CN106411214B - A kind of multi-phase permanent motor active phase-deficient operation control method - Google Patents
A kind of multi-phase permanent motor active phase-deficient operation control method Download PDFInfo
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- CN106411214B CN106411214B CN201610896411.2A CN201610896411A CN106411214B CN 106411214 B CN106411214 B CN 106411214B CN 201610896411 A CN201610896411 A CN 201610896411A CN 106411214 B CN106411214 B CN 106411214B
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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
- H02P27/06—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 dc to ac converters or inverters
- H02P27/08—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 dc to ac converters or inverters with pulse width modulation
Abstract
The present invention relates to a kind of multi-phase permanent motor active phase-deficient operation control methods, it is characterized by: utilizing the redundancy properties and harmonic current injection principle of the more three-phase groups of multiphase system, when system at light load, by way of unit active phase-deficient operation, it is required according to different capacity, different winding systems are run, Lai Tigao running efficiency of system meets the requirement that such as megawatt level wind power generation, watercraft electric propulsion system large capacity application field run system high efficiency rate；The design of multi-phase permanent motor improves control freedom degree while retaining the specific type of electric machine high power density.The device includes DC voltage source, capacitor, three-phase group voltage source inverter, relay, multi-phase permanent motor, encoder, vector control strategy, Hysteresis Current comparator, active phase shortage mechanism.The three-phase group voltage source inverter midpoint and multi-phase permanent motor winding neutral point electrical isolation.
Description
Technical field
The invention belongs to motor-drive techniques, and in particular to a kind of multi-phase permanent motor active phase-deficient operation control method,
It can be applied to more three-phase electric drive systems such as wind-power electricity generation, marine electric power propulsion device application.
Background technique
Since 21 century, seriousness the problems such as global energy shortage, environmental pollution and global warming causes generation
Various countries, boundary have arrived very urgent stage for energy-saving consideration to the extensive concern of power-saving technology.Power industry
It is both production capacity rich and influential family and big power consumer, energy-saving of motor system consumption reduction has become the topic that Present Global is paid close attention to jointly.In addition to big
Power is accelerated to promote outside high efficiency electric, has fairly obvious energy-saving effect using power frequency speed control system of high.Realize big function
The main path of rate speed regulation has more level electric systems and two kinds of multi-phase motor system, the former is in past more than ten years in height
Conjunction of having a meeting, an audience, etc. well under one's control is used widely, and the latter has more advantage in low-voltage, high-current speed regulation occasion.
Summary of the invention
Technical problem: higher, electric system is lost in power inverter when the present invention is gently loaded for more three-phase electric drive systems
The problems such as inefficient, proposes a kind of multi-phase permanent motor active phase-deficient operation control system, is infused using novel harmonic current
The problems such as entering formula active phase-deficient operation control method, solving active phase shortage electric current line solver and unperturbed operation, can effectively improve
Running efficiency of system, the contents of the present invention are to surround a kind of active phase shortage drive system of multi-phase permanent motor and be designed
's.
Technical solution: in order to solve the above technical problems, angle of the present invention from running efficiency of system, provides motor difference master
In dynamic phase-deficient operation scheme, the power consumption of corresponding multi-phase permanent motor and current transformer.And on this basis, it is comprehensive that system can be improved in proposition
Close the active phase-deficient operation method of operational efficiency；Switch torque from transient state simultaneously, gives the switching side of fault-tolerant switch type
Formula.It is specific as follows:
A kind of multi-phase permanent motor active phase-deficient operation control method, the magneto number of phases M=N × 3, N are positive whole
Number；The control method includes the following two kinds situation:
The first, when load factor is greater than (N-1)/N, the three-phase windings method of operation is covered using N, it may be assumed that the normal work of magneto
Make；The constraint condition that phase current must be met and be zero, harmonic wave subspace current component areIn given fundamental wave d-axis
Electric currentUnder control, ignore the harmonic components in unloaded back-emf, adjusts given fundamental wave quadrature axis currentI.e. adjustable electromagnetism
Torque；
The second, when load factor is less than 1/N, using the three-phase windings method of operation, load factor is in (λ -1)/N~λ/N (1 < λ
< N) when, the three-phase windings method of operation is covered using λ, it may be assumed that magneto active phase shortage；It is required that output torque and all magnetoes
It is identical when working, then maintain fundamental wave quadrature axis currentIt is constant, at the same phase current must be met and be zero constraint condition, in conjunction with fixed
Sub- copper loss minimum boundary condition, after carrying out lagrange's method of multipliers solution, each harmonic wave subspace current component is indicated are as follows:
Wherein,
The analytic expression of active phase shortage mechanism are as follows:
Wherein,
iq1Refer to fundamental wave torque current component, is obtained by speed closed loop pi regulator, idh、iqhRefer to active phase-deficient operation when
The harmonic current components that line generates, h refer to overtone order, h=3,5 ..., Kh1To Kh4It is expressed as h subharmonic isomorphism coefficient, A refers to
Active phase shortage matrix, related with active phase shortage number k, every phase matrix A line number that actively lacks adds 1, B to refer to that fundamental wave submatrix, C refer to harmonic wave
Submatrix, θ refer to rotor electrical angle.The algorithm only combines correlation with the active phase shortage number of phases simultaneously.Therefore, system is transported in active phase shortage
When row, control software is not necessarily to off-line calculation complexity equation group and algorithm changeover, just the active phase shortage unperturbed operation of feasible system
Control.
Further, including DC voltage source, capacitor, three-phase group voltage source inverter, relay, multi-phase permanent motor,
Encoder, vector control strategy, Hysteresis Current comparator, active phase shortage mechanism；Using the pulse signal of photoelectric encoder, calculate
The position θ of rotor outrAnd rotational speed omegar, under synchronously rotating reference frame, given fundamental wave is obtained using the pi regulator of der Geschwindigkeitkreis
Torque current componentIn conjunction withEach harmonic wave subspace current component calculates public in active phase shortage matrix A and aforementioned schemes
Phase winding gives constant current when formula, directly calculating active phase shortageRecycle Hysteresis Current comparator by active phase shortage phase
Winding gives constant currentWith the actual phase current i detected1~iMAfter obtain corresponding PWM fluctuating signal, finally
It is acted on multi-phase permanent motor by three-phase group voltage source inverter, achievees the purpose that speed regulation and the control of active phase-deficient operation；
In combination with active phase shortage matrix A line solver 3,5 ..., h subharmonic subspace current component value, go compensation fundamental magnetic potential damage
It loses and maintainsIt is constant, it is reconstructed the current instantaneous value of remaining work phase indirectly.Entire active phase-deficient operation process is not
It needs control strategy and algorithm to switch, and guarantees constant torque output after system active phase-deficient operation, while motor output speeds
It is constant, realize the unperturbed operation of system.When active phase shortage occurs for the winding of motor, the specific remaining work phase of off-line calculation is not had to
Current equation, and only with above-mentioned Current direct control method does not need algorithm changeover in conjunction with active phase shortage matrix A, and motor is from more
Phase normal state is smoothly transitted into active open-phase running status, while exporting that revolving speed, torque are constant, realizes the unperturbed of system actively
Phase-deficient operation control.
Further, multiphase system vector control strategy uses Hysteresis Current comparator, by three-phase group voltage source inverter
Power supply multi-phase permanent motor N covers three-phase windings respectively.
The three-phase group voltage source inverter midpoint and multi-phase permanent motor winding neutral point electrical isolation.
More three-phase electricity drive system applications occasions such as wind-driven generator, marine electric power propulsion device, in the light load of band
Output power very little, if motor whole winding equably output power, each winding and power inverter are all in underloading
State, power inverter will generate unnecessary switching loss.Such as actively close part of phase group, by remaining one group or certain
Several groups of symmetrical three-phase subsystem works can meet output and require, to improve the load factor of working condition power inverter, subtract
The loss of small-power converter optimizes power drive system efficiency.Therefore, in the case where system is lightly loaded, unit can take master
The mode of dynamic phase-deficient operation, requires according to different capacity, runs different winding systems, Lai Tigao operational efficiency.At this point, corresponding
Electric and electronic power translation circuit also needs to adapt to more set armature winding, improves power inverter in motor and faults itself
Reliability, this is of great significance to the Operation Mode Selection of entire power drive system, efficiency analysis and optimization.
Therefore the research based on the control of multi-phase permanent motor active phase-deficient operation, for pushing multi-phase motor system in new energy
The application in the fields such as source power field and electric propulsion has great theory significance and application value.
The utility model has the advantages that
(1) under the operating condition of system underloading, electric motor and controller system is required according to different capacity, phase shortage of taking the initiative fortune
Capable mode, can be improved running efficiency of system.
(2) when guaranteeing electric motor and controller system active phase-deficient operation, the output revolving speed of motor, torque are constant, realize
The unperturbed active phase-deficient operation of system controls.
(3) from fundamental magnetic potential is constant and two angles of the minimum boundary condition of stator copper loss mutually carry out harmonic wave electricity to residue work
Stream compensation reconstruct can maintain stable torque output to reduce transient state switching torque simultaneously.
(4) it does not need to shut down, only need to can realize that polyphase machine exists by each subspace harmonic current components of line solver
Line active phase-deficient operation.
(5) entire active phase-deficient operation control algolithm is small to the dependence of the parameter of electric machine, so that control program has very well
Transplantability and versatility, convenient for engineering debug.
(6) any more three-phase windings active phase-deficient operation electric systems are extended to.
Detailed description of the invention
Multi-phase permanent motor phase-lacking fault-tolerant control system of the Fig. 1 based on harmonic current compensation.
Wherein have: DC voltage source (1), capacitor (2), three-phase group voltage source inverter (3), relay (4), multi-phase permanent
Motor (5), encoder (6), vector control strategy (7), Hysteresis Current comparator (8), active phase shortage mechanism (9).
Designation in Fig. 1 is respectively:Given rotating speed, ωrActual speed,Given fundamental wave direct-axis current,
Given fundamental wave quadrature axis current/fundamental wave torque current component, θrThe position of rotor,- M phase winding gives constant current,
i1~iMThe actual current of-M phase winding, T-1Rotating coordinate system is to natural system of coordinates transformation matrix.T-1Expression formula are as follows:
Nine phase flux switch motor system power dissipation of Fig. 2 analysis.
The fault-tolerant handoff response performance evaluation of Fig. 3.
Specific embodiment
The present invention will be described below with reference to accompanying drawings.
Using the proposition of active phase-deficient operation control algolithm when core of the invention is low-load rate.Active phase-deficient operation control
Algorithm processed according to phase current and be zero constraint condition obtain, when motor work normally time-harmonic wave subspace current component can be with table
It is shown as
?Under control, ignore the harmonic components in unloaded back-emf, adjusts quadrature axis currentI.e. adjustable electromagnetism turns
Square.When electric motor and controller system needs active phase-deficient operation under light load factor operating condition, to export identical as under normal state
Torque, then maintainIt is constant, while palpus satisfaction is mutually that zero constraint condition is carried out in conjunction with stator copper loss minimum boundary condition
After lagrange's method of multipliers solves, the current component of each harmonic wave subspace is indicated are as follows:
Wherein,
The analytic expression of active phase shortage mechanism are as follows:
Wherein,
Harmonic current injection formula active phase-deficient operation control of the invention, analytic expression only have one, therefore should not algorithm
Switching need to only carry out facilitating practical engineering application in line winding group switching according to the size of load factor.
The present invention discloses a kind of active phase-deficient operation control system of novel multi-phase magneto, drives electricity in vector controlled
In machine system, design is reconstructed to residue work phase current from the active phase-deficient operation under load factor matching, and make full use of
Harmonic current injection control strategy, the operational efficiency of electric system when improving low-load rate.
The present invention use Hysteresis Current PWM vector control technology, with nine phase flux switch permanent magnet motors actively lack 3 phases and
It is designed for the operation of 6 phases.The case where considering system overload, when load factor is greater than 66.6%, nine phase winding of Ying Caiyong fortune
Line mode.It is divided into two sections when load factor is less than 66.6%, first interval is the load factor less than 33.3%, at this time nine phase magnetic
Three-phase, six phases or the nine phase winding methods of operation can be respectively adopted in logical switch permanent magnet motor system；Second interval be 33.3%~
66.6% load factor, six phases or the nine phase winding methods of operation can be used in system at this time.Here power consumption analysis is run from system, in turn
Optimal winding operating mode in section is discussed.
Fig. 2 show the damage of the power in nine phase flux switch permanent magnet motor system difference sections under three kinds of winding operating modes
Consumption analysis, it can be seen that in first interval, minimum, nine phase highests are lost in three-phase windings operating mode；In second interval, six phases
Winding operating mode is better than nine phase winding operating modes.
Fig. 3 show the fault-tolerant handoff response performance of cooperation harmonic current injection, i.e., in 0.02s, three-phase windings excision is same
Shi Peihe 5,7 harmonic current injections then successively cut off 5 times and 7 subharmonic currents in 0.023s and 0.024s.Pass through actively
After phase shortage switching mode, nine phase flux switch permanent magnet motor system energy steady operations are in six phase winding operational modes, and phase current is just
String, torque are steady.Meanwhile no matter being responded from transient state phase current or switching Analysis on Torque, fault-tolerant switch type switching side from transient state
Formula realizes the unperturbed operation of system active phase shortage substantially.
The foregoing is merely better embodiment of the invention, protection scope of the present invention is not with above embodiment
Limit, as long as those of ordinary skill in the art's equivalent modification or variation made by disclosure according to the present invention, should all be included in power
In the protection scope recorded in sharp claim.
Claims (3)
1. a kind of multi-phase permanent motor active phase-deficient operation control method, it is characterised in that: the magneto number of phases M=N ×
3, N be positive integer；The control method includes the following two kinds situation:
The first, when load factor is greater than (N-1)/N, the three-phase windings method of operation is covered using N, it may be assumed that magneto works normally；Palpus
The constraint condition for meeting phase current and being zero, harmonic wave subspace current component areIn given fundamental wave direct-axis currentUnder control, ignore the harmonic components in unloaded back-emf, adjusts given fundamental wave quadrature axis currentI.e. adjustable electromagnetism turns
Square；
The second, when load factor is less than 1/N, using the three-phase windings method of operation, load factor is at (λ -1)/N~λ/N (1 < λ < N)
When, the three-phase windings method of operation is covered using λ, it may be assumed that magneto active phase shortage；It is required that output torque and all magneto windings
It is identical when working, then maintain fundamental wave quadrature axis currentIt is constant, at the same phase current must be met and be zero constraint condition, each harmonic wave
Subspace current component indicates are as follows:
Wherein,
The analytic expression of active phase shortage mechanism are as follows:
Wherein,
iq1Refer to fundamental wave torque current component, is obtained by speed closed loop pi regulator, idh、iqhIt is given birth to online when referring to active phase-deficient operation
At harmonic current components, h refers to overtone order, h=3,5 ..., Kh1To Kh4It is expressed as h subharmonic isomorphism coefficient, A refers to actively
Phase shortage matrix, related with active phase shortage number k, every phase matrix A line number that actively lacks adds 1, B to refer to that fundamental wave submatrix, C refer to the sub- square of harmonic wave
Battle array, θ refer to rotor electrical angle.
2. a kind of multi-phase permanent motor active phase-deficient operation control method according to claim 1, it is characterised in that: including
DC voltage source (1), capacitor (2), three-phase group voltage source inverter (3), relay (4), multi-phase permanent motor (5), encoder
(6), vector control strategy (7), Hysteresis Current comparator (8), active phase shortage mechanism (9)；Believed using the pulse of photoelectric encoder
Number, calculate the position θ of rotorrAnd rotational speed omegar, under synchronously rotating reference frame, using the pi regulator of der Geschwindigkeitkreis obtain to
Determine fundamental wave torque current componentIn conjunction withEach harmonic wave subspace current component in active phase shortage matrix A and claim 1
Phase winding gives constant current when calculation formula, directly calculating active phase shortageHysteresis Current comparator is recycled to lack active
Phase winding gives constant current when phaseWith the actual phase current i detected1~iMAfter obtain corresponding PWM pulsation letter
Number, it is acted on multi-phase permanent motor finally by three-phase group voltage source inverter, reaches speed regulation and the control of active phase-deficient operation
Purpose；In combination with active phase shortage matrix A line solver 3,5 ..., h subharmonic subspace current component value, remove compensation fundamental wave
Magnetic potential loss maintainsIt is constant, it is reconstructed the current instantaneous value of remaining work phase indirectly.
3. a kind of multi-phase permanent motor active phase-deficient operation control method according to claim 1, it is characterised in that: multiphase
System vector control strategy (7) uses Hysteresis Current comparator (8), is powered respectively multiphase by three-phase group voltage source inverter (3)
Magneto N covers three-phase windings.
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| CN106936361A (en) * | 2017-04-18 | 2017-07-07 | 沈阳永磁电机制造有限公司 | A kind of pure square-wave motor control system of multi-phase permanent |
| CN109889125A (en) * | 2017-12-05 | 2019-06-14 | 中车株洲电力机车研究所有限公司 | A kind of multiphase Multiple coil traction drive and its control method |
| CN108768223A (en) * | 2018-05-29 | 2018-11-06 | 哈尔滨理工大学 | The ten two-phase permanent magnet synchronous motor fault tolerant control methods based on stator copper loss minimum |
| CN111404426B (en) * | 2020-05-06 | 2022-02-15 | 苏州博睿测控设备有限公司 | Multi-direct-current motor parallel system and current control method |
| CN116526526A (en) * | 2023-06-26 | 2023-08-01 | 沈阳微控主动磁悬浮技术产业研究院有限公司 | Island micro-grid flywheel energy storage system and control method thereof |
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