CN102882455B - Excitation control method and apparatus for a brushless AC synchronous motor aviation three starting process - Google Patents

Excitation control method and apparatus for a brushless AC synchronous motor aviation three starting process Download PDF

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CN102882455B
CN102882455B CN 201210343830 CN201210343830A CN102882455B CN 102882455 B CN102882455 B CN 102882455B CN 201210343830 CN201210343830 CN 201210343830 CN 201210343830 A CN201210343830 A CN 201210343830A CN 102882455 B CN102882455 B CN 102882455B
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excitation
ac
exciter
current
bridge inverter
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CN102882455A (en )
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刘卫国
马鹏
骆光照
蒋鸿
姜宇
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西北工业大学
陕西航空电气有限责任公司
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Abstract

本发明涉及一种航空三级无刷交流同步电机起动过程励磁控制方法及装置,在电机静止时,控制器以能够输出的最大交流励磁量给励磁机励磁,当电机达到一定转速时,交流励磁量开始线性减小,同时直流励磁量采用PI调节器调节介入,其调节上限由交流励磁分量的大小及控制器母线电压综合决定,当交流分量减小至0时,励磁机进入直流励磁方式。 The present invention relates to a brushless AC synchronous motor aviation three starting process excitation control method and apparatus, when the motor is stationary, the maximum amount of AC excitation controller can be output to the exciter field, when the motor reaches a certain speed, AC excitation start amount decreases linearly, while using DC excitation PI regulator regulating the amount of intervention, regulates the upper limit is determined by the size of the integrated component of the AC excitation voltage bus and a controller, when the AC component is reduced to zero, into the exciter DC excitation mode. 本发明该方法应用于三级无刷交流同步电机的起动功能时,避免了励磁机在直接切换励磁方式时造成的主发电机转子磁链波动,可有效提高机组在起动过程中进行励磁切换时的运行平稳性。 When the present invention is applied to the starting function of the method three brushless AC synchronous motor, to avoid the main generator exciter rotor flux fluctuation caused during direct excitation mode switching, can effectively improve the switching unit is excited during starting when the smooth running.

Description

航空三级无刷交流同步电机起动过程中的励磁控制方法及装置 Excitation control method and apparatus for a brushless AC synchronous motor aviation three starting process

技术领域 FIELD

[0001] 本发明涉及一种航空三级无刷交流同步电机起动过程中的励磁控制方法及装置, 是一种利用单相空间矢量调制解决航空三级无刷交流同步电机在起动过程中的励磁问题的控制方法,属于交流电机传动技术领域。 [0001] The present invention relates to a method and apparatus for controlling the field of aviation three brushless AC synchronous motor during starting, a one-phase excitation space vector modulation solve aviation three brushless AC synchronous motor during starting of the method of controlling the problem, belonging to the technical field AC motor drive.

背景技术 Background technique

[0002] 起动/发电双功能一体化是未来航空交流电源系统的一个重要发展方向。 [0002] start / dual-function integrated power generation is an important direction for future development of aviation AC power supply system. 目前, 在航空大功率交流电源系统中,广泛采用三级无刷交流同步电机(原理框图见图1)作为发电机,当采用该电机实现航空发动机的起动功能时,主发电机将以电动方式运行,由于该电机为无刷化结构,因此当电机静止时,若励磁机仍然采用发电状态时的直流励磁方式,将无法实现主发电机的转子励磁,导致电机无法起动。 Currently, the aeronautical power AC power system, widely used in three brushless AC synchronous motor (block diagram in Figure 1) as a generator, when using the starter motor to achieve the function of aircraft engines, the main electric generator mode will operation, since the motor is a brushless structure, so that when the motor is stationary, if the DC excitation mode when the state exciter power is still used, the main generator rotor field can not be achieved, resulting in the motor can not start. 在《电工技术杂志》2001年第1期3〜 8页刊登的"飞机起动/发电双功能系统电动状态单相交流励磁的研究"一文(作者陈宝林等)中,提出在励磁机定子绕组中通入单相交流电,解决机组处于静止状态时主发电机的励磁问题,该方法的优点在于无需改动电机结构。 In the "Electrotechnical Journal" 2001 1 3 ~ 8 published "aircraft starter / generator excitation research phase AC electric system features dual status" article (author Chen Baolin, etc.), it is proposed in the exciter stator windings into single-phase AC power, the main problem to solve the field generator when the unit is at rest, the advantage of this method is that without changing the structure of the motor. 实验表明,选用合适的励磁频率及控制方法时,励磁机输出的励磁电流能够保证机组在一定堵转矩情况下顺利起动,此处提到的合适励磁频率是指在励磁电压相等的前提下,采用该频率的单相交流励磁时主发电机能够获得最大的励磁电流。 Experimental results show that the selection of a suitable method for controlling the excitation frequency and excitation current output from the exciter unit to ensure a smooth start blocking torque in certain circumstances, a suitable excitation frequency is referred to herein refers to the excitation voltage equal premise With this single-phase AC when the frequency of the main generator field to obtain the maximum exciting current.

[0003] 但是,励磁机在采用单相交流励磁方式时,仍然面临如下问题:1)在合适的励磁频率下,由于励磁机感抗较大,励磁机的定子励磁电流远小于其额定值,无法有效发挥励磁机的励磁输出能力,致使主发电机的转子励磁较弱,影响了主发电机在电动状态时的带载能力;2)相比直流励磁方式,采用单相交流励磁方式时主发电机转子磁链脉动较大,影响主发电机电动状态时的运行平稳性;3)当机组达到一定转速后,励磁机采用直流励磁方式的励磁输出能力将优于采用单相交流励磁方式的励磁输出能力,此时采用直流励磁方式时能够有效提高主发电机的带载运行性能。 [0003] However, when using single-phase AC exciter excitation mode, still faces the following problems: 1) at a suitable excitation frequency, since the inductance of the stator exciter field current is large, the exciter far less than the rated value, Unable to effectively play field exciter output capacity, resulting in main generator rotor field is weak, the influence of the load capacity of the main generator when the electric state; 2) compared to DC excitation mode, single-phase excitation mode using main generator rotor flux pulsation, affecting the operation of the electric generator when the state of the primary stability; 3) when the unit reaches a certain speed, DC exciter field excitation mode of the output capacity superior to single-phase excitation mode excitation output capability, this time can effectively improve the operating performance of the main generator carrier tape when DC excitation mode. 基于上述原因,当机组达到一定转速后,需要将励磁机由交流励磁方式切换为直流励磁方式,但是由于两种励磁方式的PWM调制方法差异较大, 如果采用直接切换的方式,在切换瞬间主发电机转子磁链波动较大,产生的转矩脉动易导致机组起动失败。 For these reasons, when the unit reaches a certain speed, it is necessary to switch from the exciter AC excitation mode DC excitation mode, but since the two kinds of PWM modulation method quite different excitation mode, if a direct switch, the main switch instantaneously generator rotor flux fluctuations, the torque pulsation generated easily lead to failure of the starter unit.

发明内容 SUMMARY

[0004] 要解决的技术问题 [0004] To solve the technical problem

[0005] 为了避免现有技术的不足之处,本发明提出一种航空三级无刷交流同步电机起动过程励磁控制方法及装置,有效提高三级无刷交流同步电机在起动过程中的带载性能以及机组运行的平稳性。 [0005] In order to avoid the shortcomings of the prior art, the present invention provides a brushless AC synchronous motor aviation three excitation starting process control method and apparatus to effectively improve three tape brushless AC synchronous motor during starting of performance and stability of plant operation.

[0006] 技术方案 [0006] Technical Solution

[0007] -种航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于步骤如下: [0007] - Air three kinds of brushless AC synchronous motor was excitation control method comprising the steps of:

[0008] 步骤1 :根据测得的电机当前转速值以及设定的交流励磁量随转速变化的曲线,得到当前输出交流励磁分量的调制度MA,同然后得出直流励磁分量调制度的调制上限MdmAX - 1_MA ; [0008] Step 1: The measured value of the current rotational speed and the amount of excitation AC motor set speed dependent curve, the excitation current component of the output AC modulation MA, with the upper limit of the modulation current draw and modulation of the excitation component MdmAX - 1_MA;

[0009] 步骤2 :将励磁机的额定电流Γ以及当前励磁机的励磁电流值i之差ei = iM进行PI调节,得出直流励磁控制量的调制度 [0009] Step 2: Γ exciting current rated current exciter and the exciter current value difference ei = iM i of the PI regulator, the control amount obtained DC excitation modulation

Figure CN102882455BD00051

漢中,Kps为励磁电流PI 控制器的比例系数,Kps > 0 ;Kis为励磁电流PI控制器的积分系数,Kis > 0 ; Hanzhoung, Kps is the exciting current PI controller proportional coefficient, Kps> 0; Kis is the exciting current PI controller integral coefficient, Kis> 0;

Figure CN102882455BD00052

经限幅处理后输出当前转速下励磁机的直流励磁量的调制度MD ; After the limiting process output at the current speed of the amount of DC exciter field modulation of the MD;

[0010] 步骤3 :根据励磁机交流励磁分量的角度积分器得出当前交流励磁分量的电压相角Θ = / (〇dt,其中,ω = 2 31 f,f为交流励磁分量的频率; [0010] Step 3: based on integrator angle AC exciter field current component of the AC component of the excitation voltage phase angle Θ = / (〇dt, where, ω = 2 31 f, f is the excitation frequency of the AC component;

[0011] 步骤4 :计算有效矢量和零矢量的作用时间,具体步骤如下: [0011] Step 4: Effective vectors and zero vector is calculated duration of action, the following steps:

[0012] 步骤a :计算逆变器输出参考电压> [0012] Step a: calculating the inverter output reference voltage>

Figure CN102882455BD00053

其中,VD。 Which, VD. 为励磁机控制器母线电压; Exciter controller to bus voltage;

[0013] 步骤b:根据伏秒平衡原则,设逆变器开关周期为1;,有效矢量的作用时间为Ί\,有:V MfTs = VdA ;则一个开关周期内,有效矢量和零矢量的作用时间分别为: [0013] Step b: The volt-second balance principle, provided the inverter switching cycle time to act as a valid vector ;, Ί \, there are: V MfTs = VdA; is within a switching cycle, the effective vectors and zero vector duration of action are:

Figure CN102882455BD00054

Figure CN102882455BD00055

[0014] 步骤5 :计算Η桥逆变器的控制量,并以此控制量控制Η桥逆变器驱动励磁机: [0014] Step 5: Η control amount calculating bridge inverter, thereby controlling the amount of drive control of the inverter bridge Η Exciter:

[0015] 当采用一个零矢量且VMf > 0, Η桥逆变器的控制量 [0015] When VMf> control amount 0, Η bridge inverter using a zero vector, and

[0016] 当采用一个零矢量且VMf < 0, Η桥逆变器的控制量 [0016] When using a zero vector and VMf <control amount 0, Η-bridge inverter

[0017] 当采用两个零矢量且VMf > 0, Η桥逆变器的控制量 [0017] When VMf> control amount 0, Η bridge inverter using two zero vector and

[0018] 当采用两个零矢量且VMf < 0, Η桥逆变器的控制量 [0018] When using vectors and two zero VMf <control amount 0, Η-bridge inverter

[0019] 所述当前时刻直流励磁分量的调制度MD由以下步骤犾侍: [0019] The DC excitation current time modulation component paternity MD l is the following steps:

[0020] ej = i*-i ; [0020] ej = i * -i;

Figure CN102882455BD00056

[0021] [0021]

[0022] [0022]

[0023] 所述的交流励磁分量调制度MA满足:1彡MA彡0。 AC modulation component of the excitation [0023] satisfies the MA: MA San San 1 0.

[0024] 所述的直流励磁分量调制度MD满足:1-MA彡MD彡0。 [0024] The DC component of the excitation modulation MD satisfied: 1-MA San MD San ​​0.

[0025] 所述的交流励磁量角速度ω满足:ω = 200 π。 The amount of AC excitation [0025] The angular speed [omega] satisfying: ω = 200 π.

[0026] 所述的根据三级无刷交流同步电机的励磁机本身特性和系统性能要求设定Kps、 Kis,并满足Kps > 0、Kis > 0。 [0026] According to the brushless exciter three AC synchronous motor itself characteristics and system performance requirements set Kps, Kis, and meet Kps> 0, Kis> 0.

[0027] -种实现所述航空三级无刷交流同步电机起动过程励磁控制方法的装置,其特征在于包括整流电路、滤波电路、三相全桥逆变器、单相Η桥逆变器、位置传感器、中央控制器、隔离驱动器和电流采集电路;整流电路将输入的三相交流电进行整流后输出至与其连接的滤波电路,滤波电路分别连接三相全桥逆变器和单相Η桥逆变器;单相Η桥逆变器连接励磁机的定子绕组,驱动励磁机实现主发电机励磁;三相全桥逆变器连接主发电机,控制主发电机的起动运行;位置传感器设置在检测电机转子位置之处,其输出端连接中央控制器; 电流采集电路连接在单相Η桥逆变器和三相全桥逆变器的输出端,其输出端连接中央控制器;中央控制器的输出端连接隔离驱动器,隔离驱动器的输出端分别连接三相全桥逆变器和单相Η桥逆变器。 [0027] - species apparatus control method of the field of aviation three Brushless motor was implemented, comprising a rectifier circuit, a filter circuit, a three-phase full-bridge inverter, Η single-phase bridge inverter, a position sensor, the central controller, and a current acquisition isolated driver circuit; a rectifier circuit for rectifying three-phase AC input to the output of the filter circuit connected thereto, the filter circuit are connected three-phase full-bridge inverter and a single reverse-phase bridge Η variable; a single-phase bridge inverter Η connecting the stator windings of the exciter and the drive to achieve the main exciter field generator; three-phase full-bridge inverter connected to the main generator, the control starting operation of the main generator; a position sensor is provided detecting the position of the rotor of the motor, an output terminal connected to the central controller; current detection circuit connected to the output terminal of the single-phase and three-phase bridge inverter Η full-bridge inverter, an output terminal connected to the central controller; central controller separator connected to the output drive, isolated driver output terminal respectively connected to the three-phase full-bridge inverter Η and single-phase bridge inverter.

[0028] 所述位置传感器采用旋转变压器。 [0028] The position sensor is a resolver.

[0029] 有益效果 [0029] beneficial effects

[0030] 本发明提出的一种航空三级无刷交流同步电机起动过程励磁控制方法及装置,在电机静止时,控制器以能够输出的最大交流励磁量给励磁机励磁,当电机达到一定转速时, 交流励磁量开始线性减小,同时直流励磁量采用ΡΙ调节器调节介入,其调节上限由交流励磁分量的大小及控制器母线电压综合决定,当交流分量减小至〇时,励磁机进入直流励磁方式。 [0030] A three aviation Brushless motor was proposed excitation control method and apparatus of the present invention, when the motor is stationary, the maximum amount of AC excitation controller can be output to the exciter field, when the motor reaches a certain speed , the amount of AC excitation start linearly decreases, while the amount of excitation current using a control intervention ΡΙ regulator, which regulates the upper limit is determined by the size of the integrated component of the AC excitation voltage bus and a controller, when the AC component is reduced to a square, into the exciter DC excitation mode. 本发明该方法应用于三级无刷交流同步电机的起动功能时,避免了励磁机在直接切换励磁方式时造成的主发电机转子磁链波动,可有效提高机组在起动过程中进行励磁切换时的运行平稳性。 When the present invention is applied to the starting function of the method three brushless AC synchronous motor, to avoid the main generator exciter rotor flux fluctuation caused during direct excitation mode switching, can effectively improve the switching unit is excited during starting when the smooth running.

[0031] 本发明具有以下优点:1)在交流励磁方式和直流励磁方式间切换时,交流励磁分量和直流励磁分量均采用渐入渐出的方式实现,切换时无冲击;2)调制算法融合了交流调制和直流调制的特点,在整个励磁过程中无调制算法上的改变;3)采用ΡΙ调节器调节直流励磁输出,同时利用交流励磁输出限制直流励磁输出的最大值,可在切换过程中有效利用母线电压,同时有效避免高转速时由于转速变化对励磁机的影响。 [0031] The present invention has the following advantages: 1) When switching between AC excitation mode and DC excitation mode, the AC field component and a DC excitation component are used fade-out manner, switching without shock; 2) Modulation Algorithm fusion DC and AC modulation characteristics of the modulator, without changes in the excitation modulation algorithm throughout the process; and 3) the maximum value ΡΙ regulator regulates the output DC field, while using an AC field excitation output DC output restriction can be switched during the Effect while efficiently using the bus voltage, while effectively avoiding high speed since the speed change of exciter.

附图说明 BRIEF DESCRIPTION

[0032] 图1 :三级无刷交流同步电机原理框图 [0032] Figure 1: three schematic block diagram of a brushless AC synchronous motor

[0033] 图2 :本发明方法原理框图 [0033] Figure 2: Block diagram of the method of the present invention

[0034] 图3 :本发明实施例的系统硬件原理图 [0034] FIG 3: Principle hardware embodiment of the present invention, FIG.

[0035] 图4 :Η桥逆变器原理图 [0035] FIG. 4: Η-bridge inverter Schematic

[0036] 图5 :Η桥逆变器的输出电压矢量图 [0036] FIG. 5: the output voltage vector of the inverter bridge Η

[0037] 图6 :Η桥逆变器单相交流调制的矢量图 [0037] FIG. 6: Η single-phase bridge inverter modulation vector

[0038] 图7 :Η桥逆变器直流调制的矢量图 [0038] FIG. 7: Η bridge inverter DC modulation vector

[0039] 图8 :Η桥逆变器带有直流偏置的交流调制矢量图 [0039] FIG. 8: Η-bridge inverter with AC modulation of the DC offset vector

[0040] 图9 :Η桥逆变器带有交流成分的直流调制矢量图 [0040] Figure 9: DC modulation vector Η bridge inverter with alternating current component

[0041] 图10 :V,ef > 0时,采用两种零矢量调制时的PWM示意图 PWM schematic view of the V, ef> 0, the two zero vector modulation: [0041] 10 FIG.

[0042] 图11 :VMf > 0时,采用单一零矢量调制时的PWM示意图 PWM schematic view of VMf> 0, the single zero vector preparation: [0042] 11 FIG.

[0043] 图12 :纯交流励磁方式励磁电流波形 [0043] FIG. 12: pure AC excitation mode excitation current waveform

[0044] 图13 :带直流偏置的交流励磁方式励磁电流波形 AC excitation mode excitation current waveform with a DC bias: [0044] 13 FIG.

[0045] 图14 :带交流成分的交流励磁方式励磁电流波形 [0045] Figure 14: AC waveform excitation mode with AC exciting current component

[0046] 图15 :直流励磁方式励磁电流波形 [0046] Figure 15: DC excitation mode excitation current waveform

[0047] 图16 :采用本发明方法时电机的带载起动加速曲线图 [0047] Figure 16: The method of the invention starting with a motor acceleration curve of the carrier of FIG.

具体实施方式 detailed description

[0048] 现结合实施例、附图对本发明作进一步描述: [0048] Now embodiments thereof and the drawings of the present invention is further described:

[0049] 本实施例的航空三级无刷交流同步电机起动过程的励磁控制方法(图2): [0049] Air three brushless AC excitation control of the present embodiment is a method of synchronizing the motor starting process (FIG. 2):

[0050] 本发明方法的原理框图如图2所示,交流励磁分量的调制度大小由电机转速决定,直流励磁分量的调制度由励磁机额定励磁电流Γ和实际的励磁电流i经PI调节器调节得到,其调节上限M Dmax由交流励磁分量的调制度MA决定,最终将得到的交/直流励磁输出量按本发明提出的调制算法合成后,得出控制Η桥逆变器的变量值,实现励磁机的励磁控制。 [0050] The principle of the method of the present invention is shown in block diagram in FIG. 2, the size of the AC modulation component of the field is determined by motor speed, DC excitation modulation component by the exciter field current Γ rated and the actual exciting current i through the PI regulator adjustment obtained, which regulates the upper limit is determined by the modulation M Dmax AC excitation component MA, the composite modulation algorithm AC / DC exciter output finally obtained according to the proposed invention, obtained Η-bridge inverter control variable value, achieve excitation control exciter. 其中,交流励磁分量的励磁频率满足:ω = 2 π f。 Wherein the excitation frequency of the AC excitation component satisfies: ω = 2 π f.

[0051] 本发明实施例的系统硬件结构如图3所示,包括:整流电路、滤波电路、三相全桥逆变器、单相Η桥逆变器(图4),隔离驱动电路、电流和电压检测电路、中央控制器和人机接口电路以及位置传感器,本系统中采用旋转变压器来检测电机转子位置及转速。 [0051] The hardware structure of the embodiment of the present invention is shown in Figure 3, comprising: a rectifier circuit, a filter circuit, a three-phase full-bridge inverter, a single-phase bridge inverter Η (FIG. 4), isolating the drive circuit, the current and a voltage detection circuit, a central controller and human-machine interface circuit and a position sensor, the present system uses a resolver detecting the rotation speed and rotor position. 其中,单相Η桥逆变器接励磁机定子绕组,驱动励磁机实现主发电机励磁,三相全桥逆变器接主发电机,通过控制主发电机的起动运行效果观察本发明方法的励磁控制性能。 Wherein the single-phase bridge inverter connected Η exciter stator windings, to achieve the main drive of the exciter generator excitation, a three-phase full-bridge inverter connected to the main generator, by controlling operation of the main effect of the starter generator observation method according to the invention excitation control performance.

[0052] 为验证本发明方法,采用MAGTR0L公司的2ΡΤ115-Τ/2ΡΤ115-Ρ加载台模拟航空发动机负载,利用一台三级无刷交流同步电机搭建了验证平台。 [0052] The authentication method according to the present invention, a company MAGTR0L 2ΡΤ115-Τ / 2ΡΤ115-Ρ analog aerial engine load loading station, using a three brushless AC synchronous motor built verification platform.

[0053] 本实施例方法通过分别控制励磁机励磁信号中交流分量和直流分量大小,利用本发明提出的融合了单相交流调制和直流调制的新调制方法,计算得出Η桥逆变器的开关信号,驱动Η桥逆变器动作,实现三级无刷交流同步电机在起动过程中的励磁机控制,依次含有以下步骤: [0053] The method of the present embodiment, by controlling the exciter field signal DC component and an AC component size, the present invention using the proposed integration of a new single-phase modulation and the modulation method of the modulation current, calculated Η-bridge inverter the switching signal, the driving operation of the inverter bridge Η achieve brushless exciter control three AC synchronous motor during starting, the sequence comprising the steps of:

[0054] 1.通过转子位置传感器及信号处理电路测得当前电机的转速 [0054] 1. the motor current obtained by the rotor position sensor and the signal processing circuit tachymetric

[0055] 2.根据当前电机转速查表得出交流励磁分量调制度ΜΑ的大小,设输出交流励磁分量幅值为VA,控制器母线电压为VD。 [0055] The alternating current motor revolutions Issue excitation component derived modulation ΜΑ size, provided the output AC excitation amplitude component of VA, the controller bus voltage VD. ,ΜΑ满足MA = VA/VD。 , ΜΑ meet MA = VA / VD. ;

[0056] 3.由励磁机交流励磁分量的角度积分器得出当前交流励磁分量的电压相角θ, 即: [0056] 3. The angle of the integrator is derived from the excitation component of the AC exciter field current component of the AC voltage phase angle θ, namely:

[0057] θ = / ω dt [0057] θ = / ω dt

[0058] 其中,ω = 2 π f,f为交流励磁分量的频率; [0058] where, ω = 2 π f, f is the excitation frequency of the AC component;

[0059] 4.根据当前控制器输出的交流励磁分量的调制度大小计算直流励磁分量调制度的调节上限M dmax ; [0059] 4. Adjust the upper limit of the DC component of the modulation of the excitation modulation M dmax AC excitation components of the current controller output is calculated in accordance with the size;

[0060] 5.通过以下步骤计算直流励磁分量的调制度: [0060] The DC component calculation field modulation by the steps:

[0061] (5. 1).设定励磁机控制器的直流励磁分量PI调节器的调节参数分别为Kps = 0. 1,Kis = 0. 05 ; [0061] (5.1) set exciter field current controller manipulated variable component of the PI regulator's are Kps = 0. 1, Kis = 0. 05;

[0062] (5. 2).由以下步骤获得励磁机控制器输出直流励磁分量的调制度: [0062] (5.2) was obtained from the steps of the controller output DC exciter field modulation component:

[0063] (5. 2. 1). ej = i*-i [0063] (5. 2. 1). Ej = i * -i

[0064] (5.2.2). M*d=K^ -ΰ,+Κ^β,ύί [0064] (5.2.2). M * d = K ^ -ΰ, + Κ ^ β, ύί

[0065] (5. 2. 3).经直流励磁分量的调制度上限Mdmax做限幅处理,得到励磁机控制器输出的直流励磁分量调制度MD,处理方式如下: II \^D Md<\-M4 . [0065] (5 2.3) modulation component of the excitation current limit by clipping Mdmax made to give a direct exciting field modulation component output from the MD controller, the processing as follows: II \ ^ D Md <\ -M4

[0066] Αίβ 二^ ΰ J \ι-μα [0066] Αίβ two ^ ΰ J \ ι-μα

[0067] 其中MD = VD/VDC,VD为当前输出直流励磁分量的电压。 [0067] where MD = VD / VDC, VD is the voltage output of the DC excitation current component.

[0068] (5. 3).由下式计算当前状态下的输出参考电压: . [0068] (5.3) by the output of the current state calculated reference voltage:

[0069] Vref = VD+VAcos ω t = MDVDC+MAVDCcos ω t [0069] Vref = VD + VAcos ω t = MDVDC + MAVDCcos ω t

[0070] 当VD = 0,即励磁机为交流励磁方式时,控制器输出的矢量图如图6所示; [0070] When VD = 0, i.e., exciter AC excitation mode, the output of the vector controller shown in Figure 6;

[0071] 当VA = 0,即励磁机为直流励磁方式时,控制器输出的矢量图如图7所示; [0071] When VA = 0, i.e., when a DC exciter excitation mode, the controller output vector as shown in Figure 7;

[0072] 当VD < VA,即励磁机为带有直流偏置的交流励磁方式时,控制器输出的矢量图如图8所示,此时励磁机已开始由交流励磁方式向直流励磁方式切换; [0072] when VD <VA, i.e. exciter AC bias with a DC excitation mode, the controller output vector as shown, the exciter has started at this time is switched from AC to DC excitation mode excitation mode 8 ;

[0073] 当VD > VA,即励磁机为带有交流分量的直流励磁方式时,控制器输出的矢量图如图9所示,此时励磁机即将完成由交流励磁方式向直流励磁方式的切换; [0073] when VD> VA, i.e. exciter with AC excitation mode DC components, as shown in FIG vector, then the output of the exciter controller 9 being completed by the AC excitation mode is switched to the DC excitation mode ;

[0074] (5. 4).设PWM开关周期为Ts,有效矢量的作用时间为Ί\,根据伏秒平衡原则,有: [0074] (5.4) provided for the switching period Ts of PWM, the effective time of action of the vector Ί \, according to the volt-second balance principle, there are:

[0075] VrefTs = VA [0075] VrefTs = VA

[0076] 则有效矢量和零矢量的作用时间分别为: 又1] = MnT\ + Μ工coscot Reaction time [0076] the active vector and the zero vector, respectively: Another 1] = MnT \ + Μ workers coscot

[0077] i \Tn=Ts-T\ [0077] i \ Tn = Ts-T \

[0078] 其中,Ί\满足以下关系式: [0078] where, Ί \ satisfies the following relationship:

[0079] Ti ^ Ts [0079] Ti ^ Ts

[0080] (5. 5).根据基本电压矢量和零矢量以及各自作用的时间确定Η桥逆变器两相开关控制信号SA、SB,规定"1"表不同一桥臂的上开关管导通,下开关管关闭,"0"表不同一桥臂的下开关管导通,上开关管关闭: [0080] (5.5). Η determined two-phase bridge inverter switching control signals SA, SB, a predetermined "1," the switch on a different table according to the time base arm vectors and zero voltage vector and the respective roles of the and lower-off switch, "0" means the switch turns on a different arm of the switch off:

[0081] 逆变器产生的有效电压矢量和零矢量所对应的两相开关信号分别为Vi(SA,SB): 力(1,0)^2(0,1)和两个零电压矢量%(0,0)、%(1,1),见图5;在一个开关周期1;内基本电压矢量和零矢量作用顺序见图10、图11。 [0081] The two-phase inverter switch signal generated effective voltage vectors and zero vector respectively corresponding to Vi (SA, SB): Force (1,0) 2 (0,1) and two zero-voltage vectors% (0,0),% (1,1), shown in Figure 5; in a switching cycle 1; within the basic voltage vectors and the zero vector action sequence shown in Figure 10, 11 in FIG. 其中,图10所不开关顺序为V(i(〇, 〇)、v3(l,1)两个零矢量均作用时的情况,此时的开关顺序为: Wherein, when the case of FIG. 10 does not switch the order of V (i (square, square), v3 (l, 1) effect are two zero vector, switching sequence at this time is:

[0082] ν〇(0, 0)作用T0/4 - Vl (1,0)作用V2 - v3(l,1)作用T0/2 - Vl (1,0)作用V2 -v〇(0,0)作用T0/4; [0082] ν〇 (0, 0) acting T0 / 4 - Vl (1,0) effect V2 - v3 (l, 1) effect of T0 / 2 - Vl (1,0) effect V2 -v〇 (0,0 ) effect of T0 / 4;

[0083] 图11为只采用vjo, 0)矢量的情况,此时的开关顺序为: [0083] FIG. 11 is using only vjo, 0) vector, switching sequence at this time is:

[0084] V。 [0084] V. (0, 0)作用Tq/2 - Vl (1,0)作用Ί\ - V。 (0, 0) acting Tq / 2 - Vl (1,0) acting Ί \ - V. (0, 0)作用Tq/2 ; (0, 0) acting Tq / 2;

[0085] (5. 6).两相开关信号SA、SB经相应的隔离以及信号处理、放大电路后,控制单相Η 桥逆变器动作,驱动励磁机,实现三级无刷交流同步电机的励磁功能。 [0085] (5.6) The two-phase switching signals SA, SB and spacer via the corresponding signal processing circuit after amplification, controls the single-phase bridge inverter Η operation, exciter driven, brushless AC synchronous motor to achieve three the excitation function.

[0086] 图12-图15为采用本发明所提出的调制算法时,励磁机在各个励磁阶段的励磁电流波形,其中,图12为纯交流励磁方式,图13为带直流偏置的交流励磁方式,图14为含交流成分的直流励磁方式,图15为直流励磁方式。 [0086] FIGS. 12 to 15 is employed modulation algorithm proposed by the present invention, the exciter field current excitation waveforms of respective stages, wherein FIG. 12 is a purely AC excitation mode, the excitation band 13 is AC biased DC embodiment, FIG. 14 is a DC field having an AC component embodiment, FIG. 15 is a DC excitation mode.

[0087] 图16为采用本发明方法时机组的带载起动加速曲线图。 [0087] FIG. 16 is a graph showing the acceleration when the method of the invention the unit load starting.

Claims (8)

  1. 1. 一种航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于步骤如下: 步骤1 :根据测得的电机当前转速值以及设定的交流励磁量随转速变化的曲线,得到当前输出交流励磁分量的调制度MA,同然后得出直流励磁分量调制度的调制上限Mdmax = 1-MA ; 步骤2 :将励磁机的额定电流Γ以及当前励磁机的励磁电流值i之差ei = ri进行PI调节,得出直流励磁控制量的调制度 An aviation three AC synchronous motor starting brushless excitation control method comprising the following steps: Step 1: The measured value of the current rotational speed and the amount of excitation AC motor set speed dependent curve, the current output AC modulation component of the excitation MA, with the upper limit of the DC field and obtained a modulation of the modulation component Mdmax = 1-MA; step 2: the difference between the field current value i Γ rated current exciter and the exciter current ei = ri the PI regulator, the control amount obtained DC excitation modulation
    Figure CN102882455BC00021
    其中,Kps为励磁电流PI控制器的比例系数 Wherein the scaling factor, Kps is the exciting current PI controller
    Figure CN102882455BC00022
    为励磁电流PI控制器的积分系数: Is the integral coefficient exciting current PI controller:
    Figure CN102882455BC00023
    登限幅处理后输出当前转速下励磁机的直流励磁量的调制度MD; 步骤3 :根据励磁机交流励磁分量的角度积分器得出当前交流励磁分量的电压相角Θ =/ 〇dt,其中,交流励磁量角速度ω = 2 π f,f为交流励磁分量的频率; 步骤4 :计算有效矢量和零矢量的作用时间,具体步骤如下: 步骤a :计算逆变器输出参考电压为 After registration limiting process output at the current speed of the amount of DC exciter field modulation of the MD; Step 3: AC excitation voltage derived components of the current phase angle Θ = / 〇dt the angle integrator exciter AC excitation component, wherein , the amount of AC excitation angular velocity ω = 2 π f, f is the excitation frequency of the AC component; step 4: effective vectors and zero vector is calculated duration of action, the following steps: step a: calculating inverter output reference voltage is
    Figure CN102882455BC00024
    其中,VD。 Which, VD. 为励磁机控制器母线电压; 步骤b:根据伏秒平衡原则,设逆变器开关周期为Ts,有效矢量的作用时间为1\,有:V^L = :则一个开关周期内,有效矢量和零矢量的作用时间分别为: Bus voltage for the exciter control; Step b: The volt-second balance principle, provided the switching period Ts of the inverter, the effective time of action of the vector 1 \, there are: V ^ L =: is within a switching period, valid vector and time zero vector are:
    Figure CN102882455BC00025
    Figure CN102882455BC00026
    步骤5 :计算Η桥逆变器的控制量,并以此控制量控制Η桥谉夺器3R动励磁Μ : 当采用一个零矢量且> 0, Η桥逆变器的控制量< 当采用一个零矢量且< 0, Η桥逆变器的控制量' 当采用两个零矢量且> 0, Η桥逆变器的控制量: 当采用两个零矢量且< 0, Η桥逆变器的控制量 Step 5: Η control amount calculating bridge inverter, thereby controlling the amount of control is Η 3R movable bridge Shen CAPTURE [mu] excitation: When using a zero vector and> 0, the control amount Η bridge inverter <employed when a a zero vector and <0, the control amount 'Η-bridge inverter when using vectors and two zero> 0, [eta] control amount bridge inverter: and when using two zero vector <0, [eta]-bridge inverter Control amount
  2. 2. 根据权利要求1所述航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于:所述当前转速下励磁机的直流励磁量的调制度MD由以下步骤获得: Φ Φ θί = 1 -1 ; The aviation Brushless three excitation control method of the motor starting process as claimed in claim 1, wherein: the amount of the current rotational speed of the DC excitation of the exciter modulation MD, with the following steps: Φ Φ θί = 1-1;
    Figure CN102882455BC00027
  3. 3. 根据权利要求1或2所述航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于:所述的当前输出交流励磁分量的调制度Μ Α满足:1 > ΜΑ > 0。 1 or 2 according to the aeronautical three excitation control method as claimed in claim synchronous brushless AC motor starting process, characterized in that: the current output of said modulation AC excitation component [alpha] [mu] satisfies: 1> ΜΑ> 0.
  4. 4. 根据权利要求1所述航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于:所述的当前转速下励磁机的直流励磁量的调制度MD满足:1-MA > MD > 0。 The aviation Brushless three excitation control method of the motor starting process as claimed in claim 1, wherein: said excitation current amount of the current rotational speed of the exciter modulation MD satisfied: 1-MA> MD> 0.
  5. 5. 根据权利要求1所述航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于:所述的交流励磁量角速度ω满足:ω = 200 π。 The aviation Brushless three excitation control method of the motor starting process as claimed in claim 1, wherein: the angular speed [omega] AC excitation amount satisfies: ω = 200 π.
  6. 6. 根据权利要求1所述航空三级无刷交流同步电机起动过程励磁控制方法,其特征在于:所述的根据三级无刷交流同步电机的励磁机本身特性和系统性能要求设定K ps、Kis,并满足Kps > 0、Kis > 0。 The aviation Brushless three excitation control method of the motor starting process as claimed in claim 1, wherein: said set of three K ps The exciter itself brushless AC synchronous motor characteristics and system performance requirements , Kis, and meet Kps> 0, Kis> 0.
  7. 7. -种实现权利要求1〜6任一项所述航空三级无刷交流同步电机起动过程励磁控制方法的装置,其特征在于包括整流电路、滤波电路、三相全桥逆变器、单相Η桥逆变器、位置传感器、中央控制器、隔离驱动器和电流采集电路;整流电路将输入的三相交流电进行整流后输出至与其连接的滤波电路,滤波电路分别连接三相全桥逆变器和单相Η桥逆变器;单相Η桥逆变器连接励磁机的定子绕组,驱动励磁机实现主发电机励磁;三相全桥逆变器连接主发电机,控制主发电机的起动运行;位置传感器设置在检测电机转子位置之处,其输出端连接中央控制器;电流采集电路连接在单相Η桥逆变器和三相全桥逆变器的输出端,其输出端连接中央控制器;中央控制器的输出端连接隔离驱动器,隔离驱动器的输出端分别连接三相全桥逆变器和单相Η桥逆变器。 7. - an aviation three kinds of implementing the process brushless AC excitation control apparatus of the synchronous motor starting method of any of claims 1~6, comprising a rectifier circuit, a filter circuit, a three-phase full-bridge inverter, a single Η-phase bridge inverter, a position sensor, the central controller, and a current acquisition isolated driver circuit; a rectifying three-phase AC input circuit for rectifying the output to the filter circuit connected thereto, the filter circuit are connected three-phase full-bridge inverter and single-phase bridge inverter Η; Η single-phase bridge inverter connected to the stator windings of the exciter and the drive to achieve the main exciter field generator; three-phase full-bridge inverter connected to the main generator, the control of the main generator starting operation; provided at a position sensor detecting the rotor position of the motor, an output terminal connected to the central controller; current detection circuit connected to the output terminal of the single-phase and three-phase bridge inverter Η full-bridge inverter, an output terminal connected a central controller; an output terminal connected to the central controller isolated driver, isolated driver output terminal respectively connected to the three-phase full-bridge inverter Η and single-phase bridge inverter.
  8. 8. 根据权利要求7所述的装置,其特征在于:所述位置传感器采用旋转变压器。 8. The apparatus according to claim 7, wherein: said position sensor is a resolver.
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