CN103414180A - Permanent magnet motor traction system and control method thereof - Google Patents

Abstract

The invention discloses a permanent magnet motor traction system and a control method of the permanent magnet motor traction system. The permanent magnet motor traction system comprises a direct current bus, a super-capacitor energy storage module, a braking resistor module and a permanent magnet motor driving module, wherein the super-capacitor energy storage module, the braking resistor module and the permanent magnet motor driving module are connected to the direct current bus in parallel. When a permanent magnet synchronous motor in the permanent magnet motor driving module is in the weak-magnetism operational mode, the voltage of the direct current bus is boosted in an electric-energy-releasing mode by the super-capacitor energy storage module according to the principle of the minimum direct current bus voltage so as to achieve the aim of reducing and even eliminating weak-magnetism operational areas, copper losses of the permanent magnet motor traction system are remarkably reduced, therefore, the efficiency of the permanent magnet motor traction system is improved, and the energy-saving aim is achieved.

Description

A kind of magneto trailer system and control method thereof

Technical field

The invention belongs to motor and drive and the control technology field, relate to a kind of control method of permagnetic synchronous motor.

Background technology

Regenerative Braking Technology is a kind of mode of braking that the modern city rail traffic vehicles is commonly used.Because the modern city rail traffic vehicles is a kind of high-power electric system, the electric energy that its regenerative braking produces is considerable.For energy-conservation, vehicle-mounted energy storage device is applied in modern city rail traffic vehicles electric traction system gradually.Take super capacitor as the energy management strategy commonly used of the vehicle-mounted energy storage device of representative as follows: lower than a certain set-point when (being called the discharge voltage threshold value herein), energy storage device starts to discharge electric energy when DC bus-bar voltage; Higher than a certain set-point when (being called the charging voltage threshold value herein), energy storage device starts store electrical energy when DC bus-bar voltage.In traditional energy storage device energy management strategy, discharge voltage threshold value and charging voltage threshold value are generally fixed value.As another power-economizing method of modern city rail traffic vehicles electric traction system, magneto is widely adopted gradually with the high advantage of its efficiency.But when the train high-speed cruising, permagnetic synchronous motor need adopt weak magnetic control system, namely in winding, adds enough large d-axis demagnetizing current, makes permanent magnet synchronous generator actuated by weak field, this demagnetizing current will produce extra loss, reduce running efficiency of system.In addition, energy storage device and magneto normally as two independently system consider.

Summary of the invention

Goal of the invention: the problem and shortage for above-mentioned prior art exists the purpose of this invention is to provide a kind of effective efficiency of permanent magnetism trailer system and more energy-conservation magneto trailer system and control method thereof of having improved.

Technical scheme: for achieving the above object, the technical solution used in the present invention is a kind of magneto trailer system, comprise DC bus, super capacitor energy-storage module, brake resistance module, magneto driver module, wherein, described brake resistance module is for adjusting the voltage on DC bus when the magnitude of voltage on DC bus is greater than the brake voltage threshold values; Described magneto driver module is by one or many permanent magnet synchronous motors form and be connected with corresponding inverter respectively; Described super capacitor energy-storage module is mainly used in storage and discharges electric energy; Described super capacitor energy-storage module, brake resistance module and magneto driver module are connected in parallel on DC bus.

Wherein, described brake resistance module is by device for power switching T1 and brake resistance R _BRForm described device for power switching T1 and brake resistance R _BRSeries connection; Described super capacitor energy-storage module is by device for power switching T2 and T3, filter inductance L _ScWith super capacitor c _ScForm, one of device for power switching T2 terminates on DC bus, the other end respectively with an end and the filter inductance L of device for power switching T3 _ScAn end connect, the other end of device for power switching T3 respectively with filter inductance L _ScThe other end with DC bus, be connected.

The present invention also provides a kind of control method that adopts above-mentioned magneto trailer system, comprises the steps:

Step 1: set brake voltage threshold value u _{Dc_brake}With charging voltage threshold value u _{Dc_charge}, wherein, brake voltage threshold value u _{Dc_brake}Be greater than charging voltage threshold value u _{Dc_charge}

Step 2: measure current DC bus-bar voltage u _Dc, three-phase current i _Sa, i _Sb, i _Sc, rotor position angle θ;

Step 3: compare DC bus-bar voltage u _DcWith brake voltage threshold value u _{Dc_brake}Size, if DC bus-bar voltage u _DcBe greater than brake voltage threshold value u _{Dc_brake}, the brake resistance module is started working, otherwise the brake resistance module is not worked;

Step 4: compare DC bus-bar voltage u _DcWith charging voltage threshold value u _{Dc_charge}Size, if DC bus-bar voltage u _DcBe greater than charging voltage threshold value u _{Dc_charge}Whether detect super capacitor energy-storage module electric energy is full of, if super capacitor energy-storage module electric energy is not full of, the super capacitor energy-storage module starts to charge and go to step 2, if super capacitor energy-storage module electric energy is full of, the super capacitor energy-storage module does not does not discharge and recharge operation and directly carries out the operation of step 2; If DC bus-bar voltage u _DcBe not more than charging voltage threshold value u _{Dc_charge}, calculate minimum direct current busbar voltage u according to following formula _min:

$u_{\min }=\sqrt{3}\·\sqrt{{(R_s{i}_{\mathrm{sd}}-{\mathrm{\ω}}_e{L}_s{i}_{\mathrm{sq}})}^2+{[R_s{i}_{\mathrm{sq}}+{\mathrm{\ω}}_e({\mathrm{\ψ}}_{\mathrm{PM}}+L_s{i}_{\mathrm{sd}})]}^2}$

In formula, R _sThe stator resistance of permagnetic synchronous motor, L _sThe stator inductance of permagnetic synchronous motor, i _SdAnd i _SqFriendship, the direct-axis current of permagnetic synchronous motor, ψ _PMThe permanent magnetism magnetic linkage of permagnetic synchronous motor, ω _eThe electric angle speed of permagnetic synchronous motor, wherein, i _SdAnd i _Sq, ω _eCan obtain according to following formula

${\mathrm{\ω}}_e=p_n\frac{\mathrm{d\θ}}{\mathrm{dt}}$

In formula, p _nIt is the number of pole-pairs of permagnetic synchronous motor.

Step 5: by the minimum direct current busbar voltage u obtained in step 4 _minWith DC bus-bar voltage u _DcRelatively, if DC bus-bar voltage u _DcBe not less than minimum direct current busbar voltage u _min, the super capacitor energy-storage module does not does not discharge and recharge and operates and go to step 2 so; If DC bus-bar voltage u _DcBe less than minimum direct current busbar voltage u _minWhether detect super capacitor energy-storage module electric energy discharges fully, if super capacitor energy-storage module electric energy discharges fully, the super capacitor energy-storage module does not does not discharge and recharge and operates and go to step 2 so, if super capacitor energy-storage module electric energy discharges fully, compare minimum direct current busbar voltage u _minWith charging voltage threshold value u _{Dc_charge}Size, if minimum direct current busbar voltage u _minBe less than charging voltage threshold value u _{Dc_charge}, the super capacitor energy-storage module is lifted to u by discharging electric energy by DC bus-bar voltage so _minAfter carry out step 2 operation, if minimum direct current busbar voltage u _minBe not less than charging voltage threshold value u _{Dc_charge}, the super capacitor energy-storage module is lifted to u by discharging electric energy by DC bus-bar voltage _{Dc_charge}After carry out step 2 operation.

Operation principle: the present invention has considered the trouble free service voltage range of weak magnetic field operation, DC bus and the super capacitor energy-storage module of permagnetic synchronous motor.In the electric operation stage, if permagnetic synchronous motor is in non-weak magnetic field operation pattern, the super capacitor energy-storage module is not carried out any operation that discharges and recharges; If permagnetic synchronous motor is in the weak magnetic field operation pattern, the super capacitor energy-storage module is passed according to " minimum direct current busbar voltage " mode that discharges electric energy in principle and is carried out the lifting DC bus-bar voltage, to reach minimizing, even eliminates the purpose in weak magnetic field operation zone.In the permagnetic synchronous motor regenerative braking operation phase, super capacitor energy-storage module store electrical energy.In said process, the voltage of super capacitor energy-storage module and DC bus must strictly be limited in safe range.Wherein, " minimum direct current busbar voltage " principle refers to when the stored electric energy of super capacitor energy-storage module does not discharge fully, if current DC bus-bar voltage makes permagnetic synchronous motor be about to enter weak magnetic field operation, the super capacitor energy-storage module initiatively discharges electric energy, make the actual DC busbar voltage be not less than the minimum direct current busbar voltage, wherein, the minimum direct current busbar voltage refers to and guarantees that permagnetic synchronous motor does not enter the DC bus-bar voltage minimum value of weak magnetic field operation.

Beneficial effect: the present invention compared with prior art, the present invention is in the weak magnetic field operation pattern by the permagnetic synchronous motor in the magneto driver module, the super capacitor energy-storage module is passed the mode that the discharges electric energy DC bus-bar voltage that raises in principle according to " minimum direct current busbar voltage ", to reach minimizing, even eliminate the purpose in weak magnetic field operation zone, make the copper loss of magneto trailer system significantly reduce, thereby improved the efficiency of magneto trailer system, reached energy-conservation purpose.

The accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is the test block diagram that the present invention is applied to urban railway transit train;

Fig. 3 is conventional method and train speed of the present invention experimental waveform;

Fig. 4 is the experimental waveform of conventional method and tractive force of train of the present invention;

Fig. 5 is the experimental waveform of conventional method and train operation distance of the present invention;

Fig. 6 is the experimental waveform of conventional method and DC bus-bar voltage of the present invention;

Fig. 7 is the experimental waveform of conventional method and super capacitor energy-storage module voltage of the present invention;

Fig. 8 is the experimental waveform of conventional method and permagnetic synchronous motor direct-axis current of the present invention;

Fig. 9 is the experimental waveform of conventional method and train energy consumption of the present invention.

Embodiment

Below in conjunction with the drawings and specific embodiments, further illustrate the present invention.

As shown in Figure 1, the magneto trailer system, comprise DC bus 1, super capacitor energy-storage module 2, brake resistance module 3, magneto driver module 4, wherein, magneto driver module 4 is connected in parallel on DC bus 1, and brake resistance module 3 is by device for power switching T1 and brake resistance R _BRForm device for power switching T1 and brake resistance R _BRAfter series connection, be connected in parallel on DC bus 1, super capacitor energy-storage module 2 by device for power switching T2 and T3 form, filter inductance L _ScWith super capacitor c _ScForm, wherein, one of device for power switching T2 terminates on DC bus 1, the other end respectively with an end and the filter inductance L of device for power switching T3 _ScAn end connect, the other end of device for power switching T3 respectively with filter inductance L _ScThe other end with DC bus 1, be connected.

The present invention is applied in the analogue system of actual cities rail transit train electric traction system, as shown in Figure 2, comprises: DC bus, magneto driver module, super capacitor energy-storage module and brake resistance module.Wherein, the magneto driver module comprises three-phase inverter and three-phase permanent magnet synchronous motor, the magneto driver module adopts the SVPWM modulator approach, specified DC bus-bar voltage is 160V, switching frequency 20kHz, super capacitor energy-storage module and brake resistance module are controlled by controller separately respectively.Train adopts and directly drives mode, and radius of wheel is 0.804m, and the ratio of the electric traction system power grade of the power grade of experimental system and actual cities rail transit train is 1:8000.The transformational relation of modular converter 1 and modular converter 2 is as follows:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="0"\; label="T\; m"\; filenames="HDA00003553485100013.png,HDA00003553485100014.png"\; state="\{\{state\}\}">T</figure-callout>}}_m=T_{m\_\mathrm{ref}}/8000\\ T_m=8000{\mathrm{<figure-callout\; id="0"\; label="T\; m"\; filenames="HDA00003553485100013.png,HDA00003553485100014.png"\; state="\{\{state\}\}">T</figure-callout>}}_m\end{array}\right.$

In formula, T _{M0_ref}And T _M0Respectively set-point and the actual value of the torque of magneto driver module, T _{M_ref}And T _mRespectively set-point and the actual value of train total torque.

The control method that is applied to the permanent magnetism trailer system of urban railway transit train of the present invention comprises following implementation step:

Step 1: set brake voltage threshold value u _{Dc_brake}=200V, charging voltage threshold value u _{Dc_charge}=190V;

Step 2: measure current DC bus-bar voltage u _Dc, three-phase current i _Sa, i _Sb, i _Sc, rotor position angle θ;

Step 3: compare DC bus-bar voltage u _DcWith brake voltage threshold value u _{Dc_brake}Size, if DC bus-bar voltage u _DcBe greater than 200V, the brake resistance module is started working, otherwise the brake resistance module is not worked;

Step 4: compare DC bus-bar voltage u _DcWith charging voltage threshold value u _{Dc_charge}Size, if DC bus-bar voltage u _DcBe greater than 190V, whether detect super capacitor energy-storage module electric energy is full of, if super capacitor energy-storage module electric energy is not full of, the super capacitor energy-storage module starts to charge and go to step 2, if super capacitor energy-storage module electric energy is full of, the super capacitor energy-storage module does not does not discharge and recharge operation and directly carries out the operation of step 2; If DC bus-bar voltage u _DcBe not more than 190V, calculate the minimum direct current busbar voltage according to following formula:

$u_{\min }=\sqrt{3}\&CenterDot;\sqrt{{(R_s{i}_{\mathrm{sd}}-{\mathrm{\&omega;}}_e{L}_s{i}_{\mathrm{sq}})}^2+{[R_s{i}_{\mathrm{sq}}+{\mathrm{\&omega;}}_e({\mathrm{\&psi;}}_{\mathrm{PM}}+L_s{i}_{\mathrm{sd}})]}^2}$

In formula, R _sThe stator resistance of permagnetic synchronous motor, L _sThe stator inductance of permagnetic synchronous motor, i _SdAnd i _SqFriendship, the direct-axis current of permagnetic synchronous motor, ψ _PMThe permanent magnetism magnetic linkage of permagnetic synchronous motor, ω _eThe electric angle speed of permagnetic synchronous motor, u _minTo guarantee that permagnetic synchronous motor does not enter the DC bus-bar voltage minimum value of weak magnetic field operation.Wherein, i _SdAnd i _Sq, ω _eCan obtain according to following formula

${\mathrm{\&omega;}}_e=p_n\frac{\mathrm{d\&theta;}}{\mathrm{dt}}$

In formula, p _nIt is the number of pole-pairs of permagnetic synchronous motor.

Step 5: by the minimum direct current busbar voltage u obtained in step 4 _minWith DC bus-bar voltage u _DcRelatively, if DC bus-bar voltage u _DcBe not less than minimum direct current busbar voltage u _min, the super capacitor energy-storage module does not does not discharge and recharge and operates and go to step 2 so; If DC bus-bar voltage u _DcBe less than minimum direct current busbar voltage u _minWhether detect super capacitor energy-storage module electric energy discharges fully, if super capacitor energy-storage module electric energy discharges fully, the super capacitor energy-storage module does not does not discharge and recharge and operates and go to step 2 so, if super capacitor energy-storage module electric energy discharges fully, compare minimum direct current busbar voltage u _minWith charging voltage threshold value u _{Dc_charge}Size, if minimum direct current busbar voltage u _minBe less than charging voltage threshold value u _{Dc_charge}, the super capacitor energy-storage module is lifted to u by discharging electric energy by DC bus-bar voltage so _minAfter carry out step 2 operation, if minimum direct current busbar voltage u _minBe not less than charging voltage threshold value u _{Dc_charge}, the super capacitor energy-storage module is lifted to u by discharging electric energy by DC bus-bar voltage _{Dc_charge}After carry out step 2 operation.

By adopting the train (hereinafter being designated as E2) of system of the present invention and control method thereof, test with the train (hereinafter being designated as E1) of legacy system and method, as shown in Figures 3 to 5, the distance of the speed of a motor vehicle of two trains, tractive effort and operation is set to identical.As shown in Figure 6, in the situation that train at a high speed, the DC bus-bar voltage of E2 is higher than the DC bus-bar voltage of E1.As shown in Figure 7, the super capacitor energy-storage module of E2 electric energy when train just starts low cruise keeps a period of time, then when the train high speed, discharges, and charges when train is braked, the super capacitor energy-storage module of E1, when train just starts low cruise, just starts to discharge electric energy.As shown in Figure 8, the permagnetic synchronous motor direct current of E1 has when the train high speed plays the process of falling, and the permagnetic synchronous motor direct current of E1 is in stable state always when the train high speed.As shown in Figure 9, the energy consumption of E1 train, higher than the energy consumption of E2 train, is calculated the energy consumption of E2 train and is compared and descended 6.93% with the energy consumption of E1 train through data.

Claims (3)

1. magneto trailer system, it is characterized in that: comprise DC bus, super capacitor energy-storage module, brake resistance module, magneto driver module, wherein, described brake resistance module is for adjusting the voltage on DC bus when the magnitude of voltage on DC bus is greater than the brake voltage threshold values; Described magneto driver module is by one or many permanent magnet synchronous motors form and with corresponding inverter, be connected respectively; Described super capacitor energy-storage module is mainly used in storage and discharges electric energy; Described super capacitor energy-storage module, brake resistance module and magneto driver module are connected in parallel on DC bus.

2. a kind of magneto trailer system according to claim 1, it is characterized in that: described brake resistance module is by device for power switching T1 and brake resistance R _BRForm wherein said device for power switching T1 and brake resistance R _BRSeries connection; Described super capacitor energy-storage module is by device for power switching T2 and T3, filter inductance L _ScWith super capacitor c _ScForm, wherein, one of device for power switching T2 terminates on DC bus, the other end respectively with an end and the filter inductance L of device for power switching T3 _ScAn end connect, the other end of device for power switching T3 respectively with filter inductance L _ScThe other end with DC bus, be connected.

3. adopt the control method of magneto trailer system claimed in claim 1, it is characterized in that: comprise the steps:

Step 1: set brake voltage threshold value u _{Dc_brake}With charging voltage threshold value u _{Dc_charge}, wherein, brake voltage threshold value u _{Dc_brake}Be greater than charging voltage threshold value u _{Dc_charge}

Step 2: measure current DC bus-bar voltage u _Dc, three-phase current i _Sa, i _Sb, i _Sc, rotor position angle θ;

Step 3: compare DC bus-bar voltage u _DcWith brake voltage threshold value u _{Dc_brake}Size, if DC bus-bar voltage u _DcBe greater than brake voltage threshold value u _{Dc_brake}, the brake resistance module is started working, otherwise the brake resistance module is not worked;

Step 4: compare DC bus-bar voltage u _DcWith charging voltage threshold value u _{Dc_charge}Size, if DC bus-bar voltage u _DcBe greater than charging voltage threshold value u _{Dc_charge}Whether detect super capacitor energy-storage module electric energy is full of, if super capacitor energy-storage module electric energy is not full of, the super capacitor energy-storage module starts to charge and go to step 2, if super capacitor energy-storage module electric energy is full of, the super capacitor energy-storage module does not does not discharge and recharge operation and directly carries out the operation of step 2; If DC bus-bar voltage u _DcBe not more than charging voltage threshold value u _{Dc_charge}, calculate minimum direct current busbar voltage u according to following formula _min:

$u_{\min }=\sqrt{3}\&CenterDot;\sqrt{{(R_s{i}_{\mathrm{sd}}-{\mathrm{\&omega;}}_e{L}_s{i}_{\mathrm{sq}})}^2+{[R_s{i}_{\mathrm{sq}}+{\mathrm{\&omega;}}_e({\mathrm{\&psi;}}_{\mathrm{PM}}+L_s{i}_{\mathrm{sd}})]}^2}$

In formula, R _sThe stator resistance of permagnetic synchronous motor, L _sThe stator inductance of permagnetic synchronous motor, i _SdAnd i _SqFriendship, the direct-axis current of permagnetic synchronous motor, ψ _PMThe permanent magnetism magnetic linkage of permagnetic synchronous motor, ω _eThe electric angle speed of permagnetic synchronous motor, wherein, i _SdAnd i _Sq, ω _eCan obtain according to following formula

${\mathrm{\&omega;}}_e=p_n\frac{\mathrm{d\&theta;}}{\mathrm{dt}}$

In formula, p _nIt is the number of pole-pairs of permagnetic synchronous motor.

Step 5: by the minimum direct current busbar voltage u obtained in step 4 _minWith DC bus-bar voltage u _DcRelatively, if DC bus-bar voltage u _DcBe not less than minimum direct current busbar voltage u _min, the super capacitor energy-storage module does not does not discharge and recharge and operates and go to step 2 so; If DC bus-bar voltage u _DcBe less than minimum direct current busbar voltage u _minWhether detect super capacitor energy-storage module electric energy discharges fully, if super capacitor energy-storage module electric energy discharges fully, the super capacitor energy-storage module does not does not discharge and recharge and operates and go to step 2 so, if super capacitor energy-storage module electric energy discharges fully, compare minimum direct current busbar voltage u _minWith charging voltage threshold value u _{Dc_charge}Size, if minimum direct current busbar voltage u _minBe less than charging voltage threshold value u _{Dc_charge}, the super capacitor energy-storage module is lifted to u by discharging electric energy by DC bus-bar voltage so _minAfter carry out step 2 operation, if minimum direct current busbar voltage u _minBe not less than charging voltage threshold value u _{Dc_charge}, the super capacitor energy-storage module is lifted to u by discharging electric energy by DC bus-bar voltage _{Dc_charge}After carry out step 2 operation.

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