CN105490604B - A kind of forecast Control Algorithm of the inductive switching motor variable speed system of three-phase four - Google Patents
A kind of forecast Control Algorithm of the inductive switching motor variable speed system of three-phase four Download PDFInfo
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- CN105490604B CN105490604B CN201410474341.2A CN201410474341A CN105490604B CN 105490604 B CN105490604 B CN 105490604B CN 201410474341 A CN201410474341 A CN 201410474341A CN 105490604 B CN105490604 B CN 105490604B
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Abstract
The invention discloses a kind of forecast Control Algorithm of the inductive switching motor variable speed system of three-phase four, including：A, three-phase current, two DC capacitor voltages and motor speed are measured by current sensor, voltage sensor and velocity sensor in Induction machine drive system respectively；B, voltage vector corresponding to four kinds of switch combinations (00,01,11,10) is calculated by the DC capacitor voltage of measurement；C, according to the stator of the phase current of measurement and turn count induction machine, rotor flux；D, predict that four voltage vectors correspond to absolute value, prediction torque and the prediction DC voltage of stator magnetic linkage；E, four voltage vector cost functions are calculated：Predicted value takes absolute value after subtracting each other respectively with reference value, and items are multiplied by weight coefficient addition.F, the on off state corresponding to the minimum voltage vector of cost function will be caused to be applied in inverter.This method is applied to the various frequency conversion speed-adjusting systems of the switch drive of three-phase four.
Description
Technical field
The invention belongs to induction conductivity frequency control field, is converted more particularly, to a kind of switch power of three-phase four
The forecast Control Algorithm of the lower induction machine frequency conversion speed-adjusting system of device topology.
Background technology
Frequency conversion speed-adjusting system based on induction conductivity has obtained extensively in fields such as Aero-Space, military affairs, industry
Using its power inverter forms by six Switch Three-Phase all-controlling power electronics devices.Among these, converter energy density
Height, power electronic devices is again relative " fragility ", once open circuit or short trouble occur for converter power tube, whole system is just
The ability of normal work is lost, or even catastrophic effect occurs.
Controlled with to frequency conversion speed-adjusting system security, the requirement more and more higher of reliability, real-time fault tolerance by height weight
Depending on, but most of frequency conversion speed-adjusting system is not equipped with redundancy backup, this causes the switch topology of three-phase four of irredundant backup
It is of greater concern.In numerous patents and document that frequency conversion speed-adjusting system control strategy is switched for three-phase four, it is substantially
Method is divided into two classes：One kind assumes that DC capacitor voltage is invariable, control algolithm is designed on this basis, due to electricity
One phase of machine has been directly connected to electric capacity neutral point, and the flowing of phase current can cause the fluctuation and drift of capacitance voltage, therefore this kind of
Method can not be used for real system；Another kind of is to be directed to voltage fluctuation of capacitor and drift design control algolithm, but this calculation
Method is usually the control strategy of open loop, the bad dynamic performance of governing system.
The content of the invention
In order to overcome the shortcomings of that existing three-phase four switchs frequency conversion speed-adjusting system control strategy, the present invention proposes a kind of three-phase
The lower forecast Control Algorithm of four switching power converters topology.This method can realize high-performance in the case of voltage fluctuation of capacitor
Magnetic linkage and torque closed-loop control, and the drift of capacitance voltage can also be suppressed, it is not necessary to pulse width modulator and coordinate transform.Should
Method is applied to the various frequency conversion speed-adjusting systems of the switch drive of three-phase four.
To achieve these goals, the invention provides a kind of lower induction machine of switching power converter of three-phase four topology to become
The forecast Control Algorithm of frequency modulation speed system, methods described include：
(1) existing current Hall sensor, voltage hall sensor and photoelectric code in Induction machine drive system are passed through
Disk velocity sensor measures three-phase current i respectivelya k,ib k,ic k, two DC capacitor voltage UC1 k,UC2 kWith motor speed ω；
(2) two DC capacitor voltage U of measurement are passed throughC1 k,UC2 kCalculate voltage vector corresponding to four kinds of switch combinations
V1,V2,V3,V4The value at current time, and according to the three-phase current i of measurementa k,ib k,ic kSignal of change current phasorValue, its
In four kinds of switch combinations be 00,10,11,01；
(3) the motor speed ω and current phasor of measurement are passed throughEstimate stator magnetic linkageAnd rotor flux
(4) all voltage vector V are predicted according to motor model and inverter model1,V2,V3,V4Corresponding capacitance voltageStator magnetic linkageAnd electromagnetic torque
(5) each voltage vector V obtained using prediction1,V2,V3,V4Corresponding capacitance voltageStator
Magnetic linkageAnd electromagnetic torqueCalculation cost function, it is optimal voltage to take the voltage vector that cost function is minimized
Vector；
(6) switching signal, the wherein corresponding relation of voltage vector and switching signal corresponding to optimal voltage vector are applied such as
It is identical in step (2).
It is an advantage of the current invention that by the Accurate Model to motor model, can in the case of voltage fluctuation of capacitor
The closed loop high performance control in the magnetic field of induction conductivity, torque and rotating speed is realized, while is realized in this asymmetric electric power electricity
Under sub- converter topology, the Balance route of three-phase current.In order to ensure the reliability of system, drift of the present invention to capacitance voltage
Suppressed.The direct output switching signal of the present invention, it is not necessary to pulse width modulator.All variables are complete under stator coordinate
Into, it is not necessary to coordinate transform.Control structure is easily understood, and is easy to physics realization.
Brief description of the drawings
Fig. 1 is the Induction machine drive system and its basic block diagram that the inventive method is applicable；
Fig. 2 is the control principle block diagram of the inventive method；
Fig. 3 is the control flow chart of the induction motor model forecast Control Algorithm of the switch drive of three-phase four of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
As shown in figure 1, involved in the present invention is power converter construction and the sense of induction motor variable frequency speed regulation system
The link model of induction motor.Two in the three-phase of motor, which connect, normally switchs bridge arm, and third phase is connect in the electric capacity of DC side
Property point.
As shown in Fig. 2 control block diagram involved in the present invention, and with the induction machine system of the switch drive of three-phase four
Block diagram is connected, the principle of the technical solution adopted by the present invention is illustrated with reference to accompanying drawing 2：
In order to realize high performance Closed-loop Control Strategy, the control of speed outer shroud is obtained using traditional pi controller
The set-point of torque, current inner loop control use model predictive controller, and this programme includes flux linkage estimation, torque, magnetic linkage and electricity
Hold voltage prediction, three steps of cost function optimization.
First, current induction electric machine stator and rotor flux are estimated using induction machine current model.Capacitance voltage
Fluctuation the voltage vector of inverter can be caused to produce fluctuation on phase angle and amplitude, this fluctuation can cause to be based on voltage model
Flux linkage estimation algorithm produces significant errors, causes flux linkage estimation inaccurate, this programme uses the flux linkage estimation based on current model
Algorithm, using rotating speed, the measurable estimation of phase current current stator and rotor flux, voltage fluctuation of capacitor is overcome to flux linkage estimation
Influence.
Secondly, using voltage sensor, the real-time voltage of electric capacity is measured, calculates the exact value of current voltage vector, then,
Using the mathematical modeling of induction machine, four voltage vectors corresponding to current four kinds of on off states are substituted into model one by one, in advance
The stator magnetic linkage in the next sampling period surveyed under different voltage vectors, stator current, electromagnetic torque, capacitance voltage.
Finally, the magnetic linkage absolute value of prediction, electromagnetic torque, capacitance voltage are made into difference with reference value respectively, seek its absolute value,
And corresponding weight coefficient is multiplied by, cost function is obtained after addition, the corresponding four cost function values of four voltage vectors will generation
Switching signal corresponding to the minimum voltage vector of valency function value is applied to inverter.
The three-phase current of motor is obtained from motor by Hall sensor, rotating speed is measured from photoelectric code disk velocity sensor
Signal.From power inverter, capacitance voltage is obtained by voltage hall sensor.Input of the above variable as control system
Measure the control of participation system.Control system directly exports discrete switching signal, simplifies control structure.Control system is divided into inside and outside
Two control rings：Outer shroud is traditional pi regulator, realizes the closed-loop control of rotating speed, and produce torque by speed regulator and give
It is fixed；Inner ring is model predictive controller, realizes the closed-loop control of motor torque and magnetic linkage, while also achieve electric capacity electricity in inner ring
Press the suppression of drift.
As shown in figure 3, the controlling stream of the induction motor model forecast Control Algorithm for the switch drive of three-phase four of the present invention
Cheng Tu, as illustrated, methods described includes：
1st, cost function g is initialized as a sufficiently large value by initialization.
2nd, existing current Hall sensor, voltage hall sensor and photoelectric code disk in Induction machine drive system are passed through
Velocity sensor measures three-phase current i respectivelya k,ib k,ic k, two DC capacitor voltage UC1 k,UC2 kWith motor speed ω；
3rd, two DC capacitor voltage U of measurement are passed throughC1 k,UC2 kCalculate voltage vector corresponding to four kinds of switch combinations
V1,V2,V3,V4The value at current time, and according to the three-phase current i of measurementa k,ib k,ic kSignal of change current phasorValue, its
In four kinds of switch combinations be 00,10,11,01；The computational methods of voltage vector, as shown in table 1.
Table 1
The computational methods of current phasor are as follows：
Wherein subscript k is sampling instant.
4th, the motor speed ω and current phasor of measurement are passed throughEstimate stator magnetic linkageAnd rotor flux
Wherein, Ls, Lm, LrIt is stator inductance, magnetizing inductance and inductor rotor respectively, RsRrIt is rotor resistance and stator respectively
Resistance.TsIt is the sampling time, kr=Lm/LrIt is rotor mutual inductance,It is magnetic leakage factor, τr=Lr/RrIt is to turn
Sub- time constant.
5th, all voltage vector V are predicted according to motor model and inverter model1,V2,V3,V4Corresponding capacitance voltageStator magnetic linkageAnd electromagnetic torque
The current phasor of the subsequent time of predictionIt is as follows：
Wherein,It is equivalent resistance, Lσ=σ LsIt is the leakage inductance of motor, τσ=σ Ls/Rσ,Represent electricity
Press vector,
Stator magnetic linkage and electromagnetic torque are predicted according to the current phasor of prediction.
Wherein, p is induction machine number of pole-pairs, and Im symbols represent to take the imaginary part of plural number.
For four Switch Three-Phase topological structures, because upper down tube can not be led directly to, therefore, switch combination SbScCan only value be
00,10,01,11, capacitance current idc1,idc2Value it is as follows
idc1 k=ib k·Sb+ic k·Sc (0.7)
idc2 k=ib k·(1-Sb)+ic k·(1-Sc)
The predicted value U of capacitance voltageC1(k+1), UC2(k+1) it is
(0.8)
6th, each voltage vector V obtained using prediction1,V2,V3,V4Corresponding capacitance voltageStator
Magnetic linkageAnd electromagnetic torqueCalculation cost function, it is optimal voltage to take the voltage vector that cost function is minimized
Vector；
The cost function control rate g of designiIt is as follows：
WhereinIt is the nominal torque of induction machine and specified magnetic linkage respectively,For torque reference,For
Magnetic linkage absolute value gives, | | symbol is to solve for absolute value, | | | | it is that phasor solves absolute value, is joined according to motor nameplate
Number obtains.λ0, λdcBe adjustable parameter, by gather examination method obtain parameter, enable systematic entirety optimal.Subscript i is represented respectively
The parameter calculated by four voltage vectors.
7th, switching signal corresponding to optimal voltage vector is applied.Wherein the corresponding relation of voltage vector and switching signal is as walked
Suddenly it is identical in (2).So that the g that cost function is minimumiVoltage vector be considered as voltage optimal in four voltage vectors
Vector, apply the switch combination corresponding to optimum voltage vector, its corresponding relation such as table 1, realize the optimum control of system.
8th, subsequent time repeats 1-7, to obtain the optimal voltage vector of subsequent time.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
1. a kind of forecast Control Algorithm of the lower induction machine frequency conversion speed-adjusting system of the switching power converter of three-phase four topology, its feature
It is, the described method comprises the following steps：
(1) existing current Hall sensor, voltage hall sensor and photoelectric code disk speed in Induction machine drive system are passed through
Degree sensor measures three-phase current i respectivelya k,ib k,ic k, two DC capacitor voltage UC1 k,UC2 kWith motor speed ω；
(2) two DC capacitor voltage U of measurement are passed throughC1 k,UC2 kCalculate voltage vector V corresponding to four kinds of switch combinations1,V2,
V3,V4The value at current time, and according to the three-phase current i of measurementa k,ib k,ic kSignal of change current phasorValue, wherein four kinds
Switch combination is 00,10,11,01；
(3) the motor speed ω and current phasor of measurement are passed throughEstimate stator magnetic linkageAnd rotor flux
(4) all voltage vector V are predicted according to motor model and inverter model1,V2,V3,V4Corresponding capacitance voltageStator magnetic linkageAnd electromagnetic torque
(5) each voltage vector V obtained using prediction1,V2,V3,V4Corresponding capacitance voltageStator magnetic linkageAnd electromagnetic torqueCalculation cost function, it is optimal voltage vector to take the voltage vector that cost function is minimized；
(6) switching signal, the wherein corresponding relation of voltage vector and switching signal such as step corresponding to optimal voltage vector are applied
(2) it is identical in.
2. the method as described in claim 1, it is characterised in that pass through the capacitance voltage U of measurement in the step (2)C1 k,UC2 k
Calculate voltage vector V corresponding to four kinds of switch combinations1,V2,V3,V4The value at current time, it is specially：
Voltage vector V corresponding to switch combination 001=2UC2 k/3；
Voltage vector corresponding to switch combination 10
Voltage vector corresponding to switch combination 11
Voltage vector V corresponding to switch combination 014=-2UC1 k/3。
3. method as claimed in claim 1 or 2, it is characterised in that according to the three-phase current i of measurement in the step (2)a k,
ib k,ic kSignal of change current phasorValue, with specific reference to following formula calculate：
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4. method as claimed in claim 1 or 2, it is characterised in that in the step (3) by the motor speed ω of measurement and
Current phasorEstimate stator magnetic linkageAnd rotor fluxSpecially：
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Wherein, Ls, Lm, LrIt is stator inductance, magnetizing inductance and inductor rotor respectively, Rr、RsIt is rotor resistance and stator electricity respectively
Resistance, TsIt is the sampling time, kr=Lm/LrIt is rotor mutual inductance,It is magnetic leakage factor, τr=Lr/RrIt is rotor
Time constant.
5. method as claimed in claim 4, it is characterised in that according to motor model and inverter model in the step (4)
Predict all voltage vector V1,V2,V3,V4Corresponding capacitance voltage Specially：
The predicted value of capacitance voltage For
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idc1 k=ib k·Sb+ic k·Sc
idc2 k=ib k·(1-Sb)+ic k·(1-Sc),
Sb,ScRepresent on off state.
6. method as claimed in claim 4, it is characterised in that according to motor model and inverter model in the step (4)
Predict all voltage vector V1,V2,V3,V4Corresponding stator magnetic linkageAnd electromagnetic torqueSpecially：
Predict the current phasor of subsequent timeIt is as follows：
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Stator magnetic linkage is predicted according to the current phasor of predictionAnd electromagnetic torque
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<mi>T</mi>
<mo>^</mo>
</mover>
<mi>e</mi>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>=</mo>
<mfrac>
<mn>3</mn>
<mn>2</mn>
</mfrac>
<mi>p</mi>
<mo>&CenterDot;</mo>
<mi>Im</mi>
<mo>{</mo>
<msup>
<msub>
<mover>
<mover>
<mi>&psi;</mi>
<mo>^</mo>
</mover>
<mo>&RightArrow;</mo>
</mover>
<mi>s</mi>
</msub>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>&CenterDot;</mo>
<msup>
<msub>
<mover>
<mi>i</mi>
<mo>&RightArrow;</mo>
</mover>
<mi>s</mi>
</msub>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>}</mo>
<mo>,</mo>
</mrow>
Wherein, p is induction machine number of pole-pairs, and Im symbols represent to take the imaginary part of plural number.
7. method as claimed in claim 1 or 2, it is characterised in that each voltage obtained in the step (5) using prediction
Vector V1,V2,V3,V4Corresponding capacitance voltageStator magnetic linkageAnd electromagnetic torqueCalculation cost letter
Number, it is specially：
It is g according to cost functioniEach voltage vector V is calculated respectively1,V2,V3,V4Corresponding cost function value,
<mrow>
<msub>
<mi>g</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<msubsup>
<mi>T</mi>
<mi>e</mi>
<mo>*</mo>
</msubsup>
<mo>-</mo>
<msub>
<mrow>
<mo>(</mo>
<msubsup>
<mover>
<mi>T</mi>
<mo>^</mo>
</mover>
<mi>e</mi>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msubsup>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msub>
</mrow>
<mo>|</mo>
</mrow>
<msub>
<mi>T</mi>
<msub>
<mi>e</mi>
<mrow>
<mi>n</mi>
<mi>o</mi>
<mi>m</mi>
</mrow>
</msub>
</msub>
</mfrac>
<mo>+</mo>
<msub>
<mi>&lambda;</mi>
<mn>0</mn>
</msub>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<mo>|</mo>
<mo>|</mo>
<msup>
<msub>
<mover>
<mi>&psi;</mi>
<mo>&RightArrow;</mo>
</mover>
<mi>s</mi>
</msub>
<mo>*</mo>
</msup>
<mo>|</mo>
<mo>|</mo>
<mo>-</mo>
<mo>|</mo>
<mo>|</mo>
<msub>
<mrow>
<mo>(</mo>
<msup>
<msub>
<mover>
<mover>
<mi>&psi;</mi>
<mo>^</mo>
</mover>
<mo>&RightArrow;</mo>
</mover>
<mi>s</mi>
</msub>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msub>
<mo>|</mo>
<mo>|</mo>
</mrow>
<mo>|</mo>
</mrow>
<mrow>
<mo>|</mo>
<mo>|</mo>
<msub>
<mover>
<mi>&psi;</mi>
<mo>&RightArrow;</mo>
</mover>
<mi>s</mi>
</msub>
<mo>|</mo>
<msub>
<mo>|</mo>
<mrow>
<mi>n</mi>
<mi>o</mi>
<mi>m</mi>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>&lambda;</mi>
<mrow>
<mi>d</mi>
<mi>c</mi>
</mrow>
</msub>
<mfrac>
<mrow>
<mo>|</mo>
<mrow>
<msub>
<mrow>
<mo>(</mo>
<msup>
<msub>
<mover>
<mi>U</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>C</mi>
<mn>1</mn>
</mrow>
</msub>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mrow>
<mo>(</mo>
<msup>
<msub>
<mover>
<mi>U</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>C</mi>
<mn>2</mn>
</mrow>
</msub>
<mrow>
<mi>k</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>)</mo>
</mrow>
<mi>i</mi>
</msub>
</mrow>
<mo>|</mo>
</mrow>
<msub>
<mi>V</mi>
<mrow>
<mi>d</mi>
<mi>c</mi>
</mrow>
</msub>
</mfrac>
<mo>,</mo>
<mi>i</mi>
<mo>&Element;</mo>
<mo>{</mo>
<mn>1</mn>
<mo>,</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
<mo>,</mo>
<mn>4</mn>
<mo>}</mo>
</mrow>
Wherein It is the nominal torque of induction machine and specified magnetic linkage respectively,For torque reference,It is exhausted for magnetic linkage
Value is given, | | symbol is to solve for absolute value, | | | | it is that phasor solves absolute value, is obtained according to motor nameplate parameter
, λ0, λdcBe adjustable parameter, by gather examination method obtain parameter, enable systematic entirety optimal, subscript i is indicated respectively by four
The parameter that individual voltage vector calculates.
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| WO2017197473A1 (en) * | 2016-05-16 | 2017-11-23 | FUNDAÇÃO CPQD - Centro de Pesquisa e Desenvolvimento em Telecomunicações | Predictive method for controlling a direct current bus and switching a two-level inverter for uses in electromechanical energy conversion |
| WO2018006961A1 (en) | 2016-07-07 | 2018-01-11 | Huawei Technologies Co., Ltd. | Four-switch three phase dc-dc resonant converter |
| CN106788001B (en) * | 2016-12-02 | 2019-04-26 | 天津大学 | The brshless DC motor current fluctuation suppressing method of four Switch Three-Phase Driven by inverter |
| CN107070350B (en) * | 2017-01-18 | 2020-05-22 | 西安交通大学 | Prediction control method for reducing EMI (electro-magnetic interference) of inverter induction motor |
| CN108512473B (en) * | 2018-03-12 | 2020-06-16 | 武汉科技大学 | Direct torque control method for three-phase four-switch permanent magnet synchronous motor speed regulation system |
| CN108448986B (en) * | 2018-03-28 | 2021-03-12 | 天津大学 | Permanent magnet motor current control method based on adjustable bandwidth type predictive control |
| CN108599652B (en) * | 2018-04-26 | 2019-11-08 | 浙江大学 | Three-phase four based on effective switch time switchs permanent magnet synchronous motor system model predictions control method |
| CN110112960B (en) * | 2019-04-09 | 2020-05-19 | 华中科技大学 | Control system and method under double-motor multi-power bridge arm fault |
| CN111654219B (en) * | 2020-06-17 | 2023-09-19 | 中南大学 | Fault-tolerant control method and device for asynchronous motor |
| CN111969914B (en) * | 2020-07-21 | 2021-09-07 | 北方工业大学 | Dead beat current prediction control method and equipment for permanent magnet synchronous motor and storage medium |
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