CN105897103A - Integral driving and control device of electro-magnetic six-phase motor - Google Patents
Integral driving and control device of electro-magnetic six-phase motor Download PDFInfo
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- CN105897103A CN105897103A CN201610365555.5A CN201610365555A CN105897103A CN 105897103 A CN105897103 A CN 105897103A CN 201610365555 A CN201610365555 A CN 201610365555A CN 105897103 A CN105897103 A CN 105897103A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/05—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using AC supply for both the rotor and the stator circuits, the frequency of supply to at least one circuit being variable
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Abstract
The invention relates to the field of motor driving, in particular to an integral driving and control device of an electro-magnetic six-phase motor. The integral driving and control device comprises a stator-side frequency converter main circuit, a rotor-side excitation device main circuit and an integral control system, wherein the stator-side frequency converter main circuit comprises two groups of outputs, the first group comprises three paths of outputs which are connected with terminals A1, B1 and C1 of a first stator Y-connection winding of the six-phase electro-magnetic motor, the second group comprises three paths of outputs which are connected with terminals A2, B2 and C2 of a second stator Y-connection winding, and the output of the rotor-side excitation device main circuit is connected with rotor excitation windings f1 and f2 of the six-phase electro-magnetic motor. A stator winding and a rotor excitation winding of the electro-magnetic six-phase motor adopt the integral driving device and unified control is carried out, thus, complete decoupling of motor end voltage control and stator current control can be achieved, and the control performance is improved.
Description
Technical field
The present invention relates to motor and drive field, the integration particularly to a kind of electrical excitation six-phase motor drives and controls dress
Put.
Background technology
At some to driving the application scenario that power requirement is big, reliability requirement is high, volume requirement is strict, polyphase machine obtains
To being widely applied.In polyphase machine, apply at most with the six-phase motor of double Y winding phase shifts 30 degree the most again.This six phases
Motor is divided into again magneto and electric excitation type according to the difference of rotor-exciting.Retrained by cost and power, electrical excitation six phase electricity
Machine is especially suitable for extra heavy driving occasion.
As it is shown in figure 1, the electrical excitation six-phase motor mentioned in this patent i.e. refers to the motor of this pair of Y winding phase shift 30 degree.
Motor comprises the independent Y of two sets and connects stator winding and 1 set rotor field coil.It is A1, B1 that first set Y connects stator winding terminals,
C1, neutral point is N1.It is A2 that second set Y connects stator winding terminals, and B2, C2, neutral point is N2.N1 Yu N2 electrical isolation.Two set Y
Connect between stator winding at the most spatially phase 30 degree.Rotor field coil terminal is f1 and f2.Large-scale with traditional
Three-phase synchronous electro-magnetic motor is similar to, and in addition to above-mentioned basic winding, rotor may also contain the damping of 1 to 2 set auxiliary
Winding, is not drawn in figure.
Under traditional type of drive, two set stator Y connect winding and use two to overlap independent three phase converter driving, and by frequency conversion
Device sends excitation instruction, independent excitation unit control Exciting Windings for Transverse Differential Protection work.The advantage of this mode is, two set three phase variable frequencies
Device can use the conventional three phase converter driving conventional three-phase motor, and excitation unit can also use the adjustment of field excitation of routine
Device, requires little, relatively easily to hardware modifications during the system integration.But, under this integration mode three set windings driving with
Control independently of one another, do not take into full account and between three set windings, there is interaction.It is true that two overlap stator winding and encourage
Magnetic winding has the electromagnetic coupled can not ignore between any two, and therefore, the control performance of the most integrated traditional mode is often
Not ideal enough, it is embodied in stator transducer drive and excitation con-trol influences each other, parameter tuning difficulty, dynamic response has coupling
Closing, easily there is instability etc. in system.
Summary of the invention
For overcoming the problems referred to above, the present invention provides the integration of a kind of electrical excitation six-phase motor and drives and control device.Should
Integration drives and controls the double Y winding of device unified driving stator and rotor field coil, by merging electrical excitation six phase electricity
The feedback information of the stator and rotor winding of machine, is uniformly controlled three set windings of electrical excitation six-phase motor, it is achieved overall control performance
Optimize.
For achieving the above object, technical scheme is as follows.
Six phase electro-magnetic motor the first stator Y connect A1, B1, C1 terminal of winding, the second stator Y meets A2, B2, C2 of winding
Terminal and rotor field coil f1, f2 terminal are integrated with the electrical excitation six-phase motor of invention to be driven and controls dress
Put connected.
The integration of electrical excitation six-phase motor drives and controls device, it is characterised in that: include the main electricity of stator side converter
Road, rotor-side excitation unit main circuit and integral control system；Described stator side main circuit of converter comprises two groups of outputs,
Wherein the first Zu Gong tri-tunnel output connects A1, B1, C1 terminal of winding and is connected with the first stator Y of six phase electro-magnetic motors, and second
The output of Zu Gong tri-tunnel connects A2, B2, C2 terminal of winding and is connected with the second stator Y；Described rotor-side excitation unit main circuit defeated
Go out rotor field coil f1, f2 terminal with six phase electro-magnetic motors to be connected.
Described integral control system includes stator side frequency converter control system and rotor-side excitation unit control system, institute
State the key feedback signal that stator side frequency converter control system gathers from stator side main circuit of converter to include: stator side frequency conversion
The electric current i of two groups of outputs of device main circuitA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；Described stator side frequency conversion
Device control system is sent to the key instruction signal of stator side main circuit of converter and includes: the control signal of first group of output
PWM1, and control signal PWM2 of second group of output.
The key feedback signal that described rotor-side excitation unit control system gathers from rotor-side excitation unit main circuit
Including: stator terminal voltage amplitude UsmWith rotor excitation current ifd′；Described rotor-side excitation unit control system is sent to turn
The key instruction signal of sub-side excitation unit main circuit includes: control signal VTs of rotor-side excitation unit main circuit.
Described stator side frequency converter control system is issued the key instruction signal of rotor-side excitation unit control system and is included:
Stator terminal voltage amplitude set-point Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor angular rate ωr；
The key feedback signal that described rotor-side excitation unit control system issues stator side frequency converter control system includes: rotor-exciting
Electric current ifd′。
Described stator side main circuit of converter includes rectification unit, dc bus unit and inversion unit；Described rectification
Unit is connected with electrical network, and described inversion unit forms two groups of outputs, and two with electrical excitation six-phase motor overlap stator winding phases respectively
Even；It is connected by dc bus unit between rectification unit with inversion unit.
Described rotor-side excitation unit main circuit includes Thyristor Three-phase bridge and dc bus inductance；Described IGCT three
The AC of phase bridge is connected with electrical network；The DC side of described Thyristor Three-phase bridge is just connected with dc bus inductance；Described direct current
The other end of bus inductance is output f1, and the DC side of described Thyristor Three-phase bridge is born as output f2；F1, f2 be final and electrical excitation
The rotor field coil of six-phase motor is connected.
Described rotor-side exciter control system includes exciting current set-point computing unit, turn on thyristors angle computing unit
And pulse forming unit.
Described exciting current set-point computing unit input quantity includes stator terminal voltage amplitude set-point Usm_refWith stator
Set end voltage amplitude UsmDeviation (Usm_ref-Usm)；The output of exciting current set-point computing unit include exciting current to
Definite value ifd_ref′；Exciting current set-point computing unit is usually proportional-plus-integral controller.
The input of described turn on thyristors angle computing unit is exciting current set-point ifd_ref' and exciting current feedback value
ifd' deviation (ifd_ref′-ifd'), its output is turn on thyristors angle set-point αref；Turn on thyristors angle computing unit leads to
It is often proportional-plus-integral controller.
The input of described pulse forming unit includes turn on thyristors angle set-point αref, it is output as the impulse train of IGCT
VTs；Impulse train VTs is for triggering the IGCT of rotor-side excitation unit main circuit；Exciting current feedback value ifd' also to make simultaneously
For the output of rotor-side exciter control system, drive for integration and use with the stator frequency converter control system controlling device.
The control system of described stator side converter includes that stator d shaft current gives computing unit, stator q week given value of current
Given point of computing unit, stator current 3s/2r converter unit, stator current comprehensive unit, current loop control unit, stator voltage
Solve unit and modulating wave signal generating unit；
The input that described stator d shaft current gives computing unit includes: stator current amplitude gives Ismref, rotor-exciting around
Group electric current ifd', output includes that stator d shaft current gives id_ref, and according to equation below according to input calculating output:
Wherein, rotor field coil electric current ifd' drive and the rotor-side excitation dress controlling device from this patent integration
Put control system output.It can be seen that under the overall-in-one control schema of this patent, stator current introduces in given calculating
Rotor field coil electric current ifd' information so that stator current set-point can directly calculate, and eliminates traditional stator electric current control
Set-point feedback regulation ring in system, improves control performance.
The input that described stator d shaft current gives computing unit includes: stator current amplitude gives Ismref, stator d axle electricity
The given i of streamd_ref；Stator d shaft current gives the output of computing unit and includes that stator q shaft current gives iq_ref, and according to following public
Formula calculates according to input and exports:
The input of described stator current 3s/2r converter unit includes: the electricity of two groups of outputs of stator side main circuit of converter
Stream iA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The output of stator current 3s/2r converter unit includes: stator
Double winding electric current i under rotor rotating coordinate system1d,i1qWith i2d,i2q, and according to equation below according to input calculating output:
The input of described stator current comprehensive unit includes: stator double winding electric current under rotor rotating coordinate system
i1d,i1qWith i2d,i2q；The output of stator current comprehensive unit includes: stator current direct-axis component idWith quadrature axis component iq, and press
According to equation below according to input calculating output:
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of described current loop control unit includes: stator d shaft current gives id_ref, stator q shaft current gives
iq_ref, stator current direct-axis component idWith quadrature axis component iq；The output of current loop control unit includes: stator d shaft voltage gives
ud_ref, stator q shaft voltage gives uq_ref.Being embodied as of current loop control unit can have various ways, including traditional arrow
Amount control mode, traditional Hysteresis control mode etc..
Described stator voltage gives the input of resolving cell and includes: stator d shaft voltage gives ud_ref, stator q shaft voltage is given
Determine uq_ref；Stator voltage gives the output of resolving cell and includes: stator double winding voltage under rotor rotating coordinate system to
Determine u1d_ref,u1q_refWith u2d_ref,u2q_ref, and calculate output: u according to equation below according to input1d_ref=u2d_ref=ud_ref,
u1q_ref=u2q_ref=uq_ref。
The input of described modulating wave signal generating unit includes: stator double winding voltage under rotor rotating coordinate system gives
u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr；The output of modulating wave signal generating unit includes: give stator
Control signal PWM1 of first group of output of side main circuit of converter, and control signal PWM2 of second group of output.First group
Control signal PWM1 of output is given u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrGenerate；The control of second group of output
Signal PWM2 processed is given u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrGenerate.
Stator current direct-axis component id, quadrature axis component iqAlso will as the output of the control system of stator side converter, for
Integration drives and uses with the rotor-side exciter control system controlling device.
It is an advantage of the current invention that:
1, stator winding and the rotor field coil of electrical excitation six-phase motor uses integrated driving device, and unifies
Control, it is possible to realize set end voltage and control and stator current control full decoupled, improve control performance.
2, electrical excitation six-phase motor bimorph transducer winding use integrated driving device, it is possible to take into full account stator winding it
Between intercouple, it is ensured that the stable state of double winding stator current and dynamic control accuracy, reach electric current and the power of dynamic process
Balance.
3, use integration to drive and control device, by merging feedback information, it is possible to realize stator winding VFC
Decoupling with Exciting Windings for Transverse Differential Protection control system, it is simple to parameter tuning, beneficially system stability.
Accompanying drawing explanation
Fig. 1 be this patent for the winding composition schematic diagram of electrical excitation six-phase motor.
Fig. 2 is that the electrical excitation six-phase motor integration of invention drives and controls device composition diagram.
Fig. 3 is the stator side main circuit of converter composition diagram that this patent integration drives and controls device.
Fig. 4 is that this patent integration drives and a kind of embodiment scheme of the stator side main circuit of converter controlling device.
Fig. 5 is that this patent integration drives and a kind of embodiment scheme of the stator side main circuit of converter controlling device.
Fig. 6 is the rotor-side excitation unit main circuit embodiment composition diagram that this patent integration drives and controls device.
Fig. 7 is the rotor-side exciter control system embodiment composition that this patent integration drives and controls device.
Fig. 8 is the control system embodiment composition that this patent integration drives with the stator side converter controlling device.
In figure, label implication is as follows:
In accompanying drawing: six phase electro-magnetic motors 1, electrical excitation six-phase motor integration drives and controls device 2, stator side frequency conversion
Device main circuit 21, rotor-side excitation unit main circuit 22, integral control system 23, stator side frequency converter control system 231, turn
Sub-side excitation unit control system 232, rectification unit 212, dc bus unit 213, inversion unit 214, rectification unit 2124,
Dc bus unit 2134, inversion unit 2144, rectification unit 2125, dc bus unit 2135, inversion unit 2145, rotor
Side excitation unit main circuit is by Thyristor Three-phase bridge 223, dc bus inductance 222, electrical network 221, the actuator of side excitation unit
By exciting current set-point computing unit 31, turn on thyristors angle computing unit 32, pulse forming unit 33 forms, and stator side becomes
Frequently the control system of device is given computing unit 41, stator q week given value of current computing unit 42, stator current by stator d shaft current
3s/2r converter unit 43, stator current comprehensive unit 44, current loop control unit 45, stator voltage gives resolving cell 46, adjusts
Ripple signal generating unit 47 processed.
Detailed description of the invention
Embodiment 1
Six phase electro-magnetic motor the first stator Y connect A1, B1, C1 terminal of winding, the second stator Y meets A2, B2, C2 of winding
Terminal and rotor field coil f1, f2 terminal are integrated with the electrical excitation six-phase motor of invention to be driven and controls dress
Put 2 to be connected.
The integration of electrical excitation six-phase motor drives and controls device, it is characterised in that: include the main electricity of stator side converter
Road 21, rotor-side excitation unit main circuit 22 and integral control system 23；Described stator side main circuit of converter 21 comprises
Two groups of outputs, wherein the first Zu Gong tri-tunnel exports the first stator Y with six phase electro-magnetic motors 1 and connects A1, B1, C1 terminal of winding
Being connected, the second Zu Gong tri-tunnel output connects A2, B2, C2 terminal of winding and is connected with the second stator Y；Described rotor-side excitation unit master
The output of circuit 22 is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors 1.
The stator winding of electrical excitation six-phase motor and rotor field coil use integrated driving device, and carry out unifying control
System, it is possible to realize set end voltage and control and stator current control full decoupled, improve control performance；Electrical excitation six-phase motor
Bimorph transducer winding uses integrated driving device, it is possible to take into full account intercoupling between stator winding, it is ensured that double winding is fixed
The stable state of electron current and dynamic control accuracy, reach electric current and the power-balance of dynamic process；Use integration to drive and control
Device, by merging feedback information, it is possible to realize the decoupling of stator winding VFC and Exciting Windings for Transverse Differential Protection control system, it is simple to ginseng
Number is adjusted, beneficially system stability.
Embodiment 2
Six phase electro-magnetic motor the first stator Y connect A1, B1, C1 terminal of winding, the second stator Y meets A2, B2, C2 of winding
Terminal and rotor field coil f1, f2 terminal are integrated with the electrical excitation six-phase motor of invention to be driven and controls dress
Put 2 to be connected.
The integration of electrical excitation six-phase motor drives and controls device, it is characterised in that: include the main electricity of stator side converter
Road 21, rotor-side excitation unit main circuit 22 and integral control system 23；Described stator side main circuit of converter 21 comprises
Two groups of outputs, wherein the first Zu Gong tri-tunnel exports the first stator Y with six phase electro-magnetic motors 1 and connects A1, B1, C1 terminal of winding
Being connected, the second Zu Gong tri-tunnel output connects A2, B2, C2 terminal of winding and is connected with the second stator Y；Described rotor-side excitation unit master
The output of circuit 22 is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors 1.
Described integral control system 23 includes that stator side frequency converter control system 231 and rotor-side excitation unit control system
System 232, the key feedback signal packet that described stator side frequency converter control system 231 gathers from stator side main circuit of converter 21
Include: the electric current i of two groups of outputs of stator side main circuit of converter 21A1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；
Described stator side frequency converter control system 231 is sent to the key instruction signal of stator side main circuit of converter 21 and includes: first
Control signal PWM1 of group output, and control signal PWM2 of second group of output.
The key feedback that described rotor-side excitation unit control system 232 gathers from rotor-side excitation unit main circuit 22
Signal includes: stator terminal voltage amplitude UsmWith rotor excitation current ifd′；Described rotor-side excitation unit control system 232
The key instruction signal giving rotor-side excitation unit main circuit 22 includes: the control signal of rotor-side excitation unit main circuit 22
VTs。
Described stator side frequency converter control system 231 issues the key instruction letter of rotor-side excitation unit control system 232
Number include: stator terminal voltage amplitude set-point Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor electric angle
Speed omegar；Described rotor-side excitation unit control system 232 issues the key feedback letter of stator side frequency converter control system 231
Number include: rotor excitation current ifd′。
Described stator side main circuit of converter 21 includes rectification unit 212, dc bus unit 213 and inversion unit
214；Described rectification unit 212 is connected with electrical network 211, and described inversion unit 214 forms two groups of outputs, respectively with electrical excitation six phase
Two set stator winding of motor 1 are connected；It is connected by dc bus unit 213 between rectification unit 212 with inversion unit 214.
Described rotor-side excitation unit main circuit 22 includes Thyristor Three-phase bridge 223 and dc bus inductance 222；Described
The AC of Thyristor Three-phase bridge 223 is connected with electrical network 221；The DC side of described Thyristor Three-phase bridge 223 just with dc bus
Inductance 222 is connected；The other end of described dc bus inductance 222 is born for output f1, the DC side of described Thyristor Three-phase bridge 223
For output f2；F1, f2 finally rotor field coil with electrical excitation six-phase motor is connected.
Described 232 rotor-side exciter control systems include exciting current set-point computing unit 31, turn on thyristors angle meter
Calculate unit 32 and pulse forming unit 33.
Described exciting current set-point computing unit 31 input quantity includes stator terminal voltage amplitude set-point Usm_refWith fixed
Sub-unit terminal voltage magnitude UsmDeviation (Usm_ref-Usm)；The output of exciting current set-point computing unit 31 includes excitation electricity
Stream set-point ifd_ref′；Exciting current set-point computing unit 31 usually proportional-plus-integral controller.
The input of described turn on thyristors angle computing unit 32 is exciting current set-point ifd_ref' and exciting current feedback
Value ifd' deviation (ifd_ref′-ifd'), its output is turn on thyristors angle set-point αref；Turn on thyristors angle computing unit
32 are usually proportional-plus-integral controller.
The input of described pulse forming unit 33 includes turn on thyristors angle set-point αref, it is output as the impulse train of IGCT
VTs；Impulse train VTs is for triggering the IGCT of rotor-side excitation unit main circuit；Exciting current feedback value ifd' also to make simultaneously
For the output of rotor-side exciter control system, drive for integration and use with the stator frequency converter control system controlling device.
The control system 231 of described stator side converter includes that stator d shaft current gives computing unit 41, stator q week electricity
The given computing unit 42 of stream, stator current 3s/2r converter unit 43, stator current comprehensive unit 44, current loop control unit 45,
Stator voltage gives resolving cell 46 and modulating wave signal generating unit 47；
The input that described stator d shaft current gives computing unit 41 includes: stator current amplitude gives Ismref, rotor-exciting
Winding current ifd', output includes that stator d shaft current gives id_ref, and according to equation below according to input calculating output:
Wherein, rotor field coil electric current ifd' drive and the rotor-side excitation dress controlling device from this patent integration
Put control system output.It can be seen that under the overall-in-one control schema of this patent, stator current introduces in given calculating
Rotor field coil electric current ifd' information so that stator current set-point can directly calculate, and eliminates traditional stator electric current control
Set-point feedback regulation ring in system, improves control performance.
The input that described stator d shaft current gives computing unit 41 includes: stator current amplitude gives Ismref, stator d axle
Given value of current id_ref；Stator d shaft current gives the output of computing unit 41 and includes that stator q shaft current gives iq_ref, and according to such as
Lower formula calculates according to input and exports:
The input of described stator current 3s/2r converter unit 43 includes: two groups of outputs of stator side main circuit of converter 21
Electric current iA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The output bag of stator current 3s/2r converter unit 43
Include: stator double winding electric current i under rotor rotating coordinate system1d,i1qWith i2d,i2q, and
According to equation below according to input calculating output:
The input of described stator current comprehensive unit 44 includes: stator double winding electric current under rotor rotating coordinate system
i1d,i1qWith i2d,i2q；The output of stator current comprehensive unit 44 includes: stator current direct-axis component idWith quadrature axis component iq, and
According to equation below according to input calculating output:
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of described current loop control unit 45 includes: stator d shaft current gives id_ref, stator q shaft current gives
iq_ref, stator current direct-axis component idWith quadrature axis component iq；The output of current loop control unit 45 includes: stator d shaft voltage to
Determine ud_ref, stator q shaft voltage gives uq_ref.Being embodied as of current loop control unit 45 can have various ways, including tradition
Vector control mode, traditional Hysteresis control mode etc..
Described stator voltage gives the input of resolving cell 46 and includes: stator d shaft voltage gives ud_ref, stator q shaft voltage
Given uq_ref；Stator voltage gives the output of resolving cell 46 and includes: stator double winding electricity under rotor rotating coordinate system
The given u of pressure1d_ref,u1q_refWith u2d_ref,u2q_ref, and calculate output: u according to equation below according to input1d_ref=u2d_ref=
ud_ref,u1q_ref=u2q_ref=uq_ref。
The input of described modulating wave signal generating unit 47 includes: stator double winding voltage under rotor rotating coordinate system to
Determine u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr；The output of modulating wave signal generating unit 47 includes: give
Control signal PWM1 of first group of output of stator side main circuit of converter 21, and control signal PWM2 of second group of output.
Control signal PWM1 of first group of output is given u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrGenerate；Second group defeated
Control signal PWM2 gone out is given u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrGenerate.
Stator current direct-axis component id, quadrature axis component iqAlso will as the output of the control system of stator side converter, for
Integration drives and uses with the rotor-side exciter control system controlling device.
The stator winding of electrical excitation six-phase motor and rotor field coil use integrated driving device, and carry out unifying control
System, it is possible to realize set end voltage and control and stator current control full decoupled, improve control performance.Electrical excitation six-phase motor
Bimorph transducer winding uses integrated driving device, it is possible to take into full account intercoupling between stator winding, it is ensured that double winding is fixed
The stable state of electron current and dynamic control accuracy, reach electric current and the power-balance of dynamic process.Use integration to drive and control
Device, by merging feedback information, it is possible to realize the decoupling of stator winding VFC and Exciting Windings for Transverse Differential Protection control system, it is simple to ginseng
Number is adjusted, beneficially system stability.
Embodiment 3
As in figure 2 it is shown, the first stator Y of six phase electro-magnetic motors 1 connects A1, B1, C1 terminal of winding, the second stator Y connects
The electrical excitation six-phase motor one of A2, B2, C2 terminal of winding and rotor field coil f1, f2 terminal and invention
Change to drive and be connected with control device 2.The electrical excitation six-phase motor integration of invention drives and controls device 2 by stator side
Main circuit of converter 21, rotor-side excitation unit main circuit 22 and integral control system 23 form.Stator side converter master
Circuit 21 comprises two groups of outputs, and wherein the first Zu Gong tri-tunnel output connects winding with the first stator Y of six phase electro-magnetic motors 1
A1, B1, C1 terminal is connected, and the second Zu Gong tri-tunnel output connects A2, B2, C2 terminal of winding and is connected with the second stator Y.Rotor-side is encouraged
The output of magnetic device main circuit 22 is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors 1.
Integral control system 23 is by stator side frequency converter control system 231 and rotor-side excitation unit control system 232
Composition.The key feedback signal that stator side frequency converter control system 231 gathers from stator side main circuit of converter 21 include but
It is not limited to: the electric current i of two groups of outputs of stator side main circuit of converter 21A1,iB1,iC1With iA2,iB2,iC2, rotor electric angle
Degree θr.Stator side frequency converter control system 231 be sent to the key instruction signal of stator side main circuit of converter 21 include but not
It is limited to: control signal PWM1 of first group of output, and control signal PWM2 of second group of output.In the particular embodiment,
Open in order to trigger the IGBT in stator side main circuit of converter 21 if PWM1 and PWM2 respectively comprises main line pulse-width signal
Close.
The key feedback signal that rotor-side excitation unit control system 232 gathers from rotor-side excitation unit main circuit 22
Include but not limited to: stator terminal voltage amplitude UsmWith rotor excitation current ifd′.Rotor-side excitation unit control system 232
The key instruction signal giving rotor-side excitation unit main circuit 22 includes but not limited to: rotor-side excitation unit main circuit 22
Control signal VTs.In the particular embodiment, if VTs generally comprises main line and triggers pulse in order to trigger rotor-side excitation unit
Thyristor switch in main circuit 22.
Stator side frequency converter control system 231 issues the key instruction signal packet of rotor-side excitation unit control system 232
Include but be not limited to: stator terminal voltage amplitude set-point Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor
Angular rate ωr.Rotor-side excitation unit control system 232 issues the key feedback letter of stator side frequency converter control system 231
Number include but not limited to: rotor excitation current ifd′.It can be seen that in integral control system, stator side Frequency Converter Control system
The contact of signal has been had so that more feedback information enters the other side and controls and is between system and rotor-side excitation unit control system
Uniting, this will make the two coordination be more prone to, and control performance is more excellent.
As it is shown on figure 3, this patent integration drives and controls the stator side main circuit of converter of device by rectification unit
212, dc bus unit 213 and inversion unit 214 form.Rectification unit 212 is connected with electrical network 211, inversion unit 214 shape
Become two groups of outputs, be connected with two set stator winding of electrical excitation six-phase motor respectively.Pass through between rectification unit and inversion unit
Dc bus unit 213 is connected.In a particular embodiment, rectification unit 212 can be one or more diode rectifier bridge, also
Can be one or more IGBT rectifier bridges.Dc bus unit 213 can be one or more bus capacitor.Inversion unit
214 can be six brachium pontis IGBT inverter bridge, it is also possible to be the IGBT inverter bridge of cascaded H-bridges form.
As shown in Figure 4, this patent integration drives and an embodiment of the stator side main circuit of converter controlling device,
It is commonly available to exchange the electrical network of below 6kV electric pressure.This embodiment by rectification unit 2124, dc bus unit 2134 with
And inversion unit 2144 forms, they correspond respectively to aforementioned rectification unit 212, dc bus unit 213 and inversion unit
The embodiment of 214.Rectification unit 2124 can be that three-phase IGBT rectifier bridge can also be for three-phase diode rectifier bridge.Dc bus
Unit 2134 is electric capacity.Inversion unit 2144 is six brachium pontis IGBT inverter bridge.Rectification unit 2124 is connected with electrical network 211, inversion
Unit 2144 forms A1, B1, C1 and A2, B2, C2 two groups output, and two with electrical excitation six-phase motor overlap stator winding phases respectively
Even.The DC side of rectification unit 2124, inversion unit 2144 DC side in parallel with dc bus unit 2134.
As it is shown in figure 5, this patent integration drives another enforcement with the stator side main circuit of converter controlling device
Example, is commonly available to exchange 6kV and the electrical network of above.This embodiment is by rectification unit 2125, dc bus unit
2135 and inversion unit 2145 form, they correspond respectively to aforementioned rectification unit 212, dc bus unit 213 and inverse
Become the embodiment of unit 214.Rectification unit 2125 is by multi-winding isolation transformer and some independent diode rectification H bridge groups
Become.Dc bus unit 2135 is made up of the dc-link capacitance of diode rectification H bridge.Inversion unit 2145 is by two group of 3 phase level
Connection H bridge composition.The former limit of the Multiple coil next door transformator of rectification unit 2125 is connected with electrical network 211, and inversion unit 2145 is formed
Two groups of outputs A1, B1, C1 and A2, B2, C2, be connected with two set stator winding of electrical excitation six-phase motor respectively.
As shown in Figure 6, this patent integration drives and an enforcement of the rotor-side excitation unit main circuit controlling device
Example.Rotor-side excitation unit main circuit is made up of Thyristor Three-phase bridge 223 and dc bus inductance 222.Thyristor Three-phase bridge
The AC of 223 is connected with electrical network 221.The DC side of Thyristor Three-phase bridge 223 is just connected with dc bus inductance 222.Direct current
The other end of bus inductance 222 is output f1, and the DC side of Thyristor Three-phase bridge 223 is born as output f2.F1, f2 finally encourage with electricity
The rotor field coil of magnetic six-phase motor is connected.
As it is shown in fig. 7, this patent integration drives and the rotor-side exciter control system embodiment composition controlling device.Side
The actuator of excitation unit is by exciting current set-point computing unit 31, turn on thyristors angle computing unit 32 and pulse shaping
Unit 33 forms.Exciting current set-point computing unit 31 input quantity includes but not limited to stator terminal voltage amplitude set-point
Usm_refWith stator terminal voltage amplitude UsmDeviation (Usm_ref-Usm).The output bag of exciting current set-point computing unit 31
Include but be not limited to exciting current set-point ifd_ref′.Exciting current set-point computing unit 31 usually proportional-plus-integral controller.
The input of turn on thyristors angle computing unit 32 is exciting current set-point ifd_ref' and exciting current feedback value ifd' deviation
(ifd_ref′-ifd'), its output is turn on thyristors angle set-point αref.Turn on thyristors angle computing unit 32 usually than
Example-integral controller.Pulse forming unit 33 input includes but not limited to turn on thyristors angle set-point αref, it is output as brilliant lock
The impulse train VTs of pipe.Impulse train VTs is for triggering the IGCT of rotor-side excitation unit main circuit.Exciting current feedback value ifd′
The most also to drive and the stator Frequency Converter Control controlling device for integration as the output of rotor-side exciter control system
System uses.
As shown in Figure 8, this patent integration drives and the control system embodiment group of the stator side converter controlling device
Become.The control system of stator side converter is given computing unit 41, stator q week given value of current computing unit by stator d shaft current
42, stator current 3s/2r converter unit 43, stator current comprehensive unit 44, current loop control unit 45, given point of stator voltage
Solve unit 46 and modulating wave signal generating unit 47 forms.
Stator d shaft current gives the input of computing unit 41 and includes but not limited to: stator current amplitude gives Ismref, rotor
Exciting Windings for Transverse Differential Protection electric current ifd', output includes but not limited to that stator d shaft current gives id_ref, and according to equation below according to input meter
Calculate and export:
Wherein, rotor field coil electric current ifd' drive and the rotor-side excitation dress controlling device from this patent integration
Put control system output.It can be seen that under the overall-in-one control schema of this patent, stator current introduces in given calculating
Rotor field coil electric current ifd' information so that stator current set-point can directly calculate, and eliminates traditional stator electric current control
Set-point feedback regulation ring in system, improves control performance.
Stator d shaft current gives the input of computing unit 41 and includes but not limited to: stator current amplitude gives Ismref, stator
D shaft current gives id_ref.Stator d shaft current gives the output of computing unit 41 and includes but not limited to that stator q shaft current gives
iq_ref, and according to equation below according to input calculating output:
The input of stator current 3s/2r converter unit 43 includes but not limited to: two groups of stator side main circuit of converter 21
The electric current i of outputA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr.The output of stator current 3s/2r converter unit 43
Include but not limited to: stator double winding electric current i under rotor rotating coordinate system1d,i1qWith i2d,i2q, and according to equation below
Calculate according to input and export:
The input of stator current comprehensive unit 44 includes but not limited to: stator double winding is under rotor rotating coordinate system
Electric current i1d,i1qWith i2d,i2q.The output of stator current comprehensive unit 44 includes but not limited to: stator current direct-axis component idWith friendship
Axle component iq, and according to equation below according to input calculating output:
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of current loop control unit 45 includes but not limited to: stator d shaft current gives id_ref, stator q shaft current is given
Determine iq_ref, stator current direct-axis component idWith quadrature axis component iq.The output of current loop control unit 45 includes but not limited to: stator
D shaft voltage gives ud_ref, stator q shaft voltage gives uq_ref.Being embodied as of current loop control unit 45 can have multiple side
Formula, including traditional vector control mode, traditional Hysteresis control mode etc..
Stator voltage gives the input of resolving cell 46 and includes but not limited to: stator d shaft voltage gives ud_ref, stator q axle
Voltage gives uq_ref.Stator voltage gives the output of resolving cell 46 and includes but not limited to: stator double winding rotates at rotor
Voltage under coordinate system gives u1d_ref,u1q_refWith u2d_ref,u2q_ref, and according to equation below according to input calculating output:
u1d_ref=u2d_ref=ud_ref,u1q_ref=u2q_ref=uq_ref。
The input of modulating wave signal generating unit 47 includes but not limited to: stator double winding electricity under rotor rotating coordinate system
The given u of pressure1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr.The output of modulating wave signal generating unit 47 include but
It is not limited to: give control signal PWM1 of first group of output of stator side main circuit of converter 21, and the control of second group of output
Signal PWM2 processed.Control signal PWM1 of first group of output is given u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrRaw
Become；Control signal PWM2 of second group of output is given u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrGenerate.Concrete tune
The embodiment that generates of ripple processed depends on the embodiment of stator side main circuit of converter 21, can be traditional Three-phase SPWM side
Formula, SVPWM mode, it is also possible to be traditional multiple phase-shifting carrier wave mode etc..
Stator current direct-axis component id, quadrature axis component iqAlso will as the output of the control system of stator side converter, for
Integration drives and uses with the rotor-side exciter control system controlling device.
Claims (10)
1. the integration of electrical excitation six-phase motor drives and controls device, it is characterised in that: include stator side main circuit of converter
(21), rotor-side excitation unit main circuit (22) and integral control system (23)；Described stator side main circuit of converter
(21) comprising two groups of outputs, wherein the first Zu Gong tri-tunnel output connects winding with the first stator Y of six phase electro-magnetic motors (1)
A1, B1, C1 terminal is connected, and the second Zu Gong tri-tunnel output connects A2, B2, C2 terminal of winding and is connected with the second stator Y；Described rotor
The output of side excitation unit main circuit (22) is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors (1).
The integration of electrical excitation six-phase motor the most according to claim 1 drives and controls device, it is characterised in that: described
Integral control system (23) includes stator side frequency converter control system (231) and rotor-side excitation unit control system (232),
The key feedback signal packet that described stator side frequency converter control system (231) gathers from stator side main circuit of converter (21)
Include: the electric current i of two groups of outputs of stator side main circuit of converter (21)A1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor
θr；Described stator side frequency converter control system (231) is sent to the key instruction signal packet of stator side main circuit of converter (21)
Include: control signal PWM1 of first group of output, and control signal PWM2 of second group of output.
The integration of electrical excitation six-phase motor the most according to claim 2 drives and controls device, it is characterised in that: described
The key feedback signal packet that rotor-side excitation unit control system (232) gathers from rotor-side excitation unit main circuit (22)
Include: stator terminal voltage amplitude UsmWith rotor excitation current ifd′；Described rotor-side excitation unit control system (232) is sent to
The key instruction signal of rotor-side excitation unit main circuit (22) including: the control signal of rotor-side excitation unit main circuit (22)
VTs。
The integration of electrical excitation six-phase motor the most according to claim 2 drives and controls device, it is characterised in that: described
Stator side frequency converter control system (231) is issued the key instruction signal of rotor-side excitation unit control system (232) and being included: fixed
Sub-unit terminal voltage magnitude set-point Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor angular rate ωr；Institute
State rotor-side excitation unit control system (232) to issue the key feedback signal of stator side frequency converter control system (231) and including:
Rotor excitation current ifd′。
The integration of electrical excitation six-phase motor the most according to claim 1 drives and controls device, it is characterised in that: described
Stator side main circuit of converter (21) includes rectification unit (212), dc bus unit (213) and inversion unit (214)；Institute
Stating rectification unit (212) to be connected with electrical network (211), described inversion unit (214) forms two groups of outputs, respectively with electrical excitation six
Two set stator winding of phase motor (1) are connected；By dc bus unit between rectification unit (212) and inversion unit (214)
(213) it is connected.
The integration of electrical excitation six-phase motor the most according to claim 1 drives and controls device, it is characterised in that: described
Rotor-side excitation unit main circuit (22) includes Thyristor Three-phase bridge (223) and dc bus inductance (222)；Described IGCT
The AC of three-phase bridge (223) is connected with electrical network (221)；The DC side of described Thyristor Three-phase bridge (223) just with dc bus
Inductance (222) is connected；The other end of described dc bus inductance (222) is output f1, described Thyristor Three-phase bridge (223) straight
Stream side is born as output f2；F1, f2 finally rotor field coil with electrical excitation six-phase motor is connected.
7. driving according to the integration of the electrical excitation six-phase motor described in claim 2,3 or 4 and control device, its feature exists
In: described (232) rotor-side exciter control system includes that exciting current set-point computing unit (31), turn on thyristors angle calculate
Unit (32) and pulse forming unit (33)；
Described exciting current set-point computing unit (31) input quantity includes stator terminal voltage amplitude set-point Usm_refWith stator
Set end voltage amplitude UsmDeviation (Usm_ref-Usm)；The output of exciting current set-point computing unit (31) includes excitation electricity
Stream set-point ifd_ref′；Exciting current set-point computing unit (31) is proportional-plus-integral controller；
The input of described turn on thyristors angle computing unit (32) is exciting current set-point ifd_ref' and exciting current feedback value
ifd' deviation (ifd_ref′-ifd'), its output is turn on thyristors angle set-point αref；Turn on thyristors angle computing unit
(32) it is proportional-plus-integral controller；
Described pulse forming unit (33) input includes turn on thyristors angle set-point αref, it is output as the impulse train of IGCT
VTs；Impulse train VTs is for triggering the IGCT of rotor-side excitation unit main circuit；Exciting current feedback value ifd' also to make simultaneously
For the output of rotor-side exciter control system, drive for integration and use with the stator frequency converter control system controlling device.
8. drive according to the integration of the electrical excitation six-phase motor described in claim 2 or 4 and control device, it is characterised in that:
The control system (231) of described stator side converter include stator d shaft current give computing unit (41), stator q week electric current to
Determine computing unit (42), stator current 3s/2r converter unit (43), stator current comprehensive unit (44), current loop control unit
(45), stator voltage gives resolving cell (46) and modulating wave signal generating unit (47)；
The input that described stator d shaft current gives computing unit (41) includes: stator current amplitude gives Ismref, rotor-exciting around
Group electric current ifd', output includes that stator d shaft current gives id_ref, and according to equation below according to input calculating output:
Wherein, rotor field coil electric current ifd' drive and the rotor-side excitation unit control controlling device from this patent integration
System processed exports；
The input that described stator d shaft current gives computing unit (41) includes: stator current amplitude gives Ismref, stator d axle electricity
The given i of streamd_ref；Stator d shaft current gives the output of computing unit (41) and includes that stator q shaft current gives iq_ref, and according to such as
Lower formula calculates according to input and exports:
。
The integration of electrical excitation six-phase motor the most according to claim 8 drives and controls device, it is characterised in that: described
The input of stator current 3s/2r converter unit (43) including: the electric current i of two groups of outputs of stator side main circuit of converter (21)A1,
iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The output of stator current 3s/2r converter unit (43) including: stator two
Set winding electric current i under rotor rotating coordinate system1d,i1qWith i2d,i2q, and according to equation below according to input calculating output:
The input of described stator current comprehensive unit (44) including: stator double winding electric current under rotor rotating coordinate system
i1d,i1qWith i2d,i2q；The output of stator current comprehensive unit (44) including: stator current direct-axis component idWith quadrature axis component iq,
And according to equation below according to input calculating output:
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of described current loop control unit (45) including: stator d shaft current gives id_ref, stator q shaft current gives iq_ref,
Stator current direct-axis component idWith quadrature axis component iq；The output of current loop control unit (45) including: stator d shaft voltage gives
ud_ref, stator q shaft voltage gives uq_ref。
The integration of electrical excitation six-phase motor the most according to claim 8 drives and controls device, it is characterised in that: institute
State stator voltage to give the input of resolving cell (46) and including: stator d shaft voltage gives ud_ref, stator q shaft voltage gives
uq_ref；Stator voltage gives the output of resolving cell (46) and including: stator double winding voltage under rotor rotating coordinate system
Given u1d_ref,u1q_refWith u2d_ref,u2q_ref, and calculate output: u according to equation below according to input1d_ref=u2d_ref=
ud_ref,u1q_ref=u2q_ref=uq_ref；
The input of described modulating wave signal generating unit (47) including: stator double winding voltage under rotor rotating coordinate system gives
u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr；The output of modulating wave signal generating unit (47) including: gives
Control signal PWM1 of first group of output of stator side main circuit of converter (21), and the control signal of second group of output
PWM2；Control signal PWM1 of first group of output is given u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrGenerate；Second
Control signal PWM2 of group output is given u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrGenerate；
Stator current direct-axis component id, quadrature axis component iqAs the output of the control system of stator side converter, drive for integration
Rotor-side exciter control system that is dynamic and that control device uses.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107834936A (en) * | 2017-11-06 | 2018-03-23 | 中国东方电气集团有限公司 | A kind of six phase electric excitation synchronous motor starting methods and device |
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| CN205792331U (en) * | 2016-05-27 | 2016-12-07 | 中国东方电气集团有限公司 | The integration of electrical excitation six-phase motor drives and controls device |
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| CN102208895A (en) * | 2011-06-14 | 2011-10-05 | 中国矿业大学 | Method and device for detecting initial position angle of electro-excitation synchronous machine rotor |
| CN103441726A (en) * | 2013-08-25 | 2013-12-11 | 浙江大学 | Double three-phase permanent magnet motor vector control method based on proportional resonance regulator |
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| CN107834936A (en) * | 2017-11-06 | 2018-03-23 | 中国东方电气集团有限公司 | A kind of six phase electric excitation synchronous motor starting methods and device |
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