CN102684583A - Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device - Google Patents
Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device Download PDFInfo
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Abstract
The invention relates to a big inertia load permanent magnet synchronous motor drive outage-restarting control method and a device. The technical scheme includes that when a permanent magnet synchronous motor drives a big inertia load and operates at a certain initial speed, a main loop and a powerpath are opened at one moment of alternating current input or direct-current power supply outage, the voltage of a direct-current bus link is detected and a suggested regenerative feedback control strategy is utilized so that an electrical state of a permanent magnet synchronous motor is changed into a power generating state, and the three-phase alternating current output by the motor is back fed to a direct current side through a three-phase full bridge inverter circuit which is provided with a follow current device so as to enable the voltage on a direct-current bus support capacitor to maintain at a rated value. Then when the alternating current input or direct-current power supply power restoration is detected, on the premise that the direct-current bus voltage does not decrease or decreases at a small value of amplitude, the main loop and a power supply are connected again, and a direct-current restarting is performed, so that an electrical and mechanical impact produced during an outage-restarting process can be weakened or avoided.
Description
Technical field
The present invention relates to a kind of big inertia load permagnetic synchronous motor driving cuts off the power supply-heavily throw control method and device, belong to the control technology field that big inertia load permanent magnet synchronous AC machine drive system is crossed electric phase-splitting or power supply interruption recovery in short-term.
Background technology
Along with petering out of world's fossil energy, improve the important trend that efficiency of energy utilization and energy savings have become the electrified development of world wide.As the drive motors of big inertia load such as high ferro locomotive, electric automobile and large scale screw, permanent magnet synchronous motor just progressively replaces induction motor with advantages such as its high efficiency, High Power Factor and high power densities, obtains application more and more widely.At present; Permagnetic synchronous motor is as the drive motors of big inertia load; Compare with induction motor; Because there is constant excitation megnet in rotor permanent magnet, the High-reliability Control technology its four-quadrant Driving technique and special operation condition under is ripe not enough, and interrupting outage-heavily throwing problem that recovery and locomotive cross under the situation such as phase-separating section in short-term in the drive system power supply is a difficult point.External research has in this respect obtained certain achievement, and China also progressively launches deep research.
Contact line often adopts segmentation commutation power supply in electric railway; Motorcycle pantograph must pass in and out neutral section insulator under currentless situation; This moment, the recovery process of motor driven systems input side experience power failure-again must cause inverter to output to the outage of motor-heavily throw; Electric automobile and screw etc. when drive system takes place in short-term can recovery type fault the time, fall or protective circuit action and recovering again like DC bus-bar voltage in practical work process in short-term, also can cause the drive system inverter to output to the outage of motor-heavily throw.Therefore, under normal operating condition, there is outage-heavily throw problem in permagnetic synchronous motor inevitably as traction electric machine.
Different with the induction machine that adopts cage-shaped structure; Cut off the power supply in running when rotor adopts the permagnetic synchronous motor of permanent magnet excitation-when heavily throwing; Can be in uncontrollable generating state, especially the winding back emf voltage magnitude is very high under at a high speed, and it is big that voltage waveform and inverter drive different wave shape; Inappropriate driving voltage drops into again and certainly will cause strong electric current and mechanical shock, even damage driver and transmission mechanism.Because the particularity of permanent-magnetic synchronous motor rotor excitation; If cut off the power supply in AC side-heavily throw and control; No matter be to adopt the voltage vector of Phase synchronization method or planning to lead, still on the basis of the Analysis on Mechanism of dynamic process, research, carry out the ACTIVE CONTROL method of handoff procedure etc., all can't fundamentally eliminate the impact that the torque transient change is brought into method; And its control mechanism and process complicacy, realize difficulty.
Summary of the invention
The technical problem that solves
For fear of the weak point of prior art, the present invention proposes a kind of big inertia load permagnetic synchronous motor driving and cut off the power supply-heavily throws control method and device.
Technical scheme
A kind of big inertia load permagnetic synchronous motor driving outage-heavily throw control method is characterized in that step is following:
Step 1: establishing in the big inertia load has the work of n permanent magnet synchronous motors; The moment of inertia that detects every motor calculates this big inertia load for
quality for
wherein, r is the radius of wheel or screw etc.;
Step 2: detect the position θ that obtains permagnetic synchronous motor through position transducer, obtain the actual speed ω of motor according to
;
Step 3: calculate
ω
*For keeping given voltage U
*Corresponding motor speed predetermined value, in the formula:
C is the appearance value that DC bus-bar voltage supports electric capacity, and m is a load quality, and η is that load machinery can be transformed into the efficient that supports the capacitance terminal electric energy;
Be the coefficient between motor angular velocity and loading speed or the rotating speed; U
*For DC side supports the magnitude of voltage that electric capacity need keep, be a constant; U is the magnitude of voltage of three phase full bridge inverter circuit DC side, obtains in real time through voltage sensor;
Step 4: with ω
*The tach signal input of the outer ring controller of rotating speed, current double closed-loop controller, two closed loop controller output motor three-phase voltage u are sent in instruction
a, u
b, u
cCommand value, with three-phase voltage u
a, u
b, u
cSend into voltage source inverter pwm signal generating means, inverter output three-phase voltage drives permagnetic synchronous motor and rotates.
Big inertia load in the said step 1 is the equipment that electrically-driven car, electric automobile, large scale screw or permagnetic synchronous motor drive.
Motor desired speed ω in the said step 3
*≤motor actual speed.
Rotating speed in the said step 4, current double closed-loop controller adopt field orientation control or direct torque control Electric Machine Control mode.
A kind of each said big inertia load permagnetic synchronous motor of claim 1～4 of realizing drives outage-heavily throw the device of control method, it is characterized in that comprising that power supply, dc bus support three phase full bridge inverter circuit, testing circuit and driving and the control circuit of electric capacity, band current following device; Power supply and dc bus link to each other with the DC bus powered terminal of three phase full bridge inverter circuit after supporting the electric capacity parallel connection; Dc bus supports electric capacity and leans on dc bus switch S of power supply side joint; Connect the voltage of a voltage check device U1 between switch S and the power supply in order to real-time detection power supply; Support and establish a voltage check device U2 supports the electric capacity two ends in order to real-time detection voltage between electric capacity and the three phase full bridge inverter circuit; Control circuit input termination voltage detecting U1, U2 and three-phase motor with permanent magnets current feedback and position feed back signal; The three-phase voltage signal input of output termination drive circuit, drive circuit output termination three phase full bridge inverter circuit pwm signal input, three phase full bridge inverter circuit output termination motor three-phase voltage input.
Beneficial effect
A kind of big inertia load permagnetic synchronous motor that the present invention proposes drives cut off the power supply-heavily throws control method and device; Employing is the accurate control strategy of regenerative feedback on basis with the Conversion of energy; Fundamentally weaken or avoid cutting off the power supply-strong electric current and mechanical shock that heavily throwing process is brought, have characteristics stable, reliable, that applicability is good.
Compared with prior art, the beneficial effect of this method is:
(1) permagnetic synchronous motor cut off the power supply-is heavily thrown to be stressed to throw by interchange and is changed direct current into and stress to throw, and heavily throws Control Parameter and is reduced to the direct voltage amplitude, the impact of avoiding when interchange stresses to throw the differences such as amplitude, frequency, phase place, phase sequence because of alternating voltage waveform to cause;
(2) through to the control of motor speed and DC bus-bar voltage, the kinetic energy of locomotive or screw etc. is converted into electric energy, be stored in dc bus and support in the electric capacity, to keep the rated value of DC bus-bar voltage;
The method that the control method of DC bus-bar voltage adopts the energy equivalence to combine with the conventional motors control strategy realizes the stable control of DC bus-bar voltage.
Description of drawings
Fig. 1: be overall construction drawing of the present invention;
Fig. 2: use the control system block diagram for a kind of vehicle permagnetic synchronous motor drives
Embodiment
Combine embodiment, accompanying drawing that the present invention is further described at present:
Technical scheme of the present invention is: when permagnetic synchronous motor moves with certain initial velocity in the big inertia load of driving; Cut off the power supply moment in interchange input or DC power supply; Break off major loop and power path; Through detecting the dc bus link voltage, the regenerative feedback control strategy that utilization proposes makes permagnetic synchronous motor become generating state by motoring condition; The three-phase alternating current of motor output feeds back to DC side through the three phase full bridge inverter circuit of band current following device, and the voltage that makes dc bus support on the electric capacity maintains rated value.Thus, by the kinetic energy that the big inertia load of certain speed is provided,, get the stable of DC bus-bar voltage in return with the deceleration regeneration feedback of magneto.Then; When detecting interchange input or DC power supply recovery, under the prerequisite that DC bus-bar voltage does not descend or descent amplitude is little, again with major loop and power connection; Promptly carry out direct current and heavily throw, then can weaken or avoid cutting off the power supply-electric and mechanical shock that heavily throwing process is brought.
Primary structure of the present invention is following:
1. power supply E: can be the single-phase or three phase supply of electrical network, also can be limited energy power supply, like all types of batteries or generator.
2. dc bus switch S: controllable type power switches such as relay, contactor.
3. voltage sensor: DC bus-bar voltage transducer V1, dc bus support capacitance voltage transducer V2
4. dc bus supports capacitor C: energy storage device
5. three phase full bridge inverter circuit: band current following device
6. three-phase permanent magnet synchronous motor
Objective for implementation of the present invention is a three-phase permanent magnet synchronous motor, and this motor application is in big inertia load such as electric traction, electric automobile, screw.
Embodiment: outage-heavily to throw system block diagram as shown in Figure 1, supports the assemblies such as three phase full bridge inverter circuit, testing circuit, driving and control circuit of electric capacity, band current following device comprising power supply, dc bus.Its operation principle is: during outage, dc bus supports the voltage U at electric capacity two ends
2Progressively reduce, support capacitance voltage transducer V2 through dc bus and detect, work as U
2During less than certain value; Think the entering off-position; Cut off the dc bus switch S this moment; And the control permagnetic synchronous motor becomes regenerative power generation state by motoring condition, makes the three-phase alternating current of motor output after the three phase full bridge inverter circuit rectification of band current following device, support the electric capacity charging to dc bus, makes electric capacity voltage value maintain load voltage value; When DC bus-bar voltage transducer V2 detected service restoration, the control dc bus supported capacitance voltage U
2With input side direct voltage U
1Amplitude is consistent, and closed dc bus switch S, reaches that no-voltage is poor, no current impacts heavily and throws, thereby weakens or avoid causing electric and mechanical shock.
The present invention uses permagnetic synchronous motor to introduce its execution mode as example with vehicle, specifically is divided into following step:
1. given voltage U
*For DC side supports the magnitude of voltage that electric capacity need keep, U is the magnitude of voltage of three phase full bridge inverter circuit DC side, can obtain in real time through voltage sensor.
2. because the quality of vehicle is an online amount that changes often, the method for ONLINE RECOGNITION such as dichotomy that the present invention selects to use always or model reference adaptive is carried out inertia identification to motor, thereby obtains the quality of vehicle.Detailed process is: suppose that there are four axles in a joint compartment, be equipped with a motor on the every axle, every detected moment of inertia of motor is J, and vehicle wheel roll radius is r, then:
Then vehicle mass can be expressed as:
Coefficient k then
mCan be expressed as:
3. obtain the position θ of permagnetic synchronous motor through position transducer, obtain the actual speed ω of motor by
.
4. with U
*, U, k
m, ω sends in the voltage controller, carries out following calculating:
ω wherein
*For keeping given voltage U
*Corresponding motor speed predetermined value.
5. in the present embodiment, with ω
*The tach signal input of the outer ring controller of rotating speed, current double closed-loop controller, two closed loop controller output motor three-phase voltage u are sent in instruction
a, u
b, u
cCommand value, with three-phase voltage u
a, u
b, u
cSend into voltage source inverter pwm signal generating means, inverter output three-phase voltage drives permagnetic synchronous motor and rotates.
At last, permagnetic synchronous motor feeds back to rotating speed, current double closed-loop controller through current sensor in the checkout gear and position transducer with three-phase current signal, motor position signal θ and motor speed signal ω.
Claims (5)
1. one kind big inertia load permagnetic synchronous motor drives outage-heavily throw control method, it is characterized in that step is following:
Step 1: establishing in the big inertia load has the work of n permanent magnet synchronous motors; The moment of inertia that detects every motor calculates this big inertia load for
quality for
wherein, r is the radius of wheel or screw etc.;
Step 2: detect the position θ that obtains permagnetic synchronous motor through position transducer, obtain the actual speed ω of motor according to
;
Step 3: calculate
ω
*For keeping given voltage U
*Corresponding motor speed predetermined value, in the formula:
C is the appearance value that DC bus-bar voltage supports electric capacity, and m is a load quality, and η is that load machinery can be transformed into the efficient that supports the capacitance terminal electric energy;
Be the coefficient between motor angular velocity and loading speed or the rotating speed; U
*For DC side supports the magnitude of voltage that electric capacity need keep, be a constant; U is the magnitude of voltage of three phase full bridge inverter circuit DC side, obtains in real time through voltage sensor;
Step 4: with ω
*The tach signal input of the outer ring controller of rotating speed, current double closed-loop controller, two closed loop controller output motor three-phase voltage u are sent in instruction
a, u
b, u
cCommand value, with three-phase voltage u
a, u
b, u
cSend into voltage source inverter pwm signal generating means, inverter output three-phase voltage drives permagnetic synchronous motor and rotates.
2. drive outage-heavily throw control method according to the said big inertia load permagnetic synchronous motor of claim 1, it is characterized in that: the big inertia load in the said step 1 is the equipment that electrically-driven car, electric automobile, large scale screw or permagnetic synchronous motor drive.
3. drive outage-heavily throw control method according to the said big inertia load permagnetic synchronous motor of claim 1, it is characterized in that: the motor desired speed ω in the said step 3
*≤motor actual speed.
4. drive outage-heavily throw control method according to the said big inertia load permagnetic synchronous motor of claim 1, it is characterized in that: the rotating speed in the said step 4, current double closed-loop controller adopt field orientation control or direct torque control Electric Machine Control mode.
5. realize that each said big inertia load permagnetic synchronous motor of claim 1～4 drives outage-heavily throw the device of control method, is characterized in that comprising that power supply, dc bus support three phase full bridge inverter circuit, testing circuit and driving and the control circuit of electric capacity, band current following device for one kind; Power supply and dc bus link to each other with the DC bus powered terminal of three phase full bridge inverter circuit after supporting the electric capacity parallel connection; Dc bus supports electric capacity and leans on dc bus switch S of power supply side joint; Connect the voltage of a voltage check device U1 between switch S and the power supply in order to real-time detection power supply; Support and establish a voltage check device U2 supports the electric capacity two ends in order to real-time detection voltage between electric capacity and the three phase full bridge inverter circuit; Control circuit input termination voltage detecting U1, U2 and three-phase motor with permanent magnets current feedback and position feed back signal; The three-phase voltage signal input of output termination drive circuit, drive circuit output termination three phase full bridge inverter circuit pwm signal input, three phase full bridge inverter circuit output termination motor three-phase voltage input.
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| CN201210168877.2A CN102684583B (en) | 2012-05-28 | 2012-05-28 | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device |
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| CN201210168877.2A CN102684583B (en) | 2012-05-28 | 2012-05-28 | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103312241A (en) * | 2013-06-08 | 2013-09-18 | 西北工业大学 | Optimization and restart control method for use in outage of large-inertial-load permanent magnet synchronous motor |
| CN104038114A (en) * | 2014-06-09 | 2014-09-10 | 江苏仁源电气有限公司 | Sine-wave voltage driving system of single-winding brushless direct current motor and control method thereof |
| CN105141165A (en) * | 2015-08-24 | 2015-12-09 | 苏州市博得立电源科技有限公司 | Vehicle power supply inverter |
| CN105946588A (en) * | 2016-06-20 | 2016-09-21 | 中车株洲电力机车研究所有限公司 | Electric locomotive restarting method, restarting system and electric locomotive |
| CN108365779A (en) * | 2018-02-26 | 2018-08-03 | 广东美的暖通设备有限公司 | The control system and method for air-conditioning system and its magnetic suspension motor |
| WO2019114231A1 (en) * | 2017-12-15 | 2019-06-20 | 中车大连电力牵引研发中心有限公司 | Permanent magnet traction system, and railway vehicle |
| US10534029B1 (en) | 2018-12-07 | 2020-01-14 | Chicony Power Technology Co., Ltd. | Power conversion apparatus |
| WO2020063558A1 (en) * | 2018-09-30 | 2020-04-02 | 广东威灵汽车部件有限公司 | Power-off protection circuit for inverter, method, vehicle, and storage medium |
| CN110970871A (en) * | 2018-09-30 | 2020-04-07 | 广东威灵汽车部件有限公司 | Inverter power-off protection circuit and method and vehicle |
| CN111756279A (en) * | 2020-06-12 | 2020-10-09 | 中车永济电机有限公司 | Counter potential suppression method and device for permanent magnet synchronous traction motor of electric locomotive |
| CN112202369A (en) * | 2020-09-27 | 2021-01-08 | 湖南大学 | Single-direct-current bus current sampling high-inertia permanent magnet synchronous motor speed-increasing and re-throwing method |
| CN113484627A (en) * | 2021-07-13 | 2021-10-08 | 中国第一汽车股份有限公司 | Wiring detection method and device for electric drive system and motor control system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103312241B (en) * | 2013-06-08 | 2015-12-02 | 西北工业大学 | Tester in power-down state-the optimizing of a kind of large inertia load permanent magnet synchronous electric heavily throws control method |
| CN103312241A (en) * | 2013-06-08 | 2013-09-18 | 西北工业大学 | Optimization and restart control method for use in outage of large-inertial-load permanent magnet synchronous motor |
| CN104038114A (en) * | 2014-06-09 | 2014-09-10 | 江苏仁源电气有限公司 | Sine-wave voltage driving system of single-winding brushless direct current motor and control method thereof |
| CN104038114B (en) * | 2014-06-09 | 2016-08-24 | 江苏仁源电气有限公司 | The sine voltage drive system of simplex winding DC brushless motor and control method thereof |
| CN105141165A (en) * | 2015-08-24 | 2015-12-09 | 苏州市博得立电源科技有限公司 | Vehicle power supply inverter |
| CN105946588A (en) * | 2016-06-20 | 2016-09-21 | 中车株洲电力机车研究所有限公司 | Electric locomotive restarting method, restarting system and electric locomotive |
| WO2019114231A1 (en) * | 2017-12-15 | 2019-06-20 | 中车大连电力牵引研发中心有限公司 | Permanent magnet traction system, and railway vehicle |
| CN108365779A (en) * | 2018-02-26 | 2018-08-03 | 广东美的暖通设备有限公司 | The control system and method for air-conditioning system and its magnetic suspension motor |
| WO2020063558A1 (en) * | 2018-09-30 | 2020-04-02 | 广东威灵汽车部件有限公司 | Power-off protection circuit for inverter, method, vehicle, and storage medium |
| CN110970871A (en) * | 2018-09-30 | 2020-04-07 | 广东威灵汽车部件有限公司 | Inverter power-off protection circuit and method and vehicle |
| US10534029B1 (en) | 2018-12-07 | 2020-01-14 | Chicony Power Technology Co., Ltd. | Power conversion apparatus |
| TWI686042B (en) * | 2018-12-07 | 2020-02-21 | 群光電能科技股份有限公司 | Power conversion device |
| CN111756279A (en) * | 2020-06-12 | 2020-10-09 | 中车永济电机有限公司 | Counter potential suppression method and device for permanent magnet synchronous traction motor of electric locomotive |
| CN112202369A (en) * | 2020-09-27 | 2021-01-08 | 湖南大学 | Single-direct-current bus current sampling high-inertia permanent magnet synchronous motor speed-increasing and re-throwing method |
| CN112202369B (en) * | 2020-09-27 | 2021-12-03 | 湖南大学 | Single-direct-current bus current sampling high-inertia permanent magnet synchronous motor speed-increasing and re-throwing method |
| CN113484627A (en) * | 2021-07-13 | 2021-10-08 | 中国第一汽车股份有限公司 | Wiring detection method and device for electric drive system and motor control system |
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Effective date of registration: 20170502 Address after: 710000 Shaanxi, Xi'an, new airport, Metro West International Business Center E District, layer 5 Patentee after: Yang Zengchan Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Patentee before: Northwestern Polytechnical University |
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