor, its characteristic coefficient is determined.
5, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 4 is characterized in that described ALT subsystem is that main generator and AFSE partly control true figure and be:
Controlled quentity controlled variable u and the input of frequency f two-way, controlled quentity controlled variable u sends into main generator excitation electric current laf controlling unit, through exciting current laf controlling unit regulate and after the correction of Kaf link output exciting current Iaf, the exciting current of output can obtain main flux Φ respectively after the nonlinear transformation of Iaf-magnetic flux 1 link and Iaf-magnetic flux 3A link
1, third harmonic harmonic flux Φ
3AAnd deliver to two multipliers, 20 front end respectively, link through the conversion of E3A-Ud03A link after proportional component feeds back to the Kaf link by 1/80 scale-up factor, another road input f also delivers to the front end of two multipliers with the branch road of constant coefficient 4.44 proportional components, N1K1 proportional component, N3AK3A proportional component, coefficient 3 proportional components composition respectively, two multipliers are exported phase voltage Eph and third harmonic voltage respectively, wherein:
(1) 4.44 is alternating current generator electromotive force coefficient, and N1, N3A are respectively every phase coil number of turn of main winding, the humorous wave winding of T13-14, and K1 and K3A are respectively the winding coefficient K ω of main winding
1, the humorous wave winding of T13-14 winding coefficient K ω
3A,
(2) Iaf-magnetic flux 1 and Iaf-magnetic flux 3A represent magnetic field electric current of generator I respectively
AfWith main flux Φ 1, third harmonic harmonic flux Φ
3ANonlinear relationship.
(3) E3A represents the third harmonic winding voltage, E3A-Ud03A represents the conversion from T13-14 third harmonic winding voltage to AFSE DC side maximum voltage value, 1/80 is a scale-up factor, when real work, controlled quentity controlled variable u difference along with input, field voltage also changes, and exciting current Iaf and u are not simple linear relationship, has therefore added expression main generator excitation electric current amending unit Kaf here.
6, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 1 is characterized in that the analogous diagram of described main generator excitation electric current laf controlling unit is:
Step function Step is input to the filtering link, after making comparisons, the output signal set-point Imf* of this filtering link and feedback signal Imff send into proportional component Kp, integral element Ki simultaneously, the output signal of these two links is sent into single-phase thyristor half control rectifier bridge through what compositor synthesized with value, the output of this single-phase thyristor half control rectifier bridge divides two tunnel outputs after the field copper link is done the Uaf-Iaf conversion, one the tunnel sends into comparer through the exciting current feedback element as feedback signal Imff, and export as Out1 on another road.
7, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 5, the feedback factor that it is characterized in that described exciting current is 0.0025, the enlargement factor of single-phase thyristor half control rectifier bridge is 8, be 0.0006s time delay, the enlargement factor of field copper link is 6.173, and be 0.126s time delay.
8, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 4 is characterized in that described Imf link promptly designs with analogous diagram turbin generator exciting current ring and is:
Controlled quentity controlled variable Ia sends into the Ia-Imf* link, the filtering link, in comparer, send into the Kp link simultaneously with relatively back its difference of Imf feedback signal, the Ki link, the output signal of these two links is sent into single-phase thyristor half control rectifier bridge after compositor is synthetic, the output of this single-phase thyristor half control rectifier bridge divides two tunnel outputs after the field copper link is done the Umf-Imf conversion, one the tunnel returns comparer through the exciting current feedback element, export as Out1 on another road, wherein, Ia is the main generator armature supply, also be the armature supply of turbin generator, Iaf-Imf is turbin generator armature supply-exciting current transform part.
9, the emulation mode of electric drive control system under traction working condition of electric-wheel truck according to claim 4, the feedback factor that it is characterized in that described exciting current is 0.0025, the enlargement factor of single-phase thyristor half control rectifier bridge is 8, be 0.0006s time delay, the enlargement factor of field copper link is 12.378, and be 0.223s time delay.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103988417A (en) * | 2011-12-08 | 2014-08-13 | 法雷奥电机设备公司 | Method and system for controlling a motor vehicle alternator, and motor vehicle alternator including such a system |
| CN107612444A (en) * | 2017-09-08 | 2018-01-19 | 广东威灵电机制造有限公司 | Dust catcher, motor and its constant-power control method, device |
| CN107765678A (en) * | 2017-11-30 | 2018-03-06 | 重庆元铂智能科技有限公司 | A kind of electric motor of automobile Simulation Control test system |
| CN112248824A (en) * | 2020-10-29 | 2021-01-22 | 株洲中车时代电气股份有限公司 | Method and device for controlling vehicle traction power |
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2008
- 2008-08-18 CN CN 200810012812 patent/CN101655690A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103988417A (en) * | 2011-12-08 | 2014-08-13 | 法雷奥电机设备公司 | Method and system for controlling a motor vehicle alternator, and motor vehicle alternator including such a system |
| CN103988417B (en) * | 2011-12-08 | 2017-08-04 | 法雷奥电机设备公司 | Automotive alternator for adjusting the system and method for automotive alternator and system including the type |
| CN107612444A (en) * | 2017-09-08 | 2018-01-19 | 广东威灵电机制造有限公司 | Dust catcher, motor and its constant-power control method, device |
| CN107765678A (en) * | 2017-11-30 | 2018-03-06 | 重庆元铂智能科技有限公司 | A kind of electric motor of automobile Simulation Control test system |
| CN112248824A (en) * | 2020-10-29 | 2021-01-22 | 株洲中车时代电气股份有限公司 | Method and device for controlling vehicle traction power |
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