CN102427325A - Minimum loss control system and method for linear motor based on system loss model method - Google Patents

Minimum loss control system and method for linear motor based on system loss model method Download PDF

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CN102427325A
CN102427325A CN201110335216XA CN201110335216A CN102427325A CN 102427325 A CN102427325 A CN 102427325A CN 201110335216X A CN201110335216X A CN 201110335216XA CN 201110335216 A CN201110335216 A CN 201110335216A CN 102427325 A CN102427325 A CN 102427325A
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module
magnetic linkage
pmslm
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loss
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崔皆凡
李林
潘龙玉
闫红
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Shenyang University of Technology
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Abstract

The invention discloses a minimum loss control system and method for linear motor based on a system loss model method. The control system comprises a speed adjusting module, a thrust hysteresis comparison module, a flux linkage hysteresis comparison module, a voltage vector selection module, an inverter, a flux linkage and thrust estimation module, a permanent magnet liner synchronous motor (PMSLM) and a minimum loss control module. The control method comprises the steps of: deriving a PMSLM mathematical model; deriving and building a PMSLM and inverter loss model so as to obtain a primary flux linkage expression when the loss is minimum; using the primary flux linkage expression as the given reference value of the primary flux linkage in the system; estimating the actual primary flux linkage in the PMSLM operation by using a back electromotive force integration method; estimating the electromagnetic thrust; and selecting the optimal voltage vector so as to realize the minimum loss control of the PMSLM system. The control strategy aims at controlling the loss of the whole system to be the minimum, and provides a theoretical basis for high-efficiency operation of the PMSLM driving system.

Description

Linear electric motors minimal losses control system and method based on the system loss modelling
Technical field
The invention belongs to servo system and automation field, specifically refer to a kind of linear electric motors minimal losses control system and method based on the system loss modelling.
Background technology
Along with digital signal processor; High-performance computer, power electronic technology, the fast development of correlation techniques such as sensor technology and permanent magnetic material technology; The performance of PMSLM is greatly increased, and this makes and arises at the historic moment as the high-performance AC permanent magnetic servo system of actuating motor with PMSLM.Because the specific (special) requirements of occasions such as Digit Control Machine Tool processing, the cry that replaces the rotating servo system with linear servo system is more and more stronger, and oneself warp of linear servo system progressively becomes the main direction of electric drive control.Simultaneously along with the mechanization day by day of the modern industry mode of production, automation and complicated; The modern servo system higher performance requirement and control requirement have also been proposed; Especially in order to satisfy the needs of some special production equipment development; More accelerated modern electrical machine and developed towards intellectuality, high-performance, digitized direction, and PMSLM oneself becomes the main flow of motor servo system operating motor day by day with its high torque (HT) current ratio, high efficiency and wide speed regulating range especially.
PMSLM is in actual motion, because discontinuity, the coefficient of safety of motor product capacity were selected high factor, makes the motor of the overwhelming majority be in the light running state, and electric energy wastes greatly, and the phenomenon of " low load with strong power " is very general.
Though flourish various variable-frequency control techniques are to saving energy and reduce the cost and improving system performance and played key effect; But; No matter be to adopt high performance vector control; Still common constant voltage and frequency ratio control, its essence all are that the control motor moves under specified permanent magnetic flux, so the problem of underloading poor efficiency still exists.This shows that the minimal losses control problem of further studying the PMSLM system is very necessary.
The motor minimal losses control strategy that emerges in recent years mainly contains loss model method and search optimizing method.
The loss model method is based on the loss model (model that also comprises inverter sometimes) of motor; Control suitable independent variable and come the optimization aim function; Realize the minimum control of loss of motor; The method realizes that the trend of minimal losses control is to set up the loss of electric machine model under different operating modes and the application scenario, and this requirements of model is simple, accurate and practical.
The search optimizing method is through the power of measuring inverter dc bus side and utilizes the search optimizing algorithm to regulate controlled volume and seek the minimum power input value.The method is had relatively high expectations to the accuracy of detection of input power, therefore system has been increased higher hardware requirement, has so just brought inconvenience for the realization of system; And the convergence of algorithm time is longer, in searching process, has the problem of magnetic linkage, thrust pulsation, especially when the input power function is smoother near minimum value, causes the vibration and the instability of system easily.
At present the research about loss of electric machine modelling all is the simple loss model to motor, through differentiate obtains loss hour rotor or stator magnetic linkage value to loss of electric machine function, thereby realizes the minimal losses control to motor.It has ignored the loss model of inverter, has influenced the accuracy to system's minimal losses control so greatly.
Summary of the invention
We have proposed a kind of PMSLM minimal losses control strategy based on the system loss model to above problem, and the target of this control strategy is that the loss of control whole system is minimum, for realizing the motor driven systems high-efficiency operation theoretical foundation are provided.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
Based on the linear electric motors minimal losses control system of system loss modelling, comprise that speed regulation module, the stagnant chain rate of thrust stagnate chain rate than module, voltage vector selection module, inverter, magnetic linkage and thrust estimation block than module, magnetic linkage, and PMSLM.It is characterized in that: said system also comprises the minimal losses control module; Wherein speed regulation module connects thrust and stagnates chain rate than module; The stagnant chain rate of thrust is connected voltage vector selection module than module and the stagnant chain rate of magnetic linkage than module; Voltage vector selects module to connect inverter, and inverter connects PMSLM, magnetic linkage and thrust estimation block respectively, and magnetic linkage is connected voltage vector and selects module, the stagnant chain rate of thrust to stagnate chain rate than module and minimal losses control module than module, magnetic linkage with the thrust estimation block; The minimal losses control module connects magnetic linkage and stagnates chain rate than module, PMSLM connection speed adjustment module.
Control method based on the linear electric motors minimal losses control system of system loss modelling is characterized in that: said method comprising the steps of:
Step 1: the Mathematical Modeling of derivation PMSLM:
Voltage equation does
In the formula,
Figure 122894DEST_PATH_IMAGE001
,
Figure 190076DEST_PATH_IMAGE002
are that elementary winding M, T shaft voltage are that elementary winding M, T shaft current are that primary magnetic is that secondary equivalent angle is the elementary primary current that is;
The magnetic linkage equation is:
For elementary winding M, T axle magnetic are elementary winding inductance, L d, L qFor elementary winding d, q axle are the permanent magnet magnetic linkage;
Step 2: derive and set up the loss model of PMSLM and inverter in the system, draw loss the expression formula of hour primary magnetic chain be:
Step 3: with the expression formula of elementary magnetic linkage in the step 2 as elementary flux linkage set reference value in the system
Figure 235578DEST_PATH_IMAGE004
;
The elementary magnetic linkage value of step 4:PMSLM reality in service utilizes the back-emf integration method to estimate, the component of elementary magnetic linkage axle
Figure 805286DEST_PATH_IMAGE006
axle at
Figure 895099DEST_PATH_IMAGE005
is:
Figure 855150DEST_PATH_IMAGE007
Elementary magnetic linkage amplitude is:
Figure 266409DEST_PATH_IMAGE008
；
Step 5: just under rest frame electromagnetic push is being estimated, according to formula:
Figure 940153DEST_PATH_IMAGE010
；
Step 6: with the error of the set-point and the estimated value of electromagnetic push, the sector number at the elementary magnetic linkage of the sum of errors of elementary magnetic linkage value and estimated value place is sent in the switch list in the step 2, selecting optimum voltage vector, and then realizes the minimal losses control of PMSLM system.
Advantage of the present invention and effect are: the present invention can find the minimum working point of system loss fast, has taken all factors into consideration the loss of PMSLM and the whole drive system of inverter, has realized the minimal losses control in the global scope.
Description of drawings:
Fig. 1 is the PMSLM minimal losses control principle figure based on the system loss modelling;
Fig. 2 is the PMSLM minimal losses control system sketch map based on the system loss modelling.
Embodiment:
Below in conjunction with accompanying drawing the present invention is elaborated.
Fig. 1 is the PMSLM minimal losses control principle figure based on the system loss modelling, and the minimal losses control strategy generally is to control as interior ring with tradition, like the Direct Thrust Control of PMSLM, and the dynamic characteristic of control motor; The minimal losses controlling unit is as outer shroud, the operating efficiency during the optimization system stable state.
The thought of this PMSLM minimal losses control is: in the electric system that adopts Direct Thrust Control; Set up the loss model of motor and inverter in the whole system; Derive and set up the relation of system loss and elementary magnetic linkage; Draw the expression formula of hour primary magnetic chain of system loss, thereby realize that the loss of PMSLM drive system is minimum.
The PMSLM drive system comprises inverter, testing circuit, control circuit and motor itself.Because the loss of transducer and control circuit is very little, so mainly consider the loss of motor and inverter.
The PMSLM loss mainly comprises copper loss, iron loss, mechanical loss, stray loss and end effect loss.
Inverter losses is along with the increase of current amplitude increases, and the function of primary current can approximate representation be:
Figure 477313DEST_PATH_IMAGE011
(1)
In the formula,
Figure 426684DEST_PATH_IMAGE012
Be elementary phase current,
Figure 545949DEST_PATH_IMAGE013
, It is cross-correlation coefficient by the switching device decision.
Fig. 2 is the PMSLM minimal losses control system sketch map based on the system loss modelling; As shown in the figure; System comprises that speed regulation module, the stagnant chain rate of thrust stagnate chain rate than module, voltage vector selection module, inverter, magnetic linkage and thrust estimation block, PMSLM than module, magnetic linkage; And minimal losses control module; Its annexation is: the speed regulation module connects thrust and stagnates chain rate than module, and the stagnant chain rate of thrust is connected voltage vector selection module than module and the stagnant chain rate of magnetic linkage than module, and voltage vector selects module to connect inverter; Inverter connects PMSLM, magnetic linkage and thrust estimation block respectively; Magnetic linkage is connected voltage vector and selects module, the stagnant chain rate of thrust to stagnate chain rate than module and minimal losses control module than module, magnetic linkage with the thrust estimation block, the minimal losses control module connects magnetic linkage and stagnates chain rate than module, PMSLM connection speed adjustment module.
As can be seen from Figure 2 the output of minimal losses controlling unit is as the given reference value of elementary magnetic linkage; A rather than direct given elementary magnetic linkage numerical value in the traditional Direct Thrust Control of picture; So just improve the precision of system loss control, thereby realized the high-efficiency operation of PMSLM.
According to the PMSLM minimal losses control idea based on the system loss modelling that the present invention proposes, the method for realization is following:
(1) Mathematical Modeling of derivation PMSLM:
Because
Figure 212609DEST_PATH_IMAGE015
;
Figure 903353DEST_PATH_IMAGE016
; , so the voltmeter of PMSLM on the MT reference axis is shown:
Figure 627913DEST_PATH_IMAGE018
(2)
In the formula;
Figure 139665DEST_PATH_IMAGE001
;
Figure 368521DEST_PATH_IMAGE002
is elementary winding M; The T shaft voltage;
Figure 836281DEST_PATH_IMAGE019
;
Figure 757969DEST_PATH_IMAGE020
is elementary winding M; The T shaft current
Figure 491439DEST_PATH_IMAGE021
,
Figure 789565DEST_PATH_IMAGE022
are elementary winding M, T axle magnetic linkage; is elementary magnetic linkage;
Figure 17470DEST_PATH_IMAGE024
is the angular frequency of rotor;
Figure 238236DEST_PATH_IMAGE025
;
Figure 808894DEST_PATH_IMAGE026
is primary voltage, and
Figure 877345DEST_PATH_IMAGE027
is primary current.
Paste formula PMSLM,
Figure 163724DEST_PATH_IMAGE028
for face.Application dq-MT coordinate axis transform principle gets the magnetic linkage equation and is:
Figure 684835DEST_PATH_IMAGE029
(3)
Wherein
Figure 246135DEST_PATH_IMAGE030
Be elementary winding inductance, L d, L qBe elementary winding d, q axle inductance,
Figure 201110335216X100002DEST_PATH_IMAGE031
Be the permanent magnet magnetic linkage.
(2) derive and set up system's (PMSLM and inverter) loss model:
Since
Figure 356043DEST_PATH_IMAGE032
, so electric current can be expressed as:
Figure 201110335216X100002DEST_PATH_IMAGE033
(4)
Output and the input power of PMSLM are respectively:
Figure 915069DEST_PATH_IMAGE034
(5)
Figure 201110335216X100002DEST_PATH_IMAGE035
(6)
Bringing formula (2), (4) into formula (6) gets:
Figure 235061DEST_PATH_IMAGE036
Figure 350784DEST_PATH_IMAGE038
(7)
Inverter losses is:
Figure 201110335216X100002DEST_PATH_IMAGE039
Figure 439832DEST_PATH_IMAGE040
Figure 201110335216X100002DEST_PATH_IMAGE041
(8)
So system loss is:
Figure 45125DEST_PATH_IMAGE042
(9)
It is thus clear that loss is the function about elementary magnetic linkage, order
Figure 201110335216X100002DEST_PATH_IMAGE043
(10)
Loss hour, the expression formula of elementary magnetic linkage is:
Figure 586834DEST_PATH_IMAGE044
Figure 201110335216X100002DEST_PATH_IMAGE045
(11)
(3) with the expression formula of elementary magnetic linkage in (2) as elementary flux linkage set reference value in the system
Figure 755516DEST_PATH_IMAGE046
.
(4) the elementary magnetic linkage value of motor reality in service utilizes the back-emf integration method to estimate.Primary flux at
Figure 201110335216X100002DEST_PATH_IMAGE047
axis and -axis of the component is:
Figure 201110335216X100002DEST_PATH_IMAGE049
(10)
Elementary magnetic linkage amplitude does
Figure 412948DEST_PATH_IMAGE050
(11)
(5) under elementary
Figure 201110335216X100002DEST_PATH_IMAGE051
rest frame, electromagnetic push is estimated, according to formula
(12)
(6) sector number at the elementary magnetic linkage of the sum of errors place of elementary magnetic linkage value and estimated value in the error of the set-point of electromagnetic push and estimated value, (2) is sent in the switch list, switch list is as shown in table 1.Selecting optimum voltage vector, and then realize the minimal losses control of PMSLM system.
Figure 201110335216X100002DEST_PATH_IMAGE053
The switch list of the odd voltage vector of table 1.

Claims (2)

1. based on the linear electric motors minimal losses control system of system loss modelling; Comprise that speed regulation module, the stagnant chain rate of thrust stagnate chain rate than module, voltage vector selection module, inverter, magnetic linkage and thrust estimation block than module, magnetic linkage; And permanent magnetic linear synchronous motor PMSLM; It is characterized in that: said system also comprises the minimal losses control module; Wherein speed regulation module connects thrust and stagnates chain rate than module, and the stagnant chain rate of thrust is connected voltage vector selection module than module and the stagnant chain rate of magnetic linkage than module, and voltage vector selects module to connect inverter; Inverter connects PMSLM, magnetic linkage and thrust estimation block respectively; Magnetic linkage is connected voltage vector and selects module, the stagnant chain rate of thrust to stagnate chain rate than module and minimal losses control module than module, magnetic linkage with the thrust estimation block, the minimal losses control module connects magnetic linkage and stagnates chain rate than module, PMSLM connection speed adjustment module.
2. according to claim 1 based on the control method of the linear electric motors minimal losses control system of system loss modelling, it is characterized in that: said method comprising the steps of:
Step 1: the Mathematical Modeling of derivation PMSLM:
Voltage equation is:
Figure 456135DEST_PATH_IMAGE001
In the formula;
Figure 191879DEST_PATH_IMAGE002
; is elementary winding M; The T shaft voltage;
Figure 609271DEST_PATH_IMAGE004
;
Figure 667225DEST_PATH_IMAGE005
is elementary winding M; The T shaft current
Figure 460738DEST_PATH_IMAGE006
is elementary magnetic linkage;
Figure 906632DEST_PATH_IMAGE007
is secondary equivalent angular frequency;
Figure 520016DEST_PATH_IMAGE008
;
Figure 647240DEST_PATH_IMAGE009
is primary voltage;
Figure 108309DEST_PATH_IMAGE010
is primary current, and is elementary equivalent resistance;
The magnetic linkage equation is:
Figure 825784DEST_PATH_IMAGE012
In the formula,
Figure 304170DEST_PATH_IMAGE013
,
Figure 993646DEST_PATH_IMAGE014
Be elementary winding M, T axle magnetic linkage,
Figure 532075DEST_PATH_IMAGE015
Be elementary winding inductance, L d, L qBe elementary winding d, q axle inductance,
Figure 182368DEST_PATH_IMAGE016
Be the permanent magnet magnetic linkage,
Figure 651395DEST_PATH_IMAGE017
Be the angle between elementary magnetic linkage and the permanent magnet magnetic linkage;
Step 2: derive and set up the loss model of PMSLM and inverter in the system, draw loss the expression formula of hour primary magnetic chain be:
Figure 87056DEST_PATH_IMAGE018
Figure 717757DEST_PATH_IMAGE019
In the formula, ,
Figure 128065DEST_PATH_IMAGE021
It is cross-correlation coefficient by the switching device decision;
Step 3: with the expression formula of elementary magnetic linkage in the step 2 as elementary flux linkage set reference value in the system
Figure 418232DEST_PATH_IMAGE022
;
The elementary magnetic linkage value of step 4:PMSLM reality in service utilizes the back-emf integration method to estimate, the component of elementary magnetic linkage axle axle with
Figure 992791DEST_PATH_IMAGE024
at
Figure 430223DEST_PATH_IMAGE023
is:
Figure 803621DEST_PATH_IMAGE025
Where,
Figure 135245DEST_PATH_IMAGE026
,
Figure 373329DEST_PATH_IMAGE027
for the primary winding
Figure 423193DEST_PATH_IMAGE023
,
Figure 585184DEST_PATH_IMAGE024
axis voltage,
Figure 36894DEST_PATH_IMAGE028
,
Figure 508196DEST_PATH_IMAGE029
for the primary winding
Figure 717460DEST_PATH_IMAGE023
,
Figure 932410DEST_PATH_IMAGE024
-axis current,
Elementary magnetic linkage amplitude is:
Figure 51675DEST_PATH_IMAGE030
；
Step 5: under elementary rest frame, electromagnetic push is estimated, according to formula:
Figure 718335DEST_PATH_IMAGE032
In the formula;
Figure 409079DEST_PATH_IMAGE033
is the motor pole span;
Figure 569802DEST_PATH_IMAGE034
is electromagnetic push, and
Figure 133639DEST_PATH_IMAGE035
is improvement factor;
Step 6: with the error of the set-point and the estimated value of electromagnetic push, the sector number at the elementary magnetic linkage of the sum of errors of elementary magnetic linkage value and estimated value place is sent in the switch list in the step 2, selecting optimum voltage vector, and then realizes the minimal losses control of PMSLM system.
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Application publication date: 20120425