CN107370163A - Suppress the method, apparatus and trailer system of traction convertor DC bus-bar voltage vibration - Google Patents
Suppress the method, apparatus and trailer system of traction convertor DC bus-bar voltage vibration Download PDFInfo
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- CN107370163A CN107370163A CN201710538705.2A CN201710538705A CN107370163A CN 107370163 A CN107370163 A CN 107370163A CN 201710538705 A CN201710538705 A CN 201710538705A CN 107370163 A CN107370163 A CN 107370163A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
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- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention, which provides a kind of method, apparatus for suppressing the vibration of traction convertor DC bus-bar voltage and trailer system, method, to be included：The oscillating component and input phase differentiation element of busbar voltage are obtained, obtains current feed-forward compensation rate；Torque component and current feed-forward compensation rate sum that motor gives current phasor are calculated, obtains the torque component that revised motor gives current phasor；Current phasor and motor actual current vector are given according to revised motor, is calculated by vector control algorithm and obtains electric moter voltage vector；Pulse width modulation (Pulse Width Modulation, abbreviation PWM) is carried out according to electric moter voltage vector, the drive signal of traction convertor is obtained, the traction convertor is provided voltage under the driving of the drive signal for the motor.The present invention can effectively suppress the vibration of traction convertor busbar voltage on the basis of motor control performance is met, make traction convertor operation more stable, improve trailer system reliability.
Description
Technical field
The present invention relates to field of track traffic, more particularly to a kind of side for suppressing the vibration of traction convertor DC bus-bar voltage
Method, device and trailer system.
Background technology
Trailer system is the core in subway and light rail vehicle, and the system is mainly by LC filter units, traction convertor, electricity
Machine three parts and other electric components collectively form.Traction convertor obtains energy from external contact net or conductor rail,
The DC bus-bar voltage stablized by LC filter units, corresponding variable-frequency variable-voltage alternating current is exported by inversion or rectification,
Motor is set to be operated in traction state or electric braking state.When LC resonance filters parameter mismatch, the motor control in system
When algorithm parameter changes, the vibration for causing traction convertor front end busbar voltage is possible to, and then motor output can be caused to turn
The unusual fluctuations of square, influence the comfort level of train；When serious traction convertor can because of over-pressed, under-voltage, excessively stream etc. stoppage protection；
Power supply station's tripping operation is even resulted in, section has a power failure, and influences railroad embankment.
At present, asynchronous induction machine still has that cost is low, fault rate is low, easy to maintenance etc. compared with permagnetic synchronous motor
Advantage, therefore proportion is very big in track traffic.In recent years, asynchronous motor control was by the poor scalar of early stage dynamic property
(V/F) control progressively develops into Direct Torque Control (DTC) and vector controlled (FOC).Traditional scalar control is contrasted, using arrow
Amount control, the dynamic response of motor and higher to the control accuracy of torque, it can directly improve the overall performance of train and comfortable
Degree.In practice, using vector controlled motor control strategy when, busbar voltage vibration situation become apparent.Therefore, it is
Preferably use vector control strategy, it is necessary to effectively restrain the generation of busbar voltage vibration.
Prior art is mainly vibrated by chopper circuit to suppress busbar voltage, and this method will be by a control program will
After actual bus voltage exceedes limit value, difference is sent into compared with default busbar voltage limit value for actual bus voltage
Proportional integration (PI) adjuster obtains copped wave dutycycle, is then turned on chopper circuit and suppresses the diverging of busbar voltage vibration, and leads to
Cross braking resistor release part energy；If being less than limit value, correlated variables is initialized, does not enable chopper circuit.Due to bus
The vibration of voltage can occur in specific rotation speeds section, if work as vehicle is operated in traction state in the rotating speed section for a long time, cut
Wave circuit needs long period work to suppress the diverging of busbar voltage vibration, while needs to consume substantial amounts of energy by braking resistor
Amount, and it by these energy conversions be heat that the mode of braking resistor consumed energy, which is, eventually resulting in braking resistor overheats, seriously
When can cause traction convertor shut down even scaling loss braking resistor.Therefore, although chopping way can suppress busbar voltage vibration
Diverging, but can not fundamentally suppress busbar voltage vibration generation, can only by busbar voltage maintain be no more than limit value.
Because motor control performance is had a great influence by busbar voltage, busbar voltage shakiness can cause motor torque to fluctuate, and cause vehicle to be trembled
The problems such as dynamic.
Prior art according to busbar voltage amendment motor torque still an alternative is that give to solve busbar voltage shakiness
The problem of causing motor torque to fluctuate, and then causing vehicle to be shaken.Given according to busbar voltage instantaneous value amendment motor torque, such as
Shown in formula (1).
Wherein udcFor busbar voltage instantaneous value, Ud0For busbar voltage filter value, ρ is adjustment factor, TrefFor motor torque
It is given,For actual motor torque.This method is to be based on correcting motor torque in real time giving to solve motor torque fluctuation
Caused vehicle jitter problem, if but actual motor torque and torque reference can not realize amendment electricity in real time in the presence of delay
Machine torque reference, causes system oscillation progressively to dissipate, and then influences motor torque steadily output and trailer system stabilization.
The content of the invention
The present invention provides a kind of method, apparatus and trailer system for suppressing the vibration of traction convertor DC bus-bar voltage, uses
In solving the problems, such as can not effectively to suppress in the prior art the vibration of traction convertor busbar voltage.
The first aspect of the invention is to provide a kind of method for suppressing the vibration of traction convertor busbar voltage, including：
Obtain the oscillating component of busbar voltage；
Input using the oscillating component of the busbar voltage as phase differentiation element, it is defeated to obtain the phase differentiation element
The current feed-forward compensation rate gone out；
The torque component of current phasor and the current feed-forward compensation rate sum are given by calculating motor, to described
The torque component that motor gives current phasor is modified, and obtains the torque component that revised motor gives current phasor；
The excitation component and electricity of the given current phasor of torque component, motor of current phasor are given according to revised motor
The torque component and excitation component of machine actual current vector, calculated by vector control algorithm and obtain electric moter voltage vector；
According to the electric moter voltage vector, by carrying out pulse width modulation (Pulse Width Modulation, abbreviation
PWM), the drive signal of traction convertor is obtained；
The traction convertor is driven using the drive signal, so that the traction convertor is in the drive signal
Driving is lower to provide voltage for the motor.
The second aspect of the invention is to provide a kind of device for suppressing the vibration of traction convertor busbar voltage, including：
Oscillation module, for obtaining the oscillating component of busbar voltage；
Phase differentiation element, for the oscillating component of busbar voltage that obtains the oscillation module as the defeated of itself
Enter, output current feedforward control compensation rate；
Correcting module, for motor to give the torque component of current phasor and the phase differentiation element exports by calculating
Current feed-forward compensation rate sum, to the motor give current phasor torque component be modified, after being corrected
Motor give current phasor torque component；
Vector control module, the revised motor for being obtained according to the correcting module give the torque of current phasor
Component, motor give the excitation component of current phasor and the torque component and excitation component of motor actual current vector, pass through arrow
Measure control algolithm and calculate acquisition electric moter voltage vector；
Modulation module, for the electric moter voltage vector obtained according to the vector control module, by carrying out PWM,
Obtain the drive signal of traction convertor；
Drive module, the drive signal for being obtained according to the modulation module drives the traction convertor, so that institute
State traction convertor and provide voltage under the driving of the drive signal for the motor.
The third aspect of the invention is to provide a kind of trailer system, including：Above-mentioned suppression traction convertor busbar voltage
Device, traction convertor and the motor of vibration；
The input of device and the input of the traction convertor for suppressing the vibration of traction convertor busbar voltage
It is connected with contact net, the contact net is used to provide the traction convertor busbar voltage；The suppression traction convertor bus
The output end of the device of voltage oscillation connects with the input of the traction convertor, the output end of the traction convertor and institute
State the input connection of motor, the output end of the motor and the device for suppressing the vibration of traction convertor busbar voltage it is defeated
Enter end connection.
The method, apparatus and trailer system provided by the invention for suppressing the vibration of traction convertor DC bus-bar voltage, passes through
The oscillating component and input phase differentiation element of busbar voltage are obtained, obtains current feed-forward compensation rate；Motor is calculated to give
The torque component and current feed-forward compensation rate sum of current phasor, obtain the torque that revised motor gives current phasor
Component；Current phasor and motor actual current vector are given according to revised motor, is calculated and obtained by vector control algorithm
Electric moter voltage vector；PWM is carried out according to electric moter voltage vector, the drive signal of traction convertor is obtained, makes the traction
Current transformer provides voltage under the driving of the drive signal for the motor.The present invention can meet motor control performance
On the basis of, effectively suppress the vibration of traction convertor busbar voltage, traction convertor operation is more stablized, improving trailer system can
By property.
Brief description of the drawings
Fig. 1 is the flow signal for the method for suppressing the vibration of traction convertor busbar voltage that the embodiment of the present invention one provides
Figure；
Fig. 2 is the structural representation for the device for suppressing the vibration of traction convertor busbar voltage that the embodiment of the present invention two provides
Figure；
Fig. 3 is the control system frame for the device for suppressing the vibration of traction convertor busbar voltage that the embodiment of the present invention two provides
Figure；
Fig. 4 is the structural representation for the trailer system that the embodiment of the present invention three provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, the every other reality that those of ordinary skill in the art obtain under the premise of creative work is not made
Example is applied, belongs to the scope of protection of the invention.
Fig. 1 is the flow signal for the method for suppressing the vibration of traction convertor busbar voltage that the embodiment of the present invention one provides
Figure.In the present embodiment, the executive agent of the method for suppressing the vibration of traction convertor busbar voltage can be an independence
The device or digital signal processor (Digital Signal that suppress the vibration of traction convertor busbar voltage
Processing, abbreviation DSP), the present invention is not limited herein.As shown in figure 1, methods described includes following step
Suddenly：
11st, the oscillating component of busbar voltage is obtained.
Specifically, shaking for the busbar voltage can be obtained by carrying out bandpass filtering to traction convertor busbar voltage
Swing component；Or LPF is carried out to traction convertor busbar voltage, and calculate the traction convertor mother before and after LPF
The difference of line voltage, obtain the oscillating component of the busbar voltage.
With practical application for example, in each controlling cycle initial time, such as the interruption of 400 μ s timers, DSP controls
The outside analog-digital converter (analogue to-digital, abbreviation A/D) of system presses u to netline, busbar voltage udc, bus current
idc, motor three-phase current ia、ib、icSampled, then pass through field programmable gate array (Field-Programmable
Gate Array, abbreviation FPGA) data of sampling are transferred to DSP processing by external data bus, obtain traction and become
Flow device busbar voltage UdWith the torque component and excitation component of motor actual current vector.
When traction convertor busbar voltage vibrates, LPF is carried out to traction convertor busbar voltage and will be filtered
The traction convertor busbar voltage of wavefront and filtered traction convertor busbar voltage carry out asking poor calculating, obtain traction current transformation
The oscillating component of the busbar voltage of device.
12nd, the input using the oscillating component of the busbar voltage as phase differentiation element, the advanced ring of the phase is obtained
Save the current feed-forward compensation rate of output.
By the oscillating component input phase differentiation element of the busbar voltage obtained in step 11, the phase differentiation element pair
After the oscillating component carries out calculating processing, output current feedforward control compensation rate.
As an embodiment of the present embodiment, step 12 can include：
121st, the input using the oscillating component of the busbar voltage as the phase differentiation element, is transferred to the phase
Differentiation element；
122nd, according to the transmission function of the phase differentiation element, calculating processing is carried out to the oscillating component, is obtained defeated
The current feed-forward compensation rate gone out, the transmission function of the phase differentiation element are：
Wherein,Wherein,
isqc(s) it is the current feed-forward compensation rate of traction convertor, s is complex frequency, and K is that busbar voltage vibration suppresses
Coefficient, TrefTorque, n are given for motorpFor motor number of pole-pairs, ΨRrefMagnetic linkage, U are given for motord0For filtered bus electricity
Pressure value, ψmFor the leading phase needed for current feed-forward compensation rate, ωmAngular frequency, u are vibrated for busbar voltageerr(s) it is bus
The oscillating component of voltage.
13rd, the torque component of current phasor and the current feed-forward compensation rate sum are given by calculating motor, it is right
The torque component that the motor gives current phasor is modified, and obtains the torque point that revised motor gives current phasor
Amount.
The torque component that the current feed-forward compensation rate and motor that are obtained in step 12 are given to current phasor enters
Row read group total, and the result obtained calculating gives the torque component of current phasor as revised motor.
The present embodiment can realize the torque point for correcting the given current phasor of motor in real time according to the oscillating component of busbar voltage
Amount.
14th, the excitation component of the given current phasor of torque component, motor of current phasor is given according to revised motor
With the torque component and excitation component of motor actual current vector, calculated by vector control algorithm and obtain electric moter voltage vector.
The revised motor obtained in step 13 is given into the torque component of current phasor, motor gives current phasor
The torque component and excitation component of excitation component and current motor actual current vector, calculated and obtained by vector control algorithm
Obtain electric moter voltage vector.
15th, according to the electric moter voltage vector, by carrying out pulse width PWM, the driving of traction convertor is obtained
Signal.
The electric moter voltage vector obtained in step 14 is subjected to PWM and obtains drive signal.
Specifically, the PWM can be space vector pulse width modulation (Space Vector Pulse Width
Modulation, abbreviation SVPWM).
16th, the traction convertor is driven using the drive signal, so that the traction convertor is in the driving letter
Number driving under for the motor provide voltage.
Utilize the insulated gate bipolar transistor of the drive signal driving traction convertor obtained in step 15
(Insulated Gate Bipolar Transistor, abbreviation IGBT), so that the traction convertor is in the drive signal
Driving under for motor provide voltage.
With practical application for example, when trailer system works, traction convertor busbar voltage and electricity are obtained by DSP
The torque component and excitation component of machine actual current vector；When traction convertor busbar voltage vibrates, to traction current transformation
Device busbar voltage carries out LPF, obtains filtered traction convertor busbar voltage；Calculate the traction before and after LPF
The difference of current transformer busbar voltage, obtain the oscillating component of traction convertor busbar voltage；By shaking for traction convertor busbar voltage
Component input phase differentiation element is swung, obtains current feed-forward compensation rate；Calculate the torque component that motor gives current phasor
With the current feed-forward compensation rate sum, the torque component that revised motor gives current phasor is obtained；According to amendment
Rear motor gives the torque component of current phasor, motor gives the excitation component and motor actual current vector of current phasor
Torque component and excitation component, calculated by vector control algorithm and obtain electric moter voltage vector；According to electric moter voltage vector, pass through
PWM, the drive signal of traction convertor is obtained, traction convertor is driven using the drive signal, so that traction current transformation
Device provides voltage under the driving of the drive signal for motor；Motor is in the presence of the voltage that the traction convertor provides
Revised actual current is obtained, and it is directly proportional to motor actual current vector according to motor operation principle, actual motor torque
Example relation, i.e., amendment actual motor torque in real time is finally realized according to traction convertor busbar voltage oscillating component, so as to real
The diverging for the vibration for suppressing traction convertor busbar voltage is showed, has improved the stability of trailer system, and then suppressed traction and become
Flow the vibration of device busbar voltage.
Further, because the vibration of traction convertor busbar voltage can cause the unusual fluctuations of actual motor torque, because
This, can be by detecting the fluctuation of actual motor torque whether in default allowed band, to judge traction convertor in real time
The vibration of busbar voltage.On this basis, can also include as an embodiment of the present embodiment, methods described：In real time
The fluctuation of the actual torque of motor is detected whether in default allowed band, if not in allowed band, adjusts K, ψmWith
ωmIn any one or more parameter value.
Specifically, the busbar voltage vibration angular frequency in the transmission functionmAnd/or the current feed-forward of traction convertor
Control the leading phase ψ needed for compensation ratemAnd/or busbar voltage vibration rejection coefficient K can be in the phase differentiation element
In default fixed value or adjustable.As an example it is assumed that the fluctuation of the actual torque of current motor exceedes necessarily
Fluctuation range, then the current feed-forward compensation rate can be adjusted by the way that the value of above-mentioned parameter is adjusted
It is whole, so as to finally realize the fluctuation for the actual torque for reducing motor.Specifically, vibrate angular frequency by adjusting busbar voltagem
The maximum advanced angular frequency of the current feed-forward compensation rate of the phase differentiation element output can be adjusted, is drawn by adjusting
Leading phase ψ needed for the current feed-forward compensation rate of current transformermThe electric current of the phase differentiation element output can be adjusted
The maximum leading phase of feedforward control compensation rate, rejection coefficient K is vibrated by adjusting busbar voltage, the phase can be adjusted and surpassed
The size of the current feed-forward compensation rate of prosomite output.
The method for suppressing the vibration of traction convertor busbar voltage that the present embodiment provides, by the way that the vibration of busbar voltage is divided
Input phase differentiation element is measured, obtains current feed-forward compensation rate, and motor is given according to current feed-forward compensation rate
The torque component of current phasor is modified, and is given current phasor and motor actual current vector according to revised motor, is led to
Cross vector control algorithm and calculate acquisition electric moter voltage vector；PWM is carried out according to electric moter voltage vector, obtains traction convertor
Drive signal, the traction convertor is provided voltage under the driving of the drive signal for the motor.The present embodiment
It can effectively suppress the vibration of traction convertor busbar voltage on the basis of motor control performance is met, transport traction convertor
Row is more stable, improves trailer system reliability.
Fig. 2 is the structural representation for the device for suppressing the vibration of traction convertor busbar voltage that the embodiment of the present invention two provides
Figure.In the present embodiment, the device for suppressing the vibration of traction convertor busbar voltage can be an independent device, also may be used
To be a part for DSP Processor, the present invention is not limited herein.As shown in Fig. 2 described device includes：
Oscillation module 21, for obtaining the oscillating component of busbar voltage.
As an embodiment of the present embodiment, the oscillation module can include：Bandpass filtering unit, for passing through
Bandpass filtering is carried out to traction convertor busbar voltage, obtains the oscillating component of the busbar voltage.
As the another embodiment of the present embodiment, the oscillation module can include：
Low-pass filter unit, for carrying out LPF to traction convertor busbar voltage；
Computing unit, for calculating the difference of the traction convertor busbar voltage before and after LPF, obtain the bus electricity
The oscillating component of pressure.
With practical application for example, in each controlling cycle initial time, such as the interruption of 400 μ s timers, numeral
Outside analog-digital converter (the analogue to- of signal processor (Digital Signal Processing, abbreviation DSP) control
Digital, abbreviation A/D) u is pressed to netline, busbar voltage udc, bus current idc, motor three-phase current ia、ib、icSampled,
Then by field programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) by the data of sampling
DSP processing is transferred to by external data bus, obtains traction convertor busbar voltage UdWith motor actual current vector
Torque component and excitation component.
When traction convertor busbar voltage vibrates, the low-pass filter unit in oscillation module 21 becomes to the traction
Flow device busbar voltage and carry out LPF, obtain filtered traction convertor busbar voltage, computing unit is by before LPF
Traction convertor busbar voltage and LPF after traction convertor busbar voltage ask poor calculating, obtain traction current transformation
The oscillating component of the busbar voltage of device.Phase differentiation element 22, for shaking for the busbar voltage that obtains the oscillation module 21
Swing input of the component as itself, output current feedforward control compensation rate.
Oscillation module 21 is by the oscillating component input phase differentiation element 22 of the busbar voltage of acquisition, the advanced ring of phase
After 22 pairs of oscillating components of section carry out calculating processing, output current feedforward control compensation rate.
As an embodiment of the present embodiment, phase differentiation element 22 can include：
Signal transmission unit 221, for using the oscillating component of the busbar voltage as the phase differentiation element 22
Input, is transferred to the phase differentiation element 22；
The phase differentiation element 22, specifically for the transmission function according to phase differentiation element, to the oscillating component
Calculating processing, output current feedforward control compensation rate are carried out, the transmission function of the phase differentiation element is：
Wherein,Wherein,
isqc(s) it is the current feed-forward compensation rate of traction convertor, s is complex frequency, and K is that busbar voltage vibration suppresses
Coefficient, TrefTorque, n are given for motorpFor motor number of pole-pairs, ΨRrefMagnetic linkage, U are given for motord0For filtered bus electricity
Pressure value, ψmFor the leading phase needed for current feed-forward compensation rate, ωmAngular frequency, u are vibrated for busbar voltageerr(s) it is bus
The oscillating component of voltage.
Correcting module 23, for giving the torque component of current phasor and the phase differentiation element 22 by calculating motor
The current feed-forward compensation rate sum of output, the torque component that current phasor is given to the motor are modified, repaiied
Motor after just gives the torque component of current phasor.
The current feed-forward compensation rate and motor that correcting module 23 obtains phase differentiation element 22 give electric current
The torque component of vector carries out read group total, and the result obtained calculating gives turning for current phasor as revised motor
Square component.
The present embodiment can realize the torque point for correcting the given current phasor of motor in real time according to the oscillating component of busbar voltage
Amount.
Vector control module 24, the revised motor for being obtained according to the correcting module 23 give current phasor
Torque component, motor give the excitation component of current phasor and the torque component and excitation component of motor actual current vector, lead to
Cross vector control algorithm and calculate acquisition electric moter voltage vector.
The revised motor that vector control module 24 obtains correcting module 23 gives torque component, the electricity of current phasor
Machine gives the excitation component of current phasor and the torque component and excitation component of current motor actual current vector, passes through arrow
Measure control algolithm and calculate acquisition electric moter voltage vector.
Modulation module 25, for the electric moter voltage vector obtained according to the vector control module 24, by carrying out PWM tune
System, obtain the drive signal of traction convertor.
The electric moter voltage vector that modulation module 25 obtains vector control module 24 carries out PWM and obtains drive signal.
Specifically, the PWM can be space vector pulse width modulation (Space Vector Pulse Width
Modulation, abbreviation SVPWM).
Drive module 26, the drive signal for being obtained according to the modulation module 25 drive the traction convertor, with
The traction convertor is set to provide voltage under the driving of the drive signal for the motor.
The insulated gate bipolar for the drive signal driving traction convertor that drive module 26 is obtained using modulation module 25 is brilliant
Body pipe (Insulated Gate Bipolar Transistor, abbreviation IGBT), so that the traction convertor is in the driving
Under the driving of signal voltage is provided for motor.
With practical application for example, when trailer system works, traction convertor busbar voltage and electricity are obtained by DSP
The torque component and excitation component of machine actual current vector；When traction convertor busbar voltage vibrates, oscillation module 21
In low-pass filter unit LPF is carried out to traction convertor busbar voltage, obtain filtered traction convertor bus electricity
Pressure；The difference of the traction convertor busbar voltage before and after computing unit calculating LPF in oscillation module 21, obtains traction and becomes
Flow the oscillating component of device busbar voltage；Signal transmission unit 221 is by the oscillating component input phase of traction convertor busbar voltage
Differentiation element 22, obtain current feed-forward compensation rate；Correcting module 23 calculate motor give current phasor torque component and
The current feed-forward compensation rate sum, obtain the torque component that revised motor gives current phasor；Vector controlled mould
Block 24 gives the excitation component and motor reality of the given current phasor of the torque component of current phasor, motor according to revised motor
The torque component and excitation component of border current phasor, calculated by vector control algorithm and obtain electric moter voltage vector；Modulation module
25 according to electric moter voltage vector, by PWM, obtains the drive signal of traction convertor, drive module 26 utilizes the drive
Dynamic signal driving traction convertor, so that traction convertor provides voltage under the driving of the drive signal for motor；Motor
Revised actual current is obtained in the presence of the voltage that the traction convertor provides, and according to motor operation principle, electricity
Machine actual torque and motor actual current vector direct proportionality, i.e., it is final according to traction convertor busbar voltage oscillating component
Amendment actual motor torque in real time is realized, it is achieved thereby that suppressing the diverging of the vibration of traction convertor busbar voltage, is improved
The stability of trailer system, and then suppress the vibration of traction convertor busbar voltage.
Further, because the vibration of traction convertor busbar voltage can cause the unusual fluctuations of actual motor torque, because
This, can be by detecting the fluctuation of actual motor torque whether in default allowed band, to judge traction convertor in real time
The vibration of busbar voltage.On this basis, can also include as an embodiment of the present embodiment, described device：Detection
Module, in real time detect motor actual torque fluctuation whether in default allowed band, if not in allowed band,
Then adjust K, ψmAnd ωmIn any one or more parameter value.
Specifically, the busbar voltage vibration angular frequency in the transmission functionmAnd/or the current feed-forward of traction convertor
Control the leading phase ψ needed for compensation ratemAnd/or busbar voltage vibration rejection coefficient K can be in the phase differentiation element
Default fixed value or adjustable in 22.As an example it is assumed that the fluctuation of the actual torque of current motor is more than one
Fixed fluctuation range, then the current feed-forward compensation rate can be carried out by the way that the value of above-mentioned parameter is adjusted
Adjustment, so as to finally realize the fluctuation for the actual torque for reducing motor.Specifically, vibrate angular frequency by adjusting busbar voltage
ωmThe maximum advanced angular frequency for the current feed-forward compensation rate that the phase differentiation element 22 exports can be adjusted, passes through tune
Leading phase ψ needed for the current feed-forward compensation rate of whole traction convertormIt is defeated that the phase differentiation element 22 can be adjusted
The maximum leading phase of the current feed-forward compensation rate gone out, rejection coefficient K is vibrated by adjusting busbar voltage, institute can be adjusted
State the size of the current feed-forward compensation rate of the output of phase differentiation element 22.
Fig. 3 is the control system frame for the device for suppressing the vibration of traction convertor busbar voltage that the embodiment of the present invention two provides
Figure.As shown in figure 3, the low-pass filter unit in oscillation module 21 is to traction convertor busbar voltage UdLPF is carried out, is obtained
Filtered traction convertor busbar voltage, the computing unit in oscillation module 21 is to filtering front and rear traction convertor bus
Voltage carries out asking poor, obtains the oscillating component u of busbar voltageerr, and by the oscillating component u of the busbar voltageerrExport to phase
Position differentiation element 22 is handled；The current feed-forward compensation rate i obtained after phase differentiation element 22 is handledsqcExport to
Correcting module 23, correcting module 23 is to current feed-forward compensation rate isqcThe torque component i of current phasor is given with motorsqref
Summed, obtain the torque component i that revised motor gives current phasorsq *, and the revised motor is given electric
The torque component i of flow vectorsq *Export to vector control module 24；Vector control module 24 is according to the given electricity of revised motor
The torque component i of flow vectorsq *And motor gives the excitation component i of current phasorsdref, current motor actual current vector
Torque component isqWith excitation component isd, calculated by vector control algorithm and obtain electric moter voltage vector Us, and by the motor
Voltage vector Us is exported to modulation module 25；Modulation module 25 is driven according to the electric moter voltage vector Us by PWM
Dynamic signal, and the drive signal is transferred to drive module 26；Drive module 26 drives traction to become according to the drive signal
Device is flowed, so that traction convertor provides voltage under the driving of the drive signal for motor.The suppression that the present embodiment provides is led
Draw the device of current transformer busbar voltage vibration, by by the oscillating component input phase differentiation element of busbar voltage, obtaining electric current
Feedforward control compensation rate, and the torque component that current phasor is given according to current feed-forward compensation rate to motor is modified,
Current phasor and motor actual current vector are given according to revised motor, is calculated by vector control algorithm and obtains motor electricity
Press vector；PWM is carried out according to electric moter voltage vector, the drive signal of traction convertor is obtained, makes the traction convertor
Under the driving of the drive signal voltage is provided for the motor.The present embodiment can meet the basis of motor control performance
On, effectively suppress the vibration of traction convertor busbar voltage, make traction convertor operation more stable, it is reliable to improve trailer system
Property.
Fig. 4 is the structural representation for the trailer system that the embodiment of the present invention three provides.As shown in figure 4, the trailer system
Including：The device 1 for suppressing the vibration of traction convertor busbar voltage, traction in the embodiment of the present invention two described in any embodiment
Current transformer 2 and motor 3；
The input of the input and the traction convertor 2 of the device 1 for suppressing the vibration of traction convertor busbar voltage
End is connected with contact net (not shown), and the contact net is used to provide the busbar voltage of traction convertor 2；It is described to suppress traction
The output end of the device 1 of current transformer busbar voltage vibration connects with the input of the traction convertor 2, the traction convertor
2 output end connects with the input of the motor 3, the output end of the motor 3 and the suppression traction convertor bus electricity
Press the input connection of the device 1 of vibration.
As an embodiment of the present embodiment, the trailer system can also include：Be arranged on the contact net and
LC resonance filters between the traction convertor 2；
The input of the LC resonance filters is connected with contact net, and the output end of the LC resonance filters is led with described
The input for drawing current transformer 2 connects with the input of the device 1 of the suppression traction convertor busbar voltage vibration.
Further, the trailer system can also include：Be arranged on the contact net and the LC resonance filters it
Between flowed back to road, it is described to be connected by the input for flowing back to road with contact net, it is described to be filtered by the output end for flowing back to road with LC resonance
The input of ripple device connects with the input for the device 1 for suppressing the vibration of traction convertor busbar voltage.
With practical application for example, when trailer system works, LC resonance filters are to from external contact net or contact
Rail obtains energy and is filtered acquisition DC bus-bar voltage, and the DC bus-bar voltage of acquisition is transferred to traction by LC resonance filters
Current transformer 2；The device 1 for suppressing the vibration of traction convertor busbar voltage obtains dc bus electricity from contact net and LC resonance filters
The data such as pressure, the data such as the current actual current of motor are obtained from motor 3, suppress the device of traction convertor busbar voltage vibration
After 1 pair of each data is handled, the drive signal of traction convertor 2 is obtained, and traction current transformation is driven by the drive signal
Device 2, traction convertor 2 carry out inversion or rectification under the driving of the drive signal to DC bus-bar voltage, and output is corresponding
Variable-frequency variable-voltage exchange supply electricity to motor 3, motor 3 is operated in traction state or electricity under the driving of the variable-frequency variable-voltage alternating current
On-position.
The trailer system that the present embodiment provides, energy, traction convertor are obtained by traction convertor from external contact net
Under the driving for the drive signal that the device for suppressing the vibration of traction convertor busbar voltage provides, by the energy by inversion or
Person's rectification exports corresponding variable-frequency variable-voltage alternating current, motor is operated in traction state or electric braking state.The present embodiment
Trailer system can effectively suppress the vibration of traction convertor busbar voltage, make traction on the basis of motor control performance is met
Current transformer operation is more stable, improves trailer system reliability.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
With the specific work process of system, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
- A kind of 1. method for suppressing the vibration of traction convertor busbar voltage, it is characterised in that including：Obtain the oscillating component of busbar voltage；Input using the oscillating component of the busbar voltage as phase differentiation element, obtain the phase differentiation element output Current feed-forward compensation rate；The torque component of current phasor and the current feed-forward compensation rate sum are given by calculating motor, to the motor The torque component of given current phasor is modified, and obtains the torque component that revised motor gives current phasor；Excitation component and the motor that the given current phasor of torque component, motor of current phasor is given according to revised motor are real The torque component and excitation component of border current phasor, calculated by vector control algorithm and obtain electric moter voltage vector；According to the electric moter voltage vector, by carrying out pulse width PWM, the drive signal of traction convertor is obtained；The traction convertor is driven using the drive signal, so that driving of the traction convertor in the drive signal Down voltage is provided for the motor.
- 2. according to the method for claim 1, it is characterised in that the oscillating component for obtaining busbar voltage, including：By carrying out bandpass filtering to traction convertor busbar voltage, the oscillating component of the busbar voltage is obtained；OrLPF is carried out to traction convertor busbar voltage, and calculate the traction convertor busbar voltage before and after LPF it Difference, obtain the oscillating component of the busbar voltage.
- 3. according to the method for claim 1, it is characterised in that the oscillating component using the busbar voltage is as phase The input of differentiation element, the current feed-forward compensation rate of the phase differentiation element output is obtained, including：Input using the oscillating component of the busbar voltage as the phase differentiation element, is transferred to the advanced ring of the phase Section；According to the transmission function of the phase differentiation element, calculating processing is carried out to the oscillating component, obtains the described of output Current feed-forward compensation rate, the transmission function of the phase differentiation element are：<mrow> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>q</mi> <mi>c</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>K</mi> <mfrac> <mrow> <mn>2</mn> <msub> <mi>T</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msub> </mrow> <mrow> <mn>3</mn> <msub> <mi>n</mi> <mi>p</mi> </msub> <msub> <mi>&psi;</mi> <mrow> <mi>R</mi> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msub> <msub> <mi>U</mi> <mrow> <mi>d</mi> <mn>0</mn> </mrow> </msub> </mrow> </mfrac> <mfrac> <mrow> <mi>a</mi> <mi>T</mi> <mi>s</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <mi>T</mi> <mi>s</mi> <mo>+</mo> <mn>1</mn> </mrow> </mfrac> <msub> <mi>u</mi> <mrow> <mi>e</mi> <mi>r</mi> <mi>r</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow>Wherein,Wherein,isqc(s) it is the current feed-forward compensation rate of traction convertor, s is complex frequency, and K is that busbar voltage vibrates rejection coefficient, TrefTorque, n are given for motorpFor motor number of pole-pairs, ΨRrefMagnetic linkage, U are given for motord0For filtered bus voltage value, ψm For the leading phase needed for current feed-forward compensation rate, ωmAngular frequency, u are vibrated for busbar voltageerr(s) it is busbar voltage Oscillating component.
- 4. according to the method for claim 3, it is characterised in that methods described also includes：If whether the fluctuation of the actual torque of detection motor, not in allowed band, adjusts in default allowed band in real time Whole K, ψmAnd ωmIn any one or more parameter value.
- A kind of 5. device for suppressing the vibration of traction convertor busbar voltage, it is characterised in that including：Oscillation module, for obtaining the oscillating component of busbar voltage；Phase differentiation element, it is defeated for the oscillating component of busbar voltage that obtains the oscillation module as the input of itself Go out current feed-forward compensation rate；Correcting module, for the electricity for giving the torque component of current phasor and the phase differentiation element by calculating motor and exporting Feedforward control compensation rate sum is flowed, the torque component that current phasor is given to the motor is modified, and obtains revised electricity Machine gives the torque component of current phasor；Vector control module, the revised motor for being obtained according to the correcting module give the torque point of current phasor Amount, motor give the excitation component of current phasor and the torque component and excitation component of motor actual current vector, pass through vector Control algolithm, which calculates, obtains electric moter voltage vector；Modulation module, for the electric moter voltage vector obtained according to the vector control module, by carrying out PWM, obtain The drive signal of traction convertor；Drive module, the drive signal for being obtained according to the modulation module drives the traction convertor, so that described lead Draw current transformer and provide voltage under the driving of the drive signal for the motor.
- 6. device according to claim 5, it is characterised in that the oscillation module includes：Bandpass filtering unit, for by carrying out bandpass filtering to traction convertor busbar voltage, obtaining the busbar voltage Oscillating component；OrThe oscillation module includes：Low-pass filter unit, for carrying out LPF to traction convertor busbar voltage；Computing unit, for calculating the difference of the traction convertor busbar voltage before and after LPF, obtain the busbar voltage Oscillating component.
- 7. device according to claim 5, it is characterised in that the phase differentiation element includes：Signal transmission unit, for the input using the oscillating component of the busbar voltage as the phase differentiation element, transmission To the phase differentiation element；The phase differentiation element, specifically for the transmission function according to phase differentiation element, the oscillating component is counted Calculation is handled, output current feedforward control compensation rate, and the transmission function of the phase differentiation element is：<mrow> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>q</mi> <mi>c</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mi>K</mi> <mfrac> <mrow> <mn>2</mn> <msub> <mi>T</mi> <mrow> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msub> </mrow> <mrow> <mn>3</mn> <msub> <mi>n</mi> <mi>p</mi> </msub> <msub> <mi>&psi;</mi> <mrow> <mi>R</mi> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msub> <msub> <mi>U</mi> <mrow> <mi>d</mi> <mn>0</mn> </mrow> </msub> </mrow> </mfrac> <mfrac> <mrow> <mi>a</mi> <mi>T</mi> <mi>s</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <mi>T</mi> <mi>s</mi> <mo>+</mo> <mn>1</mn> </mrow> </mfrac> <msub> <mi>u</mi> <mrow> <mi>e</mi> <mi>r</mi> <mi>r</mi> </mrow> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> </mrow>Wherein,isqc(s) it is the current feed-forward compensation rate of traction convertor, s is complex frequency, and K is that busbar voltage vibrates rejection coefficient, TrefTorque, n are given for motorpFor motor number of pole-pairs, ΨRrefMagnetic linkage, U are given for motord0For busbar voltage filter value, ψmFor electricity Flow the leading phase needed for feedforward control compensation rate, ωmAngular frequency, u are vibrated for busbar voltageerr(s) it is the vibration of busbar voltage Component.
- 8. device according to claim 7, it is characterised in that described device also includes：Detection module, whether the fluctuation for the actual torque of detection motor in real time is in default allowed band, if not permitting Perhaps in the range of, then K, ψ are adjustedmAnd ωmIn any one or more parameter value.
- A kind of 9. trailer system, it is characterised in that including：Suppression traction convertor as any one of claim 5-8 Device, traction convertor and the motor of busbar voltage vibration；The input of the device for suppressing the vibration of traction convertor busbar voltage and the input of the traction convertor are with connecing Touch net and connect, the contact net is used to provide the traction convertor busbar voltage；The suppression traction convertor busbar voltage The output end of the device of vibration connects with the input of the traction convertor, the output end of the traction convertor and the electricity The input of the input connection of machine, the output end of the motor and the device for suppressing the vibration of traction convertor busbar voltage Connection.
- 10. trailer system according to claim 9, it is characterised in that the system also includes：It is arranged on the contact net LC resonance filters between the traction convertor；The input of the LC resonance filters is connected with contact net, and the output end of the LC resonance filters becomes with the traction The input for flowing device connects with the input of the device of the suppression traction convertor busbar voltage vibration.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710538705.2A CN107370163A (en) | 2017-07-04 | 2017-07-04 | Suppress the method, apparatus and trailer system of traction convertor DC bus-bar voltage vibration |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710538705.2A CN107370163A (en) | 2017-07-04 | 2017-07-04 | Suppress the method, apparatus and trailer system of traction convertor DC bus-bar voltage vibration |
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| CN107612449A (en) * | 2017-09-06 | 2018-01-19 | 西南交通大学 | Metro traction current transformer DC side oscillation suppression method based on front feedback voltage compensation |
| CN108879782A (en) * | 2018-08-01 | 2018-11-23 | 国网重庆市电力公司电力科学研究院 | Gird-connected inverter optimal control method based on double-smoothing voltage feed-forward control |
| CN109742750A (en) * | 2019-01-16 | 2019-05-10 | 南京亚派科技股份有限公司 | A kind of method that subway can present inhibition direct current oscillation overcurrent impact when device exits |
| CN110296065A (en) * | 2019-07-15 | 2019-10-01 | 深圳市锐钜科技有限公司 | A kind of compressor torque compensation method inhibiting DC bus-bar voltage fluctuation |
| CN111953251A (en) * | 2020-08-12 | 2020-11-17 | 湘潭电机股份有限公司 | Traction converter direct-current side voltage stability control method |
| CN112737445A (en) * | 2020-12-25 | 2021-04-30 | 中车永济电机有限公司 | Control method for oscillation suppression of permanent magnet auxiliary synchronous reluctance motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107612449A (en) * | 2017-09-06 | 2018-01-19 | 西南交通大学 | Metro traction current transformer DC side oscillation suppression method based on front feedback voltage compensation |
| CN107612449B (en) * | 2017-09-06 | 2020-03-20 | 西南交通大学 | Subway traction converter direct current side oscillation suppression method based on feedforward voltage compensation |
| CN108879782A (en) * | 2018-08-01 | 2018-11-23 | 国网重庆市电力公司电力科学研究院 | Gird-connected inverter optimal control method based on double-smoothing voltage feed-forward control |
| CN108879782B (en) * | 2018-08-01 | 2021-11-30 | 国网重庆市电力公司电力科学研究院 | Grid-connected inverter optimization control method based on dual-filtering power grid voltage feedforward |
| CN109742750A (en) * | 2019-01-16 | 2019-05-10 | 南京亚派科技股份有限公司 | A kind of method that subway can present inhibition direct current oscillation overcurrent impact when device exits |
| CN110296065A (en) * | 2019-07-15 | 2019-10-01 | 深圳市锐钜科技有限公司 | A kind of compressor torque compensation method inhibiting DC bus-bar voltage fluctuation |
| CN110296065B (en) * | 2019-07-15 | 2020-12-18 | 深圳市锐钜科技有限公司 | Compressor torque compensation method for inhibiting voltage fluctuation of direct-current bus |
| CN111953251A (en) * | 2020-08-12 | 2020-11-17 | 湘潭电机股份有限公司 | Traction converter direct-current side voltage stability control method |
| CN112737445A (en) * | 2020-12-25 | 2021-04-30 | 中车永济电机有限公司 | Control method for oscillation suppression of permanent magnet auxiliary synchronous reluctance motor |
| CN112737457A (en) * | 2020-12-25 | 2021-04-30 | 中车永济电机有限公司 | Stability control method of permanent magnet auxiliary synchronous reluctance motor |
| CN112737445B (en) * | 2020-12-25 | 2022-11-22 | 中车永济电机有限公司 | Control method for oscillation suppression of permanent magnet auxiliary synchronous reluctance motor |
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