CN107370428B - Zero-sequence current 2-degree-of-freedom PI control method for open-winding permanent magnet motor - Google Patents
Zero-sequence current 2-degree-of-freedom PI control method for open-winding permanent magnet motor Download PDFInfo
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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Abstract
The invention discloses a zero sequence current 2-degree-of-freedom PI control method for an open winding permanent magnet motor. And the zero-axis single-phase alternating current loop is expanded into a virtual three-phase alternating current loop system through delay, and the virtual three-phase alternating current loop system is transformed into a dq coordinate system, so that the conversion from alternating current quantity to direct current quantity is realized. The feedback controller adopts a 2-degree-of-freedom PI controller; the controller parameter has only one controller bandwidth; the invention overcomes the defects that the parameter setting of the PR controller in the zero-sequence current feedback control of the traditional open-winding permanent magnet motor is complex and the structure is complex in the common-mode voltage compensation method based on the phase-locked loop, and provides a novel controller with simpler and more reliable parameter setting.
Description
Technical Field
The invention relates to the field of motor systems and control, in particular to a zero-sequence current control method of an open-winding permanent magnet motor.
Background
the open-winding motor is formed by opening the neutral point of a traditional three-phase alternating current motor to form a winding open structure with two ports. The magnetic circuit and the structure of the motor are not changed, the open winding structure motor does not change the basic performance of the traditional motor, and because the constraint relation between the windings of the motor of each phase does not exist after the neutral point is opened, the windings of each phase are independent, so that the reliability of the motor body and the fault-tolerant capability of the motor driving system can be improved to a certain extent. The two ports of the open-winding motor can be respectively connected with the converters, and the converters at the two ports are coordinately controlled, so that each converter can bear half of the power, and the requirement of a high-power motor system on the converters is better met, therefore, the research of the open-winding motor control technology becomes an important expansion direction of the current alternating current motor research. At present, an open-winding permanent magnet motor driving system has become a new direction for motor system development because of the characteristics of high power density, high efficiency and high performance of the traditional permanent magnet motor and the advantages of the open-winding motor.
According to different power supply modes of converters connected to two ends of the winding, the open-winding permanent magnet motor driving system can be divided into a common direct current bus type with single power supply and an isolation type with double power supplies. Compared with an isolated structure, the common direct current bus structure is widely applied due to lower cost and smaller volume. In the structure, the converter, the motor and the direct current bus form a loop, and when the output voltage of the converter contains a common-mode component, zero-sequence current can be formed in the loop, which can cause damage to a motor shaft and a switching device, so that the suppression of the common-mode voltage is an important content in the control of the open-winding motor.
At present, a feedback-based control method is mostly adopted for zero-sequence current control of the open-winding permanent magnet motor, and a Proportional Resonance (PR) controller or a common-mode voltage compensation method based on a phase-locked loop (PLL) is mostly adopted for a controller. The PR controller needs more setting parameters and is complex, and a common-mode voltage compensation method based on the phase-locked loop needs to add an additional phase-locked loop on the basis of adding a zero-axis controller, so that the structure is complex. Therefore, the controller with simpler parameter setting research has important engineering application value.
Disclosure of Invention
The invention provides a zero-sequence current 2-degree-of-freedom PI control method for a permanent magnet motor, overcomes the defects of complex parameter setting of a PR controller in the zero-sequence current feedback control of the traditional open-winding permanent magnet motor and complex structure in a common-mode voltage compensation method based on a phase-locked loop, and provides a novel controller with simpler and more reliable parameter setting, which is described in detail in the following:
The zero-sequence current 2-degree-of-freedom PI control principle of the open-winding permanent magnet motor is that a zero-axis single-phase alternating-current loop is expanded into a virtual three-phase loop by delaying electrical angles of 120 degrees and 240 degrees, wherein in the virtual three-phase loop, an original zero-axis single-phase loop is a phase, and two phases obtained through delaying are used as a phase b and a phase c; transforming the virtual three-phase loop to a dq0 coordinate system through coordinate transformation to realize the conversion from alternating current to direct current;
Designing a 2-freedom-degree PI controller as a zero-axis controller, converting the output of the 2-freedom-degree PI controller into a three-phase static coordinate system to obtain 3 components of a, b and c axes, and applying the component of the a axis to a modulation link to realize the suppression of zero-sequence current;
The controller parameter of the 2-degree-of-freedom PI controller only has one controller bandwidth, and the parameter setting is easy;
The 2-degree-of-freedom PI controller is structurally as follows:
in the formula u0dq,refis output by a 2-degree-of-freedom PI controller; u'0dqIs the output of a traditional PI controller; k is a radical of1cIs a feedback coefficient; s is a laplace operator; i.e. i0dq,refIs a zero-axis loop reference value under a dq coordinate system; i.e. i0dqIs a feedback value of a zero axis loop under a dq coordinate system; alpha is alphacis the controller bandwidth; omega3rthird harmonic electrical angular velocity; l is0A zero axis inductance; raIs a virtual active resistor.
the controller further includes:
And respectively compensating the calculation delay time of the sampling period and the PWM modulation delay time of half the sampling period in the alpha beta coordinate system.
the technical scheme provided by the invention has the beneficial effects that:
1. The zero sequence current feedback controller in the invention adopts a 2-degree-of-freedom PI (2DOF-PI) controller, and the controller parameter is only one (the controller bandwidth alpha)c) Moreover, a phase-locked loop link is not required to be added, so that the structure and the parameter setting process of the controller are simplified;
2. The defects that parameter setting of a PR controller in zero-sequence current feedback control of a traditional open-winding permanent magnet motor is complex and the structure is complex in a common-mode voltage compensation method based on a phase-locked loop are overcome, and various requirements in practical application are met.
Drawings
FIG. 1 is a diagram of a zero-sequence current 2-degree-of-freedom PI control structure of an open-winding permanent magnet motor;
Wherein, the virtual frame is the zero sequence loop controller.
In the figure, thetamIs the rotor mechanical angle; theta is the fundamental electrical angle; omegamThe mechanical rotating speed is adopted; omegam,refGiving a reference mechanical rotating speed for the outside, and performing feedback control through an outer speed loop; output i from the outer ring of the rotational speedq,refAs a given value of q-axis of current inner loop, d-axis given value id,refIs given from the outside, and id,ref＝0。
Passing an electric currentInner loop feedback control is carried out, and reference voltage u under alpha and beta coordinates is obtained after coordinate transformationα,refAnd uβ,refOutput common mode voltage reference u by matching with zero sequence current controller0Generating a switching signal S after space vector modulationabc,1And Sabc,2the control of the motor can be realized by acting on the converter.
Fig. 2 is a zero sequence loop equivalent circuit diagram;
In the figure, e0Is the motor triple back-emf u01and u02common-mode voltages, i, generated by two converters0is a zero sequence current.
Fig. 3 is an expanded virtual three-phase circuit equivalent circuit diagram.
In the figure, the upper dashed box represents the original zero axis as the phase a of the virtual three-phase loop, and the lower dashed box represents the phase b and the phase c of the virtual zero-sequence loop system obtained after the delay processing.
u0a、i0a、e0aRespectively outputting common-mode voltage u for the converter in the original zero-sequence loop0Zero sequence current i0Triple counter potential e0. For convenience of expression, u is used below0、i0、e0And (4) showing.
u0b、i0b、e0bAre each u0、i0、e0Obtained by delaying the electrical angle by 120 degrees; u. of0c、i0c、e0cAre each u0、i0、e0Delayed by 240 electrical degrees.
Detailed Description
in order to make the objects, technical solutions and advantages of the present invention more clear, the following further detailed description of the embodiments of the present invention:
Example 1
The embodiment of the invention provides a common direct current bus type open winding permanent magnet motor control system, which adopts three closed-loop control, namely a speed outer loop, a current inner loop and a zero-sequence current control loop. The three control rings all adopt 2-DOF PI (2-DOF PI) controllers, wherein the speed outer ring and the current inner ring are designed and set by referring to the prior documents, and the design and the setting are not explained in the patent. The zero sequence current control loop is the core of the embodiment of the present invention, and the embodiment of the present invention describes this in detail.
When only the third counter potential in the motor is considered, the zero sequence current in the motor mainly contains the third harmonic. In the embodiment of the present invention, after obtaining the zero-sequence current, the sampled zero-sequence current is delayed by a certain time delay (the specific delay time is calculated from the angular velocity of the rotor, which is not limited in the embodiment of the present invention), and the electrical angle of 120 ° and the electrical angle of 240 ° are respectively delayed, so that the collected zero-sequence current and the current obtained through time delay can form a three-phase alternating current, and the same processing is performed on the three-time back electromotive force in the same manner, that is, the single-phase zero-sequence loop is expanded to a virtual three-phase loop system.
And converting the virtual three-phase loop system into a two-phase rotating coordinate system (namely a dq coordinate system, wherein the rotating angular speed of the coordinate system is 3 times of the electrical angular speed of the fundamental wave) through coordinate conversion (the conversion angle is 3 times of the electrical angle of the fundamental wave), so that the conversion of the alternating current quantity of the zero-sequence loop into the direct current quantity is realized.
The zero sequence loop controller adopts a PI controller with 2 degrees of freedom, and can realize the control of the zero sequence current when the zero sequence current reference value is set to be 0. In particular, when other harmonics in the motor are to be considered, only the delay time needs to be changed.
In summary, in the embodiment of the present invention, by using the 2-degree-of-freedom PI controller, the controller parameter is only one (controller bandwidth α)c) And a phase-locked loop link is not required to be added, so that the structure of the controller and the parameter setting process are simplified.
Example 2
The scheme of example 1 is further described below with reference to fig. 1 to 3, and specific calculation formulas, and is described in detail below:
Fig. 1 shows a structure diagram of a zero-sequence current 2-degree-of-freedom PI control structure of an open-winding permanent magnet motor, wherein a speed outer ring and a current inner ring are controlled by adopting 2-DOF PI control. The design of the speed outer ring and the current inner ring and the parameter setting method refer to the traditional motor closed-loop control design method, and a large number of documents are used for detailed description, so that the embodiment of the invention is not repeated. The following focuses on the design of the zero-sequence loop controller:
When the double converters supply power, the common-mode voltages output by the two converters are set to be u respectively01、u02The common-mode voltage u applied to the motor0Comprises the following steps:
u0＝u01-u02 (1)
When only the third harmonic of the counter-potential is considered, the third counter-potential e0The expression is as follows:
e0＝-ω3rψf3sin(3θ) (2)
in the formula, Ψf3Is the third harmonic component of the rotor flux linkage, omega3rIs the third harmonic electrical angular velocity and theta is the fundamental electrical angle. Wherein, ω is3rAnd fundamental electrical angular velocity omegarthe relationship of (1) is:
ω3r＝3ωr (3)
The zero-sequence loop equation at this time is as follows:
Wherein R is armature resistance, L0Is a zero sequence loop inductance, i0Is zero sequence loop current. The zero sequence loop can be represented as shown in fig. 2.
in order to convert the zero-sequence loop current into direct current, the zero-sequence loop is extended into a virtual three-phase loop system through time delay, and the method specifically comprises the following operations:
Measuring the obtained zero sequence current i0A phase i as an extended three phase current0aDelaying the phase a current by 120 degrees and 240 degrees respectively to obtain other two-phase current i0bAnd i0cthus, the current of the virtual three-phase loop system is obtained. In the same way, the third counter potential e0a-phase e as extended three-phase voltage0aRespectively delaying the electrical angles of 120 degrees and 240 degrees to obtain other two phases e0bAnd e0cthus forming a virtual three-phase loop system, e.g.as shown in fig. 3.
and transforming the obtained virtual three-phase loop system to a dq coordinate system, so that the conversion from alternating current quantity to direct current quantity is realized. Delay time t used in constructing virtual three-phase loop systembAnd tc(delay 120 corresponds to tbThe sum of the retardation of 240 corresponds to tc) According to the rotational speed omega of the rotormObtaining, namely:
in the formula, npIs the number of pole pairs. And (3) converting the expanded virtual three-phase loop system into dq coordinates, wherein the mathematical model is as follows:
In the formula i0dqIs zero sequence current in dq coordinate, u0dqcommon mode voltage in dq coordinate, L0Zero axis inductance, and R stator resistance.
taking the counter potential in the virtual three-phase loop system as the input disturbance E of the zero axis, the following are provided:
E＝jω3rψf3 (7)
The transfer function of the virtual three-phase loop system obtained from equation (6) can be expressed as:
Wherein s is a laplace operator.
The 2DOF-PI controller is added with a feedback link on the basis of a traditional PI controller. The expression for the 2-DOF PI is:
Wherein u is0dq,refIs the output of the 2DOF-PI controller; u'0dqIs the output of a traditional PI controller; k is a radical of1cis a feedback coefficient; k is a radical ofpProportional coefficient of PI controller; k is a radical ofiIs the integral coefficient of the PI controller; i.e. i0dq,refAnd the zero sequence current reference value is the zero sequence current reference value under the dq coordinate system.
From the above formula (9), i0dqGenerating u0dqTime a traditional PI controller was used.
When the zero sequence loop adopts 2-DOF PI control, a controller design method is introduced as follows:
As can be seen from equation (6) for the virtual three-phase loop system, there is coupling in the dq axes. Introducing current feedback control and decoupling the dq axis (i.e. eliminating the complex coefficient part of the equation), setting:
u0dq＝u'0dq+(jω3rL0-Ra)i0dq (10)
In the formula, RaIs the introduced virtual active resistance. Substituting equation (10) into the virtual three-phase loop system equation (6) yields:
In the above equation (11), no complex coefficient exists in the current, that is, the dq-axis current is decoupled. When disturbance is given as input E, u is now0dqto i0dqThe transfer function of (d) can be expressed as:
From the above formula (9), i0dqGenerating u0dqWhen using a conventional PI controller, i.e.:
Let the controller bandwidth be alphacAnd then:
And:
Therefore, the control structure that can obtain the 2-DOF PI is as follows:
In the formula u0dq,refIs the 2-DOF PI controller output.
In practical systems, digital control is usually used, and when the sampling period of the control system is TsWhen the system has a time TdControl delay (the delay time is composed of two parts, i.e. time T)sIs 0.5TsPWM modulation delay of (1), at time Td＝1.5Ts) To improve the control performance of the control system, this delay needs to be compensated for. The common compensation method is to perform compensation under two stationary coordinate systems (i.e., α β coordinate systems).
Will u0dq,refTransformation into the α β coordinate system, taking into account the time compensation (delay time T)d＝1.5Ts) In time, there are:
in the formula u0αβ,refis a reference voltage in α β coordinates.
will u0αβ,refWhen the three-phase static coordinate is converted, the a-phase voltage is recorded as u0aWill u0aAs output (u) of the zero sequence controller0) The closed-loop control of the zero-sequence current can be realized by acting on the PWM (pulse width modulation) link (the PWM strategy can refer to relevant documents[1]And will not be described in detail herein).
In summary, in the embodiment of the present invention, by using the 2-degree-of-freedom PI controller, the controller parameter is only one (controller bandwidth α)c) And a phase-locked loop link is not required to be added, so that the structure of the controller and the parameter setting process are simplified.
Reference to the literature
[1]Zhou Y,Nian H.Zero-Sequence Current Suppression Strategy of Open-Winding PMSG System With Common DC Bus Based on Zero Vector Redistribution[J].IEEE Transactions on Industrial Electronics,2015,62(6):3399-3408.
in the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (2)
1. A zero sequence current 2 degree of freedom PI control method of an open winding permanent magnet motor is characterized in that,
The method comprises the steps that an original zero-sequence loop of the open-winding permanent magnet motor is expanded into a virtual three-phase loop by delaying electrical angles of 120 degrees and 240 degrees, wherein the original zero-sequence loop is a phase a, and two phases obtained through delaying are used as a phase b and a phase c; transforming the virtual three-phase loop to a dq0 coordinate system through coordinate transformation to realize the conversion from alternating current to direct current;
Designing a 2-freedom-degree PI controller as a zero-sequence current controller, converting the output of the 2-freedom-degree PI controller into a three-phase static coordinate system to obtain 3 components of a shaft a, a shaft b and a shaft c, and applying the component of the shaft a to a modulation link to realize the suppression of zero-sequence current;
The controller parameter of the 2-degree-of-freedom PI controller only has one controller bandwidth, and the parameter setting is easy;
The 2-degree-of-freedom PI controller is structurally as follows:
In the formula u0dq,refIs output by a 2-degree-of-freedom PI controller; u'0dqis the output of a traditional PI controller; k is a radical of1cIs a feedback coefficient; s is a laplace operator; i.e. i0dq,refis a zero sequence loop reference value under a dq coordinate system; i.e. i0dqIs a zero sequence loop feedback value under the dq coordinate system; alpha is alphacIs the controller bandwidth; omega3rThird harmonic electrical angular velocity; l is0is a zero sequence inductance; rais a virtual active resistor.
2. The open-winding permanent magnet motor zero-sequence current 2-degree-of-freedom PI control method according to claim 1, wherein the controller further comprises:
and respectively compensating the calculation delay time of the sampling period and the PWM modulation delay time of half the sampling period in the alpha beta coordinate system.
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| CN109672384B (en) * | 2018-12-26 | 2020-10-23 | 天津大学 | Design method of open winding permanent magnet synchronous motor prediction fault-tolerant controller |
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