CN107807295B - Simulation system of voltage response type three-phase permanent magnet synchronous motor - Google Patents
Simulation system of voltage response type three-phase permanent magnet synchronous motor Download PDFInfo
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- CN107807295B CN107807295B CN201711236478.4A CN201711236478A CN107807295B CN 107807295 B CN107807295 B CN 107807295B CN 201711236478 A CN201711236478 A CN 201711236478A CN 107807295 B CN107807295 B CN 107807295B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The invention provides a simulation system of a voltage response type three-phase permanent magnet synchronous motor, which comprises: the system comprises a three-phase DC/AC power electronic converter, a DC power supply port, a motor behavior processor and a voltage control link; the three-phase DC/AC power electronic converter is used for simulating the port voltage response of the three-phase permanent magnet synchronous motor when current is input and exchanging electric energy with an external motor driving system; the motor behavior processor is used for describing the electrical and mechanical behavior characteristics of the permanent magnet synchronous motor; and the voltage control link is used for controlling the output voltage of the alternating current end of the three-phase DC/AC converter by taking the port voltage signal of the permanent magnet synchronous motor calculated in the motor behavior processor as a reference. The invention can be directly connected with a real motor driving system and carries out electric energy exchange, effectively simulates the port voltage response of the three-phase permanent magnet synchronous motor when the motor driving system inputs current, realizes the full-electric motor driving test, saves the test cost and improves the test efficiency and the safety.
Description
Technical Field
The invention relates to the technical field of power electronics and motors, in particular to a voltage response type three-phase permanent magnet synchronous motor simulation system.
Background
Permanent Magnet Synchronous Motors (PMSM) and their associated drive systems are widely used in the fields of wind power generation, industrial control, electric vehicles, and other important electric energy conversion and electric power drive. In these applications, the power class and power density of permanent magnet synchronous motors are increasing and the load characteristics are becoming more and more complex. During design, research and development and factory debugging, a series of functional and reliable tests and verifications are often required to be performed on the permanent magnet synchronous motor and the driving system thereof.
The traditional permanent magnet synchronous motor testing method comprises a real permanent magnet synchronous motor and a motor drive matched with the real permanent magnet synchronous motor, and also comprises another set of counter-dragging motor system connected with a mechanical rotating shaft of the permanent magnet synchronous motor so as to apply load torque to the tested permanent magnet synchronous motor. When the motor testing method is faced with more and more complex operation conditions and higher reliability and functionality requirements, the traditional motor testing method has a series of limitations:
1. the complex, high-dynamic and long-time load torque characteristics of the towing motor system are difficult to simulate;
2. parameters of a test system, particularly motor characteristics, are difficult to freely change;
3. the mechanical link greatly increases the loss of the test system and brings the problems of test safety, accuracy and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a simulation system of a voltage response type three-phase permanent magnet synchronous motor.
The invention provides a three-phase permanent magnet synchronous motor simulation system, which comprises: the system comprises a three-phase DC/AC power electronic converter, a DC power supply port, a motor behavior processor and a voltage control link; wherein:
the three-phase DC/AC converter is used for simulating the voltage response characteristic of the three-phase permanent magnet synchronous motor under the action of input current of the motor driving system and exchanging electric energy with an external motor driving system through a three-phase alternating current power port (3ph-AC) of the simulation system;
the motor behavior processor is used for describing the electrical and mechanical behavior characteristics of the permanent magnet synchronous motor; according to the drive current (i) input by the drive systems) And an externally input load torque signal (T)load) Generating a port voltage response signal (u) of the simulated PMSMs) Speed signal (mechanical speed omega)mech) And motor rotor position signal (mechanical angle theta)mechAnd/or electrical angle thetae)；
The voltage control unit is used for generating a voltage response signal (u) generated by the motor behavior processors) Converted to device switching signals in the three-phase DC/AC converter to simulate the port voltage response of the permanent magnet synchronous machine at the three-phase AC power port (3 ph-AC).
Optionally, the three-phase DC/AC converter includes at least one set of DC ports and at least one set of three-phase AC ports, and has a DC/AC circuit topology structure formed by fully-controlled or semi-controlled power semiconductor devices; wherein:
the direct current end of the three-phase DC/AC converter forms a direct current power port of the analog system and is connected with a direct current power supply end; the alternating current end of the three-phase DC/AC converter directly forms an alternating current power port (3ph-AC) of the analog system, or forms the alternating current power port of the analog system through a three-phase transformer, and the alternating current power port is connected with an external motor driving system.
Optionally, the three-phase transformer is specifically configured to: converting the output voltage of the three-phase DC/AC power electronic converter or inhibiting zero sequence current of a three-phase alternating current end in the analog system;
the transformation ratio of windings on two sides of the three-phase transformer T is set to be any value according to needs, and the windings on two sides of the three-phase transformer T adopt any one of the following connection forms: y/delta type, delta/Y type, delta/delta type, Y/Y type, open type;
when the three-phase transformer is connected into the three-phase DC/AC power electronic converter, the current and the voltage of a three-phase current-intersecting end and the reference voltage generated by the motor behavior processor need to be converted to the primary side of the three-phase transformer so as to carry out control operation; or after control operation, converting the generated voltage reference set value of the three-phase DC/AC power electronic converter to the primary side of the three-phase transformer.
Optionally, the direct current power supply of the analog system adopts any one of the following power supply methods:
a DC voltage source;
a single-phase or three-phase alternating current power supply connected with the rectifier; the alternating current input end of the rectifier is connected with the single-phase or three-phase alternating current power supply through an optional transformer, and the rectifier leads out a direct current output end and outputs direct current;
the single-phase or three-phase alternating current power grid is connected with a rectifier, an alternating current input end of the rectifier is connected with the single-phase or three-phase alternating current power grid through an optional transformer, and a direct current output end of the rectifier is led out to output direct current;
the simulation system and the external motor driving system are mutually independent to supply power, or the simulation system and the external motor driving system share the same power supply to supply power.
The motor behavior processor is used for simulating the electrical and mechanical behavior characteristics of the three-phase permanent magnet synchronous motor or simulating the electrical and mechanical behavior characteristics of the three-phase permanent magnet synchronous generator; the system comprises five submodules of coordinate transformation, an electromagnetic equation, a torque equation, a motion equation and position conversion, wherein:
a three-phase current signal detected by the three-phase alternating current power port (3ph-AC) is input to a first input end of the motor behavior processor, a load torque signal of the simulation system is input to a second input end of the motor behavior processor, a voltage reference signal of the voltage control link is output to a first output end of the motor behavior processor, a simulated motor rotating speed signal is output to a second output end of the motor behavior processor, and a motor rotor position signal is output to a third output end of the motor behavior processor;
the first end of the coordinate transformation submodule forms a first input end of the motor behavior processor, the output end of the coordinate transformation submodule is divided into two branches, one branch is connected with the first end of the electromagnetic equation submodule, and the other branch is connected with the first end of the torque equation submodule; the second end of the electromagnetic equation submodule is input into the permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) The third end of the electromagnetic equation submodule inputs an electric rotating speed signal (omega) of the permanent magnet synchronous motore) The output end of the electromagnetic equation submodule forms a first output end of the motor behavior processor; the second end of the sub-module of the torque equation is input into the flux linkage amplitude (psi) of the permanent magnet synchronous motorf) The output end of the torque equation submodule is connected with the first end of the motion equation submodule; the second end of the motion equation submodule inputs a load torque signal (T) of the permanent magnet synchronous motorload) The output end of the motion equation submodule outputs the mechanical angular frequency (omega) of the permanent magnet synchronous motormech) And constitutes a second output of the motor behaviour processor; the output end of the motion equation submodule is divided into two branches, wherein one branch passes through the pole pair number (n) of the permanent magnet synchronous motorp) After gain, the other branch is connected with the third end of the electromagnetic equation submodule, and the other branch is connected with the first end of the position conversion submodule; the output end of the position conversion submodule outputs a rotor flux linkage of the permanent magnet synchronous motorPhase angle (theta)e) And mechanical phase angle (θ)mech) And forms a third output terminal of the motor behavior processor;
the coordinate transformation submodule is used for converting the three-phase current signals into any one coordinate system of a dq synchronous rotating coordinate system, an alpha beta two-phase static coordinate system and an abc three-phase static coordinate system;
the electromagnetic equation submodule is used for describing the electromagnetic characteristics of the permanent magnet synchronous motor: inputting the permanent magnet synchronous motor obtained by coordinate transformation into a stator current signal (i)s) Angular frequency (ω) of the permanent magnet synchronous motore) And permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) And the port voltage response (u) is converted into the port voltage response (u) of the permanent magnet synchronous motor through equation calculations)；
The torque equation submodule is used for describing the electromagnetic torque characteristics of the permanent magnet synchronous motor: inputting the permanent magnet synchronous motor obtained by coordinate transformation into a stator current signal (i)s) And permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) And the equivalent output electromagnetic torque (T) is converted into the equivalent output electromagnetic torque (T) of the permanent magnet synchronous motor through equation calculatione)；
The motion equation submodule is used for describing the mechanical characteristics of the permanent magnet synchronous motor: an electromagnetic torque (T) to be equivalently output by the permanent magnet synchronous motore) Load torque (T) of the permanent magnet synchronous motorload) And the mechanical angular frequency (omega) is converted into the mechanical angular frequency (omega) of the permanent magnet synchronous motor through equation calculationmech)；
The position conversion submodule is used for solving the positions of the rotor and the flux linkage of the permanent magnet synchronous motor: the mechanical angular frequency (omega) of the permanent magnet synchronous motormech) And the phase angle (theta) of the rotor flux linkage of the permanent magnet synchronous motor is converted into the phase angle (theta) of the rotor flux linkage of the permanent magnet synchronous motor through equation calculatione) And a mechanical phase angle (theta)mech)；
Optionally, in the position conversion submodule, the mechanical angle θ may be adopted simultaneouslymechAnd electrical angle thetaeAs output signals, or using only the mechanical angle thetamechOr electrical angle thetaeOne of which serves as an output signal; optionally, to avoid saturation of data storage, the mechanical angle θ is setmechAnd electrical angle thetaeThe remainder operation is performed on 2 pi (radian, 360 °) and converted into periodically repeated numerical values in the interval of 0,2 pi (0 °,360 °).
The first end of the voltage control link is connected with the first output end of the motor behavior processor, and the second end of the voltage control link inputs a permanent magnet flux linkage position signal of the permanent magnet synchronous motor; and a first end input signal of the voltage control link generates a switching signal of a semiconductor device in the three-phase DC/AC power electronic converter through control calculation, coordinate transformation and pulse width modulation, and the switching signal is further used for controlling the voltage of an alternating current output end of the three-phase DC/AC power electronic converter.
Alternatively, all the above calculations involving current and voltage are performed in dq synchronous rotating coordinate system, or α β two-phase stationary coordinate system, or abc three-phase stationary coordinate system.
Alternatively, the motor behavior processor and the voltage control unit may be implemented by a microprocessor such as a Digital Signal Processor (DSP), an analog circuit, a digital circuit, or other equivalent software and hardware.
Compared with the prior art, the invention has the following beneficial effects:
1. the voltage response type three-phase permanent magnet synchronous motor simulation system provided by the invention can generate voltage response similar to that of a permanent magnet synchronous motor according to the input current of the motor driving system to the permanent magnet synchronous motor, so as to realize the simulation of the dynamic, static electric and mechanical behaviors of the permanent magnet synchronous motor at a power level; and the simulation system can be directly connected with a real motor driving system on the circuit and control level through an alternating current power port and a direct current power port and performs electric energy exchange to replace an actual permanent magnet synchronous motor.
2. The voltage response type three-phase permanent magnet synchronous motor simulation system provided by the invention has the advantages that the output voltage response is basically the same as that when the actual permanent magnet synchronous motor is connected, so that the voltage response type three-phase permanent magnet synchronous motor simulation system can be conveniently used for reliability analysis, functional test and other related research experiments of motor driving system components.
3. According to the voltage response type three-phase permanent magnet synchronous motor simulation system provided by the invention, when the direct current power supply end and the motor driving system share the direct current power supply for supplying power or share the alternating current power supply/power grid for supplying power through rectification, most electric power circulates in the whole circuit system, only electric loss power is consumed, and compared with the actual permanent magnet synchronous motor and mechanical load, the consumed energy is obviously reduced.
4. According to the voltage response type three-phase permanent magnet synchronous motor simulation system provided by the invention, the mechanical load is input in the form of a load torque signal, the load setting is flexible and free, the actual mechanical load can be avoided, the full-electric motor drive test system is realized, the test cost is saved, and the test efficiency and the safety are improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a voltage response type three-phase permanent magnet synchronous motor simulation system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a voltage response type three-phase permanent magnet synchronous motor simulation system according to a second embodiment of the present invention;
FIG. 3 is a schematic block diagram of a motor drive system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a three-phase DC/AC power electronic converter topology according to an embodiment of the present invention;
fig. 5 is a schematic view of a topology of an alternative passive electrical impedance network in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a first power supply mode of the motor driving system according to the embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a second power supply mode of the motor driving system according to the embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a third power supply method of the motor driving system according to the embodiment of the present invention;
FIG. 9 is a schematic structural diagram illustrating a fourth power supply method of the motor driving system according to the embodiment of the present invention;
FIG. 10 is a schematic structural diagram illustrating a fifth power supply mode of the motor driving system according to the present invention;
FIG. 11 is a block diagram of the calculation of sub-modules of the electromagnetic equations in one embodiment of the present invention;
FIG. 12 is a block diagram illustrating the calculation of a sub-module of the torque equation in one embodiment of the present invention;
FIG. 13 is a block diagram illustrating the computation of a motion equation submodule according to an embodiment of the present invention;
FIG. 14 is a block diagram illustrating the computation of a position translation sub-module in accordance with an embodiment of the present invention;
fig. 15 is a schematic diagram of a voltage control procedure according to an embodiment of the present invention.
In the figure:
1-three-phase DC/AC power electronic converter
Direct current end of 11-three-phase DC/AC power electronic converter
AC terminal of 12-three-phase DC/AC power electronic converter
2-D.C. power supply
21-Motor analog system DC port (DC Supply)
22-Motor drive system DC Port (DCSupply 1)
23-a first alternating voltage source or grid (single or three phase);
24-a second alternating voltage source or grid (single or three phase);
25-first AC/DC rectifier
26-second AC/DC rectifier
27-first direct voltage source
28-second DC Voltage Source
3-motor behavior processor
31-coordinate transformation
32-electromagnetic equation
33-torque equation
34-equation of motion
35-position conversion
4-Voltage control Link
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Specifically, as shown in the embodiment in fig. 1, the present invention provides a simulation system of a voltage response type three-phase permanent magnet synchronous motor, which comprises the following components: the system comprises a three-phase DC/AC power electronic converter 1, a direct current power supply 2, a motor behavior processor 3 and a voltage control link 4. It should be noted that, in fig. 1, auxiliary circuits and software modules are omitted, and addition of conventional circuit modules to the embodiments provided by the present invention also belongs to the essence of the present invention.
The three-phase DC/AC power electronic converter can adopt any three-phase DC/AC topological structure including two levels (as shown in figure 4), and the semiconductor switching devices can be selected from full-control type or semi-control type power devices such as IGBTs, MOSFETs and the like.
The three-phase DC/AC power electronic converter 1 may form an AC power port (3ph-AC) of the analog system via a three-phase transformer, which is specifically configured to: converting the output voltage grade of the three-phase DC/AC converter or inhibiting zero sequence current of a three-phase alternating current end in the analog system;
the transformation ratio of windings on two sides of the three-phase transformer T can be set to any value according to requirements, and the windings on two sides of the three-phase transformer T adopt any one of the following connection forms: y/delta type, delta/Y type, delta/delta type, Y/Y type, open type;
when the three-phase transformer is connected to the three-phase DC/AC power electronic converter 1, the current and voltage at the three-phase current-intersecting end and the reference voltage generated by the motor behavior processor need to be converted to the primary side of the three-phase transformer for control operation; or after control operation, converting the generated voltage reference set value of the three-phase DC/AC power electronic converter to the primary side of the three-phase transformer.
The three-phase DC/AC power electronic converter 1 may constitute an alternating current power port (3ph-AC) of the simulation system via a passive electrical impedance network, which is specifically configured to: controlling the voltage of a three-phase port of the simulated permanent magnet synchronous motor by matching with the three-phase DC/AC converter, or reducing higher harmonics in the voltage of the three-phase port;
the passive electrical impedance network is composed of one or more passive elements such as a resistor R, an inductor L, a capacitor C and the like, and is provided with at least one group of three-phase input ends and at least one group of three-phase output ends; the passive electrical impedance network takes the form of a circuit topology including, but not limited to, fig. 5(LC filter);
when the passive electrical impedance network is connected to the three-phase DC/AC power electronic converter, the voltage control link needs to adopt a corresponding control strategy, as shown in an embodiment shown in fig. 2, and when the passive electrical impedance network adopts a topological structure of an LC filter, the voltage control link can correspondingly adopt a closed-loop voltage control method.
The direct current power supply 2 of the analog system adopts any one of the following power supply modes:
a DC voltage source;
a single-phase or three-phase alternating current power supply connected with the rectifier; the alternating current input end of the rectifier is connected with the single-phase or three-phase alternating current power supply through an optional transformer, and the rectifier leads out a direct current output end and outputs direct current;
the single-phase or three-phase alternating current power grid is connected with a rectifier, an alternating current input end of the rectifier is connected with the single-phase or three-phase alternating current power grid through an optional transformer, and a direct current output end of the rectifier is led out to output direct current;
the simulation system and the external motor driving system are mutually independent to supply power, or the simulation system and the external motor driving system share the same power supply to supply power; embodiments of the dc power supply 2 include, but are not limited to, the embodiments described in fig. 6, 7, 8, 9, 10.
The following description will be made of the details of the simulation system of the voltage response type three-phase permanent magnet synchronous motor in dq synchronous rotation coordinate system, taking the embodiment described in fig. 3 as an example.
Specifically, the motor behavior processor 3, in addition to the coordinate transformation 31 of the assist property, includes an electromagnetic equation 32, a torque equation 33, a motion equation 34, and a position conversion 35, where:
in the first step, the three-phase stator current (i) of the motor simulation system is detected through a sampling circuits) Then, via the coordinate conversion submodule 31, the dq-axis component i of the three-phase ac terminal voltage is obtainedsdAnd isqTo the electromagnetic equation submodule 32 in the motor behaviour processor 3;
secondly, the voltage and flux linkage equation of the permanent magnet synchronous motor under the dq coordinate system can be organized as follows:
the symbol amounts in the formulas (1) and (2) are respectively: simulated PMSM port voltage (u)s) Component u in dq axisdAnd uqStator current (i) of the simulated PMSMs) Component i in dq axisdAnd iqComponent psi of the simulated permanent magnet synchronous motor stator winding total flux linkage on the dq axisdAnd psiqResistance R in stator winding of simulated permanent magnet synchronous motorsAnd the component L of the three-phase inductance in the stator winding of the simulated permanent magnet synchronous motor after dq coordinate transformationdAnd LqElectrical angular frequency omega of the rotor flux linkage rotation of the simulated PMSMeAnd the flux linkage amplitude of the simulated permanent magnet of the permanent magnet synchronous motor rotorThe value psif。
Therefore, the calculation block diagram of the sub-module of the electromagnetic equation shown in FIG. 11 can be designed: the sub-module of the electromagnetic equation inputs a stator current signal (i) of the permanent magnet synchronous motor obtained by coordinate transformations) Dq axis component i ofsdAnd isqAngular frequency (ω) of said permanent magnet synchronous machinee) And permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) And the port voltage response (u) is converted into the port voltage response (u) of the permanent magnet synchronous motor through equation calculations) Dq axis component u ofsdAnd usq。
Thirdly, designing a calculation block diagram of a torque equation submodule shown in fig. 12 according to a torque equation of the permanent magnet synchronous motor: inputting the permanent magnet synchronous motor obtained by coordinate transformation into a stator current signal (i)s) Dq axis component i ofsdAnd isqAnd a permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) And calculating and converting the electromagnetic torque (T) into the electromagnetic torque (T) output by the permanent magnet synchronous motor at the same stator current through an equatione)。
Fourthly, designing a motion equation submodule calculation block diagram shown in fig. 13 according to the motion equation of the permanent magnet synchronous motor: an electromagnetic torque (T) to be equivalently output by the permanent magnet synchronous motore) Load torque (T) of the permanent magnet synchronous motorload) And the mechanical angular frequency (omega) is converted into the mechanical angular frequency (omega) of the permanent magnet synchronous motor through equation calculationmech). In the figures, the meaning of the respective symbol amounts, in addition to the already described symbol amounts, is: mechanical load torque T carried by motorloadMoment of inertia J on the motor shaft and resistance coefficient F of the motor shaft.
Fifthly, designing a position conversion submodule calculation block diagram shown in fig. 14 according to a mathematical relation between the position quantities of the permanent magnet synchronous motor: the mechanical angular frequency (omega) of the permanent magnet synchronous motormech) And is converted into a rotor flux linkage phase angle (rotor flux linkage position, namely electrical angle) (theta) of the permanent magnet synchronous motor through equation calculatione) And the mechanical phase angle (rotor shaft position, i.e. mechanical angle) (theta)mech) (ii) a Optionally, to avoid data storage saturation, the machine is startedMechanical angle thetamechAnd electrical angle thetaeThe remainder operation is performed on 2 pi (radian, 360 °) and converted into periodically repeated numerical values in the interval of 0,2 pi (0 °,360 °).
In particular, a voltage control element 4 for applying a voltage response signal (u) generated by said motor behaviour processorm) Converting to device switching signals in the three-phase DC/AC converter to simulate a port voltage response of the PMSM at the three-phase AC power port; one embodiment of the present invention, as shown in fig. 15, adopts the open-loop control method in the voltage control unit 4 to apply the voltage response signal u generated by the motor behavior processor 3sDirectly generating a switching signal through a Pulse Width Modulation (PWM) technology to control the switching state of each switching device in the three-phase DC/AC converter 1, so that the AC output voltage u at a three-phase AC port (3ph-AC) and the port voltage response u of the simulated permanent magnet synchronous motorsAre approximately the same.
When the AC terminal 12 of the three-phase DC/AC converter is connected to a three-phase transformer, the voltage generated by the motor behavior processor needs to be referred to by a given usConverting to the primary side of the transformer to perform control operation; or after the control operation, converting a voltage reference signal of the power electronic converter generated by the control operation to the primary side of the transformer to control the on/off of the semiconductor devices in the three-phase DC/AC converter.
It should be noted that the motor behavior processor, the voltage control link, and all internal sub-modules may also be implemented by using other equivalent time domain and frequency domain expressions, and by using a microprocessor system such as a Digital Signal Processor (DSP), or an analog circuit, a digital circuit, or other equivalent software and hardware manners.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (5)
1. A simulation system of a voltage response type three-phase permanent magnet synchronous motor, comprising: the system comprises a three-phase DC/AC power electronic converter, a DC power supply port, a motor behavior processor and a voltage control link; wherein:
the three-phase DC/AC power electronic converter is used for simulating the voltage response characteristic of the three-phase permanent magnet synchronous motor under the action of input current of a motor driving system and exchanging electric energy with an external motor driving system through a three-phase alternating current power port;
the motor behavior processor is used for describing the electrical and mechanical behavior characteristics of the permanent magnet synchronous motor;
the voltage control link is used for converting a voltage response signal generated by the motor behavior processor into a device switching signal in the three-phase DC/AC power electronic converter so as to simulate a port voltage response of the permanent magnet synchronous motor at a three-phase alternating current port of the DC/AC power electronic converter;
a first input end of the motor behavior processor inputs a three-phase current signal detected by an alternating current power port of the simulation system, a second input end of the motor behavior processor inputs a load torque signal of the simulation system, a first output end of the motor behavior processor outputs a voltage reference signal of the voltage control link, a second output end of the motor behavior processor outputs a simulated motor rotating speed signal, and a third output end of the motor behavior processor outputs a motor rotor position signal;
wherein the motor behavior processor comprises: the system comprises a coordinate transformation submodule, an electromagnetic equation submodule, a torque equation submodule, a motion equation submodule and a position conversion submodule; the first end of the coordinate transformation submodule forms a first input end of the motor behavior processor, the output end of the coordinate transformation submodule is divided into two branches, one branch is connected with the first end of the electromagnetic equation submodule, and the other branch is connected with the first end of the torque equation submodule; the second end of the electromagnetic equation submodule inputs the flux linkage amplitude of a permanent magnet of the permanent magnet synchronous motor, the third end of the electromagnetic equation submodule inputs an electric rotating speed signal of the permanent magnet synchronous motor, and the output end of the electromagnetic equation submodule forms the first output end of the motor behavior processor; the second end of the torque equation submodule is input into the flux linkage amplitude of a permanent magnet of the permanent magnet synchronous motor, and the output end of the torque equation submodule is connected with the first end of the motion equation submodule; the second end of the motion equation submodule inputs a load torque signal of the permanent magnet synchronous motor; the output end of the motion equation submodule outputs the mechanical angular frequency of the permanent magnet synchronous motor and forms a second output end of the motor behavior processor; the output end of the motion equation submodule is divided into two branches, wherein one branch is connected with the third end of the electromagnetic equation submodule after the pole pair number of the permanent magnet synchronous motor is gained, and the other branch is connected with the first end of the position conversion submodule; the output end of the position conversion submodule outputs a rotor flux linkage phase angle and a mechanical phase angle of the permanent magnet synchronous motor and forms a third output end of the motor behavior processor;
the coordinate transformation submodule is used for converting the three-phase current signals into any one coordinate system of a dq synchronous rotating coordinate system, an alpha beta two-phase static coordinate system and an abc three-phase static coordinate system;
the electromagnetic equation submodule is used for describing the electromagnetic characteristics of the permanent magnet synchronous motor: inputting the permanent magnet synchronous motor obtained by coordinate transformation into a stator current signal (i)s) Angular frequency (ω) of the permanent magnet synchronous motore) And permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) And the port voltage response (u) is converted into the port voltage response (u) of the permanent magnet synchronous motor through equation calculations)；
The torque equation submodule is used for describing the electromagnetic torque characteristics of the permanent magnet synchronous motor: inputting the permanent magnet synchronous motor obtained by coordinate transformation into a stator current signal (i)s) And permanent magnet flux linkage amplitude (psi) of the permanent magnet synchronous motorf) And the equivalent output electromagnetic torque (T) is converted into the equivalent output electromagnetic torque (T) of the permanent magnet synchronous motor through equation calculatione)；
The motion equation submodule is used for describing the mechanical characteristics of the permanent magnet synchronous motor: an electromagnetic torque (T) to be equivalently output by the permanent magnet synchronous motore) Load torque (T) of the permanent magnet synchronous motorload) And the mechanical angular frequency (omega) is converted into the mechanical angular frequency (omega) of the permanent magnet synchronous motor through equation calculationmech)；
The position conversion submodule is used for solving the positions of the rotor and the flux linkage of the permanent magnet synchronous motor: the mechanical angular frequency (omega) of the permanent magnet synchronous motormech) And the phase angle (theta) of the rotor flux linkage of the permanent magnet synchronous motor is converted into the phase angle (theta) of the rotor flux linkage of the permanent magnet synchronous motor through equation calculatione) And a mechanical phase angle (theta)mech) (ii) a The position conversion submodule can adopt a mechanical angle (theta) at the same timemech) And rotor flux linkage phase angle (theta)e) As output signal, or using only mechanical angle (theta)mech) Or rotor flux linkage phase angle (theta)e) One of which serves as an output signal;
the first end of the voltage control link is connected with the first output end of the motor behavior processor, and the second end of the voltage control link inputs a permanent magnet flux linkage position signal of the permanent magnet synchronous motor; and a first end input signal of the voltage control link generates a switching signal of a semiconductor device in the three-phase DC/AC power electronic converter after control calculation, coordinate transformation and pulse width modulation, and the switching signal is further used for controlling the voltage of an alternating current output end of the three-phase DC/AC power electronic converter.
2. The simulation system of a voltage responsive three-phase permanent magnet synchronous motor according to claim 1, wherein:
the three-phase DC/AC power electronic converter comprises at least one group of direct current ports and at least one group of three-phase alternating current ports, and a DC/AC circuit topological structure formed by fully-controlled or semi-controlled power semiconductor devices; the direct current end of the three-phase DC/AC power electronic converter forms a direct current power port of the analog system and is connected with a direct current power supply port; the alternating current end of the three-phase DC/AC power electronic converter forms an alternating current power port of the analog system, or the alternating current end of the three-phase DC/AC power electronic converter forms the alternating current power port of the analog system after passing through a three-phase transformer, and the alternating current power port is connected with the motor driving system.
3. The simulation system of a voltage responsive three-phase permanent magnet synchronous motor according to claim 2, wherein:
the three-phase transformer is specifically configured to: converting the output voltage grade of the three-phase DC/AC power electronic converter, or inhibiting zero sequence current of a three-phase alternating current end in the analog system;
the transformation ratio of the windings on the two sides of the three-phase transformer is set to be any value according to needs, wherein the windings on the two sides of the three-phase transformer adopt any one of the following connection forms: y/delta type, delta/Y type, delta/delta type, Y/Y type, open type;
when the three-phase transformer is connected into the three-phase DC/AC power electronic converter, converting the reference voltage generated by the motor behavior processor to the primary side of the three-phase transformer to perform control operation; or after control operation, converting the generated voltage reference set value of the three-phase DC/AC power electronic converter to the primary side of the three-phase transformer so as to control the on/off of semiconductor devices in the three-phase DC/AC power electronic converter.
4. The simulation system of the voltage response type three-phase permanent magnet synchronous motor according to claim 1, wherein the direct current power supply of the simulation system adopts any one of the following power supply modes:
a DC voltage source;
a single-phase or three-phase alternating current power supply connected with the rectifier; the alternating current input end of the rectifier is connected with the single-phase or three-phase alternating current power supply through an optional transformer, and the rectifier leads out a direct current output end and outputs direct current;
the single-phase or three-phase alternating current power grid is connected with a rectifier, an alternating current input end of the rectifier is connected with the single-phase or three-phase alternating current power grid through an optional transformer, and a direct current output end of the rectifier is led out to output direct current;
the simulation system and the external motor driving system adopt mutually independent direct current sources for power supply, or the simulation system and the external motor driving system share the same direct current source for power supply.
5. The simulation system of a voltage responsive three-phase permanent magnet synchronous machine according to any one of claims 1 to 4, wherein: to avoid saturation of data storage, the mechanical angle (θ) is setmech) And rotor flux linkage phase angle (theta)e) And carrying out remainder operation on the 2 pi to convert the remainder operation into a periodically repeated numerical value in a [0,2 pi) interval.
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| CN1241840A (en) * | 1998-07-10 | 2000-01-19 | 松下电器产业株式会社 | Controlling apparatus for motor and motor unit with the same controlling apparatus |
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