CN101655691A - Method for simulating electric drive control system under brake working condition of electric-wheel truck - Google Patents
Method for simulating electric drive control system under brake working condition of electric-wheel truck Download PDFInfo
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- CN101655691A CN101655691A CN 200810012814 CN200810012814A CN101655691A CN 101655691 A CN101655691 A CN 101655691A CN 200810012814 CN200810012814 CN 200810012814 CN 200810012814 A CN200810012814 A CN 200810012814A CN 101655691 A CN101655691 A CN 101655691A
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Abstract
The invention relates to application of computer simulation in an electric drive control system under a brake working condition of an electric-wheel truck, in particular to a method for simulating theelectric drive control system under the brake working condition of the electric-wheel truck. Under the power brake working condition, the control system consists of a wheel motor control part and a main generator control part, wherein the wheel motor control part calculates to obtain characteristic curves of excitation current and armature current according to related data, analyzes the working logic under the brake working condition, obtains characteristic curves of various links such as URS-Imf*, V-Imf*, V-Ia*, Imf*-Imf, and B-1/R, and combines the power brake characteristics of the wheel motor to establish a simulation map of a wheel motor part under the power brake working condition in a Simullink environment; and the main generator control part establishes a simulation map of a maingenerator part under the power brake working condition in the Simulink environment by combining the main generator structure according to a main generator control schematic diagram. The method verifies the correctness of a scheme by comparing a simulation result and a demand characteristic curve of the system.
Description
Technical field
The present invention relates to the emulation mode of Computer Simulation application, particularly a kind of electric drive control system under brake working condition of electric-wheel truck in the electric drive control system under electric wheel truck dynamic braking operating mode.
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.
But it does not disclose the control structure of system under the dynamic braking operating mode, 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.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.
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.
Summary of the invention
The object of the present invention is to provide a kind of emulation mode of electric drive control system under brake 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 brake working condition of electric-wheel truck of the present invention is characterized in that under the dynamic braking operating mode, and driving control system is made up of turbin generator control section and main generator control part branch:
1) turbin generator control section:
(1) draw the family curve of exciting current and armature supply according to the data computation of correlation technique data,
(2) work-based logic under the damped condition is analyzed, drawn U
RSThe family curve of-Imf*, V-Imf*, V-Ia*Imf*-Imf, each link of V-1/R, wherein, U
RSFor brake pedal signal, Imf* are that turbin generator exciting current, V are that the speed of a motor vehicle, Ia* are that turbin generator armature supply, Imf are that turbin generator exciting current, 1/R are the inverse of brake circuit resistance value,
(3) in conjunction with the dynamic braking characteristic of turbin generator, under the Simulink environment, set up the simulation architecture figure of dynamic braking operating mode lower whorl motor part,
2) main generator control section:
According to main generator control section theory diagram, in conjunction with the main generator structure, at the simulation architecture figure that sets up main generator part under the dynamic braking operating mode under the Simulink environment.
Described turbin generator control is with brake pedal signal U
RS, vehicle velocity V gives comprehensive comparing unit, turbin generator exciting current Imf* sends into controller C, this controller C exports controlled quentity controlled variable, static excitation device MFSE exports according to controller C by turbin generator magnetic field, control turbin generator exciting current Imf, and then the armature supply Im of control turbin generator M, this turbin generator exciting current Imf sends into comparer through the Imf feedback element, turbin generator armature supply Im sends feedback signal Imfb into comprehensive comparing unit through the Im feedback element, is used to regulate the given link of exciting current.
Described dynamic braking operating mode main generator is controlled to be: the difference of given signal Ua* of DC voltage and feedback signal Uaf is sent into the PI controller and is obtained DC voltage control signal U, engine speed Ne obtains main generator frequency of operation f through engine speed Ne-main generator frequency of operation f conversion, resultant DC voltage control signal U and main generator frequency of operation f are sent into the main generator subsystem, obtain phase voltage Eph and send into rectifier cabinet, obtain output voltage U a, this output voltage U a feeds back to input end through feedback element and forms feedback signal Uaf, subtract each other for determining voltage signal Ua* and feedback signal Uaf, its difference signal is given PI controller.
The analogous diagram of described dynamic braking operating mode lower whorl motor part is:
The input quantity vehicle velocity V first via sends to first multiplier 26 through resistance-reciprocal characteristic conversion 1/R transform part 11, input quantity vehicle velocity V the second tunnel sends to Em multiplier 25 through V-n characteristic link 13, input quantity vehicle velocity V Third Road sends to switch link 19 through V-Imf* characteristic link 14, input quantity vehicle velocity V the four tunnel sends to switch link 19, input quantity U through V-I a* characteristic link 15, comparer 16
RS17 through U
RS-Imf* transform part 18 is sent to switch link 19, the output quantity of this switch link is sent into turbin generator exciting current link Imf*--Imf, the output of this turbin generator exciting current link Imf*--Imf sends to the Em multiplier through Imf-magnetic flux link, the output quantity of Ce link sends to this Em multiplier, the output quantity of this Em multiplier is sent into first multiplier, the output quantity of this first multiplier is sent into E-Ia family curve link, output element Yout and Ia feedback element are sent in the output of this E-Ia family curve link respectively, comparer is sent in the output of this Ia feedback element, wherein:
(1) V is the speed of a motor vehicle, and the speed of a motor vehicle with-10KPH/s acceleration change when emulation is given signal,
(2) U
RS, U
RS-Imf*, V-Imf*, V-Ia*, V-n characteristic link for calculating by analysis, n is the turbin generator rotating speed,
(3) switch S witch is switched by the feedback signal control of Ia, when feedback signal is no more than V-Ia*, by U
RS-Imf* link produces the given signal of Imf*, otherwise produces the given signal of Imf* by the V-Imf* link,
(4) the Imf*-Imf link is a turbin generator exciting current ring, and Imf is transformed to turbin generator magnetic flux Φ m via Imf-magnetic flux link,
(5) Φ m and Ce, n be through the electromotive force Em of the synthetic turbin generator of multiplier,
(6) R change is the V-1/R family curve, and it can produce according to the decline of the speed of a motor vehicle with the output of resistance-reciprocal variable, in order to the process of convert resistance in the expression expansion braking,
(7) the electromotive force Em of turbin generator multiply by the reciprocal of resistance and can obtain armature supply Ia through the inertial element of electromagnetic time constant, and Ce is the intrinsic parameter of motor.
The analogous diagram of main generator part is under the described dynamic braking operating mode:
The given signal Ua* of input quantity DC voltage sends into comparer after wave filter 28 filtering, the output signal of this comparer is sent into ki link, kp link simultaneously, these two links send into the ALT subsystem with value, wherein ki is that integral parameter, kp are scale parameter.
Another input quantity engine speed Ne sends into the ALT subsystem after the conversion of Ne-f link, the K link is sent in the phase voltage Eph1 output of this ALT subsystem, and the output Ua of this K link delivers to output terminal Out1, and Ua sends into described comparer through feedback element.
This technology 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 dynamic braking operating mode is divided into main generator and two control sections of turbin generator, their each free different closed-loop controls.Each control closed loop is carried out structure analysis, determine the characteristic of each controlling unit, under the Simulink environment, set up simulation architecture figure, and compare with the demand characteristics curve of system, verified the correctness of scheme by simulation result.
The present invention has disclosed control structure under the system dynamic damped condition for the user of system and researcher; The researcher can launch the simulation study of relevant controlling scheme on this basis to system, and optimization system; By the control strategy of simulation study establishment system, avoided a large amount of performance comparative experiments that repeat in the systems development process, can shorten system development cycle greatly, and save considerable experimental expenses.
Description of drawings
Fig. 1 is a dynamic braking operating mode turbin generator part theory diagram of the present invention.
Fig. 2 is a dynamic braking operating mode main generator part theory diagram of the present invention.
Fig. 3 is dynamic braking hour wheel motor part simulation architecture figure of the present invention.
Fig. 4 is main generator output simulation architecture figure under the dynamic braking operating mode of the present invention.
Fig. 5 is dynamic braking operating mode simulation result of the present invention and family curve comparison diagram.
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 brake working condition of electric-wheel truck of the present invention is characterized in that under the dynamic braking operating mode, and control system is made up of turbin generator control section and main generator control part branch:
1) turbin generator control section:
(1) draw the family curve of exciting current and armature supply according to the data computation of correlation technique data,
(2) work-based logic under the damped condition is analyzed, drawn U
RSThe family curve of-Imf*, V-Imf*, V-Ia*, Imf*-Imf, each link of V-1/R, wherein, U
RSFor brake pedal signal, Imf* are that turbin generator exciting current, V are that the speed of a motor vehicle, Ia* are that turbin generator armature supply, Imf are that turbin generator exciting current, 1/R are the inverse of brake circuit resistance value,
(3) in conjunction with the dynamic braking characteristic of turbin generator, under the Simulink environment, set up the simulation architecture figure of dynamic braking operating mode lower whorl motor part,
2) main generator control section:
According to main generator control section theory diagram, in conjunction with the main generator structure, at the simulation architecture figure that sets up main generator part under the dynamic braking operating mode under the Simulink environment,
As shown in Figure 1, described turbin generator control is with brake pedal signal U
RS, vehicle velocity V gives comprehensive comparing unit 1, turbin generator exciting current Imf* sends into controller C, this controller C exports controlled quentity controlled variable, static excitation device MFSE exports according to controller C by turbin generator magnetic field, control turbin generator exciting current Imf, and then the armature supply Im of control turbin generator M, this turbin generator exciting current Imf sends into comparer 2 through Imf feedback element 3, turbin generator armature supply Im sends feedback signal Imfb into comprehensive comparing unit 1 through Im feedback element 4, is used to regulate the given signal of exciting current.
As shown in Figure 2, described dynamic braking operating mode main generator is controlled to be: the difference of given signal Ua* of DC voltage and feedback signal Uaf is sent into PI controller 6 and is obtained DC voltage control signal U, engine speed Ne obtains main generator frequency of operation f through 10 conversion of engine speed Ne-main generator frequency of operation f transform part, resultant DC voltage control signal U and main generator frequency of operation f are sent into main generator subsystem 8, obtain phase voltage Eph and send into rectifier cabinet 9, obtain output voltage U a, this output voltage U a feeds back to input terminal comparator 5 through feedback element 7 and forms feedback signal Uaf, subtract each other for determining voltage signal Ua* and feedback signal Uaf, its difference signal is given PI controller 6.
As shown in Figure 3, the analogous diagram of described dynamic braking operating mode lower whorl motor part is:
The input quantity vehicle velocity V first via sends to first multiplier 26 through resistance-reciprocal characteristic conversion 1/R transform part 11, input quantity vehicle velocity V the second tunnel sends to Em multiplier 25 through V-n characteristic link 13, input quantity vehicle velocity V Third Road sends to switch link 19 through V-Imf* characteristic link 14, input quantity vehicle velocity V the four tunnel sends to switch link 19, input quantity U through V-Ia* characteristic link 15, comparer 16
RS17 through U
RS-Imf* transform part 18 is sent to switch link 19, the output quantity of this switch link 19 is sent into turbin generator exciting current link Imf*--Imf subsystem 20, the output of this turbin generator exciting current link Imf*--Imf subsystem 20 sends to Em multiplier 25 through Imf-magnetic flux link 22, the output quantity of Ce link 24 sends to this Em multiplier 25, the output quantity of this Em multiplier 25 is sent into first multiplier 26, the output quantity of this first multiplier 26 is sent into E-Ia family curve link 27, Yout output element 28 and Ia feedback element 23 are sent in the output of this E-Ia family curve link 27 respectively, comparer 16 is sent in the output of this Ia feedback element 23, wherein:
(1) V is the speed of a motor vehicle, and the speed of a motor vehicle with-10KPH/s acceleration change when emulation is given signal,
(2) U
RS, U
RS-Imf*, V-Imf*, V-Ia*, V-n characteristic link for calculating by analysis, n is the turbin generator rotating speed,
(3) the switch link is switched by the feedback signal control of Ia, when feedback signal is no more than V-Ia*, by U
RS-Imf* link produces the given signal of Imf*, otherwise produces the given signal of Imf* by the V-Imf* link,
(4) the Imf*-Imf link is a turbin generator exciting current ring, and Imf is transformed to turbin generator magnetic flux Φ m via the Imf-magneticflux link,
(5) Φ m and Ce, n be through the electromotive force Em of the synthetic turbin generator of multiplier,
(6) 1/R transform part 11 is the V-1/R family curve, and it can produce according to the decline of the speed of a motor vehicle with the output of resistance-reciprocal variable, in order to the process of convert resistance in the expression expansion braking,
(7) the electromotive force Em of turbin generator multiply by the reciprocal of resistance and can obtain armature supply Ia through the inertial element of electromagnetic time constant, and Ce is the intrinsic parameter of motor.
As shown in Figure 4, the analogous diagram of main generator part is under the described dynamic braking operating mode:
The given signal Ua* of input quantity DC voltage sends into comparer 29 after wave filter 28 filtering, the output signal of this comparer 29 is sent into ki link 30, kp link 31 simultaneously, these two links send into ALT subsystem 34 with value, wherein ki is that integral parameter, kp are scale parameter.
Another input quantity engine speed Ne sends into ALT subsystem 34 after 38 conversion of Ne-f link, K link 36 is sent in the phase voltage Eph output of this ALT subsystem 34, the output Ua of this K link 36 delivers to output terminal Out1 link 37, and Ua sends into described comparer 29 through feedback element 33.
Fig. 5 is dynamic braking operating mode simulation result and family curve comparison diagram, and simulation result and armature supply and exciting current curve match, and have verified the correctness of scheme.
Claims (5)
1, a kind of emulation mode of electric drive control system under brake working condition of electric-wheel truck is characterized in that under the dynamic braking operating mode, and control system is made up of turbin generator control section and main generator control part branch:
1) turbin generator control section:
(1) draw the family curve of exciting current and armature supply according to the data computation of correlation technique data,
(2) work-based logic under the damped condition is analyzed, drawn U
RSThe family curve of-Imf*, V-Imf*, V-Ia*Imf*-Imf, each link of V-1/R, wherein, U
RSFor brake pedal signal, Imf* are that turbin generator exciting current, V are that the speed of a motor vehicle, Ia* are that turbin generator armature supply, Imf are that turbin generator exciting current, 1/R are the inverse of brake circuit resistance value,
(3) in conjunction with the dynamic braking characteristic of turbin generator, under the Simulink environment, set up the simulation architecture figure of dynamic braking operating mode lower whorl motor part,
2) main generator control section:
According to main generator control section theory diagram, in conjunction with the main generator structure, at the simulation architecture figure that sets up main generator part under the dynamic braking operating mode under the Simulink environment.
2, the emulation mode of electric drive control system under brake working condition of electric-wheel truck according to claim 1 is characterized in that described turbin generator control is with brake pedal signal U
RS, vehicle velocity V gives comprehensive comparing unit, turbin generator exciting current Imf* sends into controller C, this controller C exports controlled quentity controlled variable, by the controlled quentity controlled variable control turbin generator exciting current Imf of turbin generator magnetic field static excitation device MFSE according to controller C output, and then the armature supply Im of control turbin generator M, this turbin generator exciting current Imf sends into comparer through the Imf feedback element, and turbin generator armature supply Im sends feedback signal Imfb into comprehensive comparing unit through the Im feedback element, is used to regulate the exciting current set-point.
3, the emulation mode of electric drive control system under brake working condition of electric-wheel truck according to claim 1, it is characterized in that described dynamic braking operating mode main generator is controlled to be: the difference of given signal Ua* of DC voltage and feedback signal Uaf is sent into the PI controller and is obtained DC voltage control signal U, engine speed Ne obtains main generator frequency of operation f through engine speed Ne-main generator frequency of operation f conversion, resultant DC voltage control signal U and main generator frequency of operation f are sent into the main generator subsystem, obtain phase voltage Eph and send into rectifier cabinet, obtain output voltage U a, this output voltage U a feeds back to input end through feedback element and forms feedback signal Uaf, subtract each other for determining voltage signal Ua* and feedback signal Uaf, its difference signal is given PI controller.
4, the emulation mode of electric drive control system under brake working condition of electric-wheel truck according to claim 1 is characterized in that the analogous diagram of described dynamic braking operating mode lower whorl motor part is:
The input quantity vehicle velocity V first via sends to first multiplier through resistance-reciprocal characteristic transform part R change, input quantity vehicle velocity V the second tunnel sends to the Em multiplier through V-n characteristic link, input quantity vehicle velocity V Third Road sends to the switch link through V-Imf* characteristic link, input quantity vehicle velocity V the four tunnel sends to switch link, input quantity U through V-Ia* characteristic link, comparer
RSThrough U
RS-Imf* conversion is sent to the switch link, the output quantity of this switch link is sent into turbin generator exciting current link Imf*--Imf, the output of this turbin generator exciting current link Imf*--Imf sends to the Em multiplier through Imf-magnetic flux link, the output quantity of Ce link sends to this Em multiplier, the output quantity of this Em multiplier is sent into first multiplier, the output quantity of this first multiplier is sent into E-Ia family curve link, output element Yout and Ia feedback element are sent in the output of this E-Ia family curve link respectively, comparer is sent in the output of this Ia feedback element, wherein:
(1) V is the speed of a motor vehicle, and the speed of a motor vehicle with-10KPH/s acceleration change when emulation is given signal,
(2) U
RS, U
RS-Imf*, V-Imf*, V-Ia*, V-n characteristic link for calculating by analysis, n is the turbin generator rotating speed,
(3) switch S witch is switched by the feedback signal control of Ia, when feedback signal is no more than V-Ia*, by U
RS-Imf* link produces the given signal of Imf*, otherwise produces the given signal of Imf* by the V-Imf* link,
(4) the Imf*-Imf link is a turbin generator exciting current ring, and Imf is transformed to turbin generator magnetic flux Φ m via the Imf-magneticflux link,
(5) Φ m and Ce, n be through the electromotive force Em of the synthetic turbin generator of multiplier,
(6) R change is the V-1/R family curve, and it can produce according to the decline of the speed of a motor vehicle with the output of resistance-reciprocal variable, in order to the process of convert resistance in the expression expansion braking,
(7) the electromotive force Em of turbin generator multiply by the reciprocal of resistance and can obtain armature supply Ia through the inertial element of electromagnetic time constant, and Ce is the intrinsic parameter of motor.
5, the emulation mode of electric drive control system under brake working condition of electric-wheel truck according to claim 1 is characterized in that the analogous diagram of main generator part under the described dynamic braking operating mode is:
The given signal Ua* of input quantity DC voltage sends into comparer after wave filter 28 filtering, the output signal of this comparer is sent into ki link, kp link simultaneously, these two links send into the ALT subsystem with value, wherein ki is that integral parameter, kp are scale parameter.
Another input quantity engine speed Ne sends into the ALT subsystem after the conversion of Ne-f link, the K link is sent in the phase voltage Eph1 output of this ALT subsystem, and the output Ua of this K link delivers to output terminal Out1, and Ua sends into described comparer through feedback element.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102486812A (en) * | 2010-12-03 | 2012-06-06 | 比亚迪股份有限公司 | Two-dimensional emulation method of axial magnetic flux motor |
| CN105136483A (en) * | 2015-10-13 | 2015-12-09 | 中国重汽集团济南动力有限公司 | Pure electric vehicle semi-physical simulation test bench and test method thereof |
| CN107203151A (en) * | 2017-07-20 | 2017-09-26 | 上海应用技术大学 | The simulation control method of electro pneumatic braking system |
| CN111665440A (en) * | 2019-03-07 | 2020-09-15 | 依必安派特兰茨胡特有限公司 | Method for detecting defective operation of a gas fan driven by a DC motor |
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2008
- 2008-08-18 CN CN2008100128141A patent/CN101655691B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102486812A (en) * | 2010-12-03 | 2012-06-06 | 比亚迪股份有限公司 | Two-dimensional emulation method of axial magnetic flux motor |
| CN102486812B (en) * | 2010-12-03 | 2014-08-13 | 比亚迪股份有限公司 | Two-dimensional emulation method of axial magnetic flux motor |
| CN105136483A (en) * | 2015-10-13 | 2015-12-09 | 中国重汽集团济南动力有限公司 | Pure electric vehicle semi-physical simulation test bench and test method thereof |
| CN105136483B (en) * | 2015-10-13 | 2018-08-03 | 中国重汽集团济南动力有限公司 | A kind of pure electric automobile hardware in the loop test-rig and its test method |
| CN107203151A (en) * | 2017-07-20 | 2017-09-26 | 上海应用技术大学 | The simulation control method of electro pneumatic braking system |
| CN111665440A (en) * | 2019-03-07 | 2020-09-15 | 依必安派特兰茨胡特有限公司 | Method for detecting defective operation of a gas fan driven by a DC motor |
| CN111665440B (en) * | 2019-03-07 | 2022-09-13 | 依必安派特兰茨胡特有限公司 | Method for detecting defective operation of a gas blower driven by a DC motor |
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Address after: 114001 Anshan District, Liaoning, No. 219 Road, No. 39, Tiedong Patentee after: Anshan Iron and Steel Group Mining Co., Ltd. Address before: 114001 Anshan District, Liaoning, No. 219 Road, No. 39, Tiedong Patentee before: Anshan Iron & Steel Group Mining Co., Ltd. |