CN107994792B - Double-permanent-magnet synchronous motor control inverter and compensation control method - Google Patents
Double-permanent-magnet synchronous motor control inverter and compensation control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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Abstract
The invention relates to a double-permanent magnet synchronous motor control inverter and a compensation control method, which comprise a controller, three-phase permanent magnet motors M1 and M2, and inverter bridge arms L1, L2, L4 and L5 and a capacitor bridge arm L3 which are all connected in parallel on a common direct current power supply; the first phase winding of M1 is connected with the midpoint of L1; the second phase winding of M1 is connected with the midpoint of L2; the third phase winding of M1 is connected with the midpoint of L3; the first phase winding of M2 is connected with the midpoint of L3; the second phase winding of M2 is connected with the midpoint of L4; the third phase winding of M2 is connected to the midpoint of L5. According to the invention, by adding the charging circuit of the direct current bus capacitor, after the fact that the voltage unbalance degree of the two capacitors exceeds a certain threshold value is detected, the redundant bridge arm circuits are used for charging the corresponding capacitors, the potential midpoint is moved towards the balanced direction, the offset of the potential midpoint is clamped within a certain range, and the voltage unbalance degree of the two capacitors connected in series on the direct current bus is inhibited.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a double-permanent-magnet synchronous motor control inverter and a compensation control method.
Background
With the rapid development of power electronics, control theory and computer technology and the continuous improvement of the manufacturing level of motor technology, the application field of the dual-motor system is also continuously expanded. Modern dual-motor servo systems have been gradually expanded from the early-stage more devices applied to the national defense field to the industrial field and the civil field, such as: the high-precision numerical control lathe, the robot, the ship, the electric automobile and the like.
As is known, in an ac motor driving system, power electronics in a power converter are the most likely to fail, and once a switching device fails, the entire control system loses its normal operation capability, and at this time, an effective fault-tolerant operation scheme can ensure that a controller has an uninterrupted stable operation capability when a failure occurs, ensure safe operation in important occasions such as aerospace and military fields, avoid catastrophic consequences, and reduce economic loss in general civil occasions. The existing fault-tolerant operation scheme of the driver mainly comprises a switching device redundancy mode, a two-phase four-switch operation mode, a three-phase four-switch operation mode and the like, wherein a topology reconstruction mode of the three-phase four-switch operation mode is the simplest and the simplest, a motor winding connection method is unchanged, the requirement on the capacity of the switching device is not high, vector control is easy to realize, and the cost is the smallest, so that the fault-tolerant operation scheme is widely adopted as a main loop of fault-tolerant operation.
In the aspect of three-phase four-switch fault-tolerant control, domestic researchers mainly develop researches on a three-phase four-switch system of an induction motor and other algorithm control, and the researches on the problem of influence of unbalanced direct-current bus capacitor voltage in the three-phase four-switch control system of the permanent magnet synchronous motor on motor operation are rare. As shown in fig. 1, which is a structure diagram of a single three-phase four-switch inverter of a three-phase permanent magnet synchronous motor, when the three-phase four-switch inverter supplies power, a motor winding corresponding to an inverter capacitor bridge supplies power through a midpoint of two series capacitors on a dc bus, and charge and discharge states of the two capacitors are opposite, which inevitably causes voltage imbalance between the two capacitors. When the motor is started or operates with a load, the motor phase current is large, the capacitor is charged and discharged violently, so that the unbalance degree is high, the sustainability and the control accuracy of the power supply of the three-phase four-switch inverter are affected, and the operation failure is caused in serious cases, so that the research on the motor phase current is needed.
When the three-phase six-switch inverter supplies power, each phase winding acquires electric quantity from the direct current bus, and the direct current bus can acquire continuous electric quantity from the rectifier main circuit, so that the voltage of the direct current bus and the voltage of the capacitor cannot be decreased without limitation even though the voltage of the direct current bus and the voltage of the capacitor are decreased to some extent when the motor is started. However, under the condition of power supply of the three-phase four-switch inverter, the only source of current flowing through the motor winding corresponding to the inverter fault is the midpoint of the two series capacitors on the direct-current bus. The amount of electricity stored in the capacitor is very limited and does not have a continuous charging and discharging capability. Therefore, the unbalance can not be suppressed by adjusting the control strategy on the software, and the improvement must be made in the hardware circuit, i.e. the hardware clamping method must be combined to control the unbalance.
In a three-phase four-switch control system, the voltages on the bus series capacitors C1 and C2 are generally considered to be equal in theoretical analysis, but the ideal situation does not exist in an actual system, namely the voltage imbalance problem of the direct-current bus voltage capacitors (capacitors C1 and C2) exists in the actual system, namely the voltages on C1 and C2 fluctuate, and in turn, the voltage fluctuations on C1 and C2 destroy the balance of three-phase current; the factors influencing the voltage balance of the direct current bus capacitor mainly comprise the following three points:
(1) charging and discharging a bus capacitor by phase current;
(2) the actual capacitance values of the two bus capacitors may not be exactly the same;
(3) the rectifying circuit charges and discharges a bus capacitor.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a double-permanent magnet synchronous motor control inverter and a compensation control method, which can effectively reduce the influence of the unbalanced voltage of a direct current bus capacitor on the operation of a motor and enhance the reliability and safety of a double three-phase permanent magnet synchronous motor.
In order to achieve the purpose, the invention adopts the following technical scheme:
the three-phase direct-current motor comprises a controller, a three-phase permanent-magnet motor M1, a three-phase permanent-magnet motor M2, an inverter bridge arm L1, an inverter bridge arm L2, an inverter bridge arm L4, an inverter bridge arm L5 and a capacitor bridge arm L3, wherein the inverter bridge arm L2, the inverter bridge arm L4, the capacitor bridge arm L3 and the inverter bridge arm L2;
a first phase winding A of the three-phase permanent magnet motor M1 is connected with the midpoint of an inverter bridge arm L1; a second phase winding B of the three-phase permanent magnet motor M1 is connected with the midpoint of an inverter bridge arm L2; a third phase winding C of the three-phase permanent magnet motor M1 is connected with the midpoint of the capacitor bridge arm L3;
a first phase winding A of the three-phase permanent magnet motor M2 is connected with the midpoint of a capacitor bridge arm L3; a second phase winding B of the three-phase permanent magnet motor M2 is connected with the midpoint of an inverter bridge arm L4; and a third phase winding C of the three-phase permanent magnet motor M2 is connected with the middle point of the inverter bridge arm L5.
Further, inverter leg L1, inverter leg L2, inverter leg L4, and inverter leg L5 are each composed of two power switching tubes connected in series.
Furthermore, the power switch tubes are all Insulated Gate Bipolar Transistors (IGBT) or Metal Oxide Semiconductor Field Effect Transistors (MOSFET).
Further, capacitive leg L3 is composed of two capacitors connected in series.
The compensation control method for the double-permanent magnet synchronous motor control inverter comprises the following steps:
the method comprises the following steps: initializing the system, and respectively setting the midpoint bus voltage potential of the inverter
DC bus capacitor C2Voltage U ofC2The three-phase current signals and the speed signals of the two three-phase permanent magnet motors are collected into a main control unit;
step two: the main control unit analyzes the speed signals of the two three-phase permanent magnet motors into position signals theta of the motor rotor1And theta2And an angular velocity signal w1And w2(ii) a Setting a reference speed
And
reference speed
And
and the angular velocity signal w1And w2Obtaining a speed error after passing through a speed adjusting module, and obtaining a quadrature axis reference current after the speed error passes through a PI (proportional-integral) controller
And
step three: the three-phase current signal is subjected to abc/alpha beta conversion and alpha beta/dq conversion to obtain quadrature axis feedback current iq1And iq2And direct axis feedback current id1And id2(ii) a Quadrature axis feedback current iq1And iq2And the quadrature axis reference current obtained in the step twoAnd
by current regulationThe node module obtains quadrature axis current error; direct axis feedback current id1And id2With a set direct reference current
And
obtaining a direct-axis current error through a current regulating module;
step four: the quadrature axis current error and the direct axis current error are processed by a PI controller to obtain quadrature axis reference voltage
And
and a direct axis reference voltage
And
the quadrature axis reference voltage and the direct axis reference voltage are subjected to dq/alpha beta conversion to obtain three-phase reference voltage
And
the three-phase reference voltage is subjected to three-phase four-switch SVPWM modulation to obtain an SVPWM modulation signal;
voltage potential of main control unit via midpoint bus
And a DC bus capacitor C2Voltage U ofC2Obtaining voltage error, outputting corresponding clamping state by the voltage error through a fuzzy control algorithm to obtain capacitance bridge compensation modulation signalNumber;
step five: and inputting the SVPWM modulation signal and the capacitance bridge compensation modulation signal obtained in the fourth step into a PWM generating unit, and outputting PWM waves to drive the inverter to control the double permanent magnet motor so as to complete compensation control of the double permanent magnet synchronous motor control inverter.
Further, the direct axis reference current in the third step
And
are all set to 0.
Further, capacitor bridge arm L3 is composed of two capacitors C connected in series1And C2Composition is carried out; the control rule of the fuzzy control algorithm in the fourth step is as follows: if C2The potential is higher than the upper limit potential of the voltage band, then for C1Charging, C2Discharging; if C2If the potential is lower than the lower limit potential of the voltage band, the pair C1Discharge, C2And (6) charging.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the inverter, the topological structure of the existing inverter is directly utilized, the charging circuit of the direct current bus capacitor and the sampling of the capacitor voltage are added, when the unbalanced degree of the two capacitor voltages exceeds a certain threshold value, redundant bridge arm circuits are enabled to charge the corresponding capacitors, the potential midpoint is enabled to move towards the balanced direction, the offset of the potential midpoint is clamped within a certain range, the voltage unbalanced degree of the two capacitors connected in series on the direct current bus is restrained, and an additional midpoint clamping circuit is not needed to be added on the direct current bus.
In the method, when the double-permanent magnet synchronous motor is controlled, redundant inverter bridge arms are used for compensating the operating unbalanced capacitor bridge arms in different periods, so that the influence of the unbalanced capacitor voltage of the direct current bus on the operation of the motor can be effectively reduced. Therefore, the novel double-permanent magnet synchronous motor inverter and the compensation control can enhance the reliability and safety of the double-three-phase permanent magnet synchronous motor, and have very important research significance.
Furthermore, the invention adopts a mode of combining software and hardware, two bridge arms are added on hardware in different periods to clamp the capacitor voltage, when the voltage imbalance is serious, the low-voltage capacitor can be automatically charged to maintain the voltage balance, and the double-permanent magnet synchronous motor fault-tolerant inverter is combined with a new control algorithm, so that the influence of the direct current bus capacitor voltage imbalance on the motor operation can be effectively reduced, and the reliability and the safety of the double-three-phase permanent magnet synchronous motor are enhanced.
Drawings
FIG. 1 is a diagram of a three-phase four-switch inverter of a common single three-phase permanent magnet synchronous motor;
FIG. 2 is a driving structure diagram of a dual three-phase PMSM inverter according to the present invention;
FIG. 3 is a block diagram of a single three-phase PMSM three-phase four-switch inverter of the present invention;
FIG. 4 is a system control block diagram of the present invention
FIG. 5 is a block diagram of an algorithm implementation of the present invention;
FIG. 6(a) shows (L)4,L5) When the current flows in the (0, 0) state, (L) is shown in fig. 6(b)4,L5) When the current flows in the (0, 1) state, (L) is shown in fig. 6(c)4,L5) In the (1, 0) state, the current flows, and (L) in fig. 6(d)4,L5) Current flows in the (1, 1) state;
FIG. 7 is a block diagram of the components of the fuzzy controller;
fig. 8(a) is a distribution diagram of the membership function of the input variable "E", and fig. 8(b) is a distribution diagram of the membership function of the input variable "EC".
Detailed Description
Firstly, the control strategy of the permanent magnet synchronous motor mainly comprises the following three modes: voltage regulation Frequency modulation Control (VVVF or VF for short), vector Control (FOC for short), and Direct Torque Control (DTC for short). The invention adopts vector control, which is a high-performance AC motor control mode, based on a dynamic mathematical model of an AC motor, three-phase/two-phase coordinate transformation is carried out on stator variables (voltage, current and flux linkage) of the motor, three-phase orthogonal AC quantity is transformed into two-phase orthogonal AC quantity, then two-phase orthogonal AC quantity is transformed into two-phase orthogonal DC quantity through rotation transformation, and the torque current and the exciting current of the motor are respectively controlled to control the torque and the flux linkage of the motor by adopting a control method similar to that of a separately excited DC motor, thereby having the similar control performance of the DC motor.
In addition, the current control method of the permanent magnet synchronous motor comprises the following steps: (1) id is 0 control; (2) maximum torque current ratio control; (3)
controlling; (4) constant magnetic chain control; (5) and (5) field weakening control. The current control of the permanent magnet synchronous motor adopts the control that id is 0, namely the d axis is controlled to be 0, so that the stator current has no direct axis component and only quadrature axis component. Therefore, the control performance of the control method is similar to that of a direct current motor, the control is simple, the digital implementation is easy, the linear change relation of the output torque along with the current can be realized, and the speed regulation range is wide.
The double-permanent-magnet synchronous motor control inverter of the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 2 and 3, the invention adopts a double-permanent magnet synchronous motor five-phase eight-switch inverter, which comprises a controller, an inverter leg L1, an inverter leg L2, an inverter leg L4, an inverter leg L5, and a capacitor leg L3; the inverter bridge arms L1, L2, L4 and L5 are connected in parallel, and one capacitor bridge arm L3 is connected with a common direct-current power supply;
three-phase permanent magnet motor M1:
the first phase winding A is connected with a midpoint a1 of an inverter bridge arm L1;
the second phase winding B is connected with a midpoint B1 of the inverter bridge arm L2;
a third phase winding C connected with a midpoint C1(a2) of a capacitor bridge arm L3;
three-phase permanent magnet motor M2:
a first phase winding A connected to midpoint a2(c1) of capacitor leg L3;
the second phase winding B is connected with a midpoint B2 of the inverter bridge arm L4;
the third phase winding C is connected with a midpoint C2 of the inverter bridge arm L5;
the inverter bridge arm L1 is composed of a first switch tube T1 and a second power switch tube T2 which are connected in series; the inverter bridge arm L2 is composed of a third power switch tube T3 and a fourth power switch tube T4 which are connected in series; the inverter arm L4 is composed of a fifth power switch tube T5 and a sixth power switch tube T6 which are connected in series, and the inverter arm L5 is composed of a seventh power switch tube T7 and an eighth power switch tube T8 which are connected in series. The first, second, third, fourth, fifth, sixth, seventh and eighth power switching tubes T1, T2, T3, T4, T5, T6, T7 and T8 are all Insulated Gate Bipolar Transistors (IGBTs) or Metal Oxide Semiconductor Field Effect Transistors (MOSFETs); the capacitor bridge arm L3 is composed of a first capacitor C and a second capacitor C1，C2And (4) forming. The three-phase permanent magnet motor M1 is connected with a switch bridge arm L1, a switch bridge arm L2 and a capacitor bridge arm L3; and the three-phase permanent magnet motor M2 is connected with the capacitor bridge arm L3 and the switch bridge arms L4 and L5.
The control block diagram of the invention is shown in fig. 4, voltage sensors are respectively arranged at a port of a three-phase winding of a three-phase permanent magnet motor M1, a port of a second-phase winding B of the three-phase permanent magnet motor M2 and a port of a third-phase winding C of the three-phase permanent magnet motor M2, the voltage sensors are respectively connected with a controller, and the controller is respectively connected with an inverter bridge arm L1, an inverter bridge arm L2, an inverter bridge arm L4 and an inverter bridge arm L5; a specific implementation of the present invention is shown in fig. 5.
The method comprises the following steps: initializing the system, and respectively acquiring the midpoint bus voltage potential of the inverter by using a voltage sensor, a current sensor and a speed sensor
And a DC bus capacitor C2Voltage U ofC2Three-phase current signal ia1、ib1、ic1、ia2、ib2And ic2And the speed signals of the two three-phase permanent magnet motors are sent to the main control unit for FOC algorithm calculation;
step two: the main control unit analyzes the speed signal into a position signal of the motor rotorθ1And theta2And an angular velocity signal w1And w2Set reference speedWill refer to the speed
And the fed back angular velocity signal w1、w2Obtaining a speed error after passing through a speed adjusting module, and obtaining a quadrature axis reference current after the speed error passes through a PI (proportional-integral) controller
Step three: three-phase current signal i collected by step onea1、ib1、ic1、ia2、ib2And ic2Obtaining quadrature axis feedback current i after abc/alpha beta (Clark) conversion and alpha beta/dq (park) conversionq1、iq2And a direct axis feedback current id1、id2(ii) a Quadrature reference current
And quadrature axis feedback current iq1、iq2Obtaining quadrature axis current error through a current regulation module; direct axis reference current
(both set to 0) and direct axis feedback current id1、id2Obtaining a direct-axis current error through a current regulating module;
step four: (1) the quadrature axis current error and the direct axis current error are processed by a PI controller to obtain quadrature axis reference voltageAnd a direct axis reference voltage
The quadrature-direct axis reference voltage passes through dq/alpha beta (Park)-1) Obtaining three-phase reference voltage after conversion
The three-phase reference voltage is modulated by a three-phase four-switch SVPWM to obtain a modulation signal;
(2) in the step one, the main control unit collects the voltage potential of the midpoint bus
And a DC bus capacitor C2Voltage U ofC2Obtaining a voltage error, and outputting a corresponding clamping state (a specific description is developed below) by the voltage error through a fuzzy control algorithm so as to obtain a capacitance bridge compensation modulation signal;
step five: and inputting the SVPWM modulation signal and the capacitance bridge compensation modulation signal obtained in the step four into a PWM generating unit, and outputting a PWM wave to drive an inverter to control the double permanent magnet motor so as to achieve compensation control of the double permanent magnet synchronous motor.
The voltage unbalance of the direct current bus capacitor mainly influences the observation and space vector modulation process of voltage space vectors applied to the end part of the stator in the current period. When the unbalance degree is serious, the error is large, vector observation and space vector modulation must be carried out according to the distorted actual voltage space vector, and meanwhile, redundant bridge arms in the inverter in different periods are utilized for compensation in the design. A new algorithm is planned to be developed under the condition that the voltage of a direct current bus capacitor is unbalanced, so that on a platform with limited main frequency resources, calculation of a space vector modulation link under the condition that the voltage of the direct current bus capacitor is unbalanced is feasible, and the voltage unbalance degree of two series capacitors on a direct current bus is restrained.
The compensation method of the invention is specifically explained as follows: the control of one period of the novel double-permanent magnet synchronous motor inverter is divided into two parts, and the permanent magnet synchronous motor M1 works in the Nt periodThe magnetic synchronous motor M2 operates in the (n +1) th T period. Taking the working cycle of the permanent magnet synchronous motor M1 as an example, for the permanent magnet synchronous motor M1 motor, which works in the inverter shown in FIG. 3, the capacitor C of the capacitor bridge arm L3 is connected2Sampling of capacitor voltage, given with respect to DC bus voltage UdcA voltage ring zone of symmetrical midpoint of the voltage ring zone of the comparison capacitor voltage
Determining the output states of inverter arms L4 and L5 according to the unbalance degree; the potential midpoint is controlled to move towards the balanced direction, so that the offset of the potential midpoint is clamped within a certain range, and the control precision is improved; similarly, in the (n +1) T working period, for the permanent magnet synchronous motor M2 motor, the power supply U thereofdcAnd a capacitor C of a capacitor bridge L32Sampling of capacitor voltage, by comparing voltage annulus and capacitor voltage
The degree of imbalance determines the output states of inverter legs L1, L2.
The on-off of two switching devices on each phase of the inverter is complementary, each phase has two states, so that the combined state of the switches of more than two bridge arms is 2 in total 24 kinds of the Chinese herbal medicines. Taking the working of the permanent magnet synchronous motor M1 as an example, a variable L is definedi1 (i-4, 5) indicates that the switching device of the upper bridge arm is in a conducting state, the switching device of the corresponding lower bridge arm is turned off, and the corresponding winding is connected with the positive electrode of the direct current bus; l isiTable 1 below shows the compensation arm state and the corresponding node state (flowing into L) when the switching device of the upper arm is in the off state, the corresponding winding is connected to the negative pole of the dc bus, and the switching device of the lower arm is turned on (i is 4, 5)3Current I of bridge armCIf there is an inflow C1Dot state is positive) and 4 states of fig. 6(a) to 6(d) are flowing.
TABLE 1 Compensation bridge arm states and corresponding node states
Note: assuming capacitor voltage
In addition, when the compensation circuit is designed for control, the control algorithm adopts fuzzy control to control the compensation bridge arm. From Table 1, U can be seenOThe voltage has three states corresponding to the DC bus capacitor and also has three states, and a fuzzy algorithm is planned to be developed under the condition that the DC bus capacitor voltage is unbalanced, so that the calculation of a space vector modulation link has feasibility under the condition that the DC bus capacitor voltage is unbalanced on a platform with limited main frequency resources, and the voltage unbalance degree of two series capacitors on the DC bus is inhibited. In view of the fact that the imbalance degree is generally only required to be suppressed to a certain degree in practice, it is not necessary or difficult to completely eliminate the imbalance degree.
Fuzzy controller
The Fuzzy Controller (Fuzzy Controller-FC) is also called Fuzzy logic Controller (Fuzzy logic Controller-FLC), since the adopted Fuzzy control rule is described by the Fuzzy condition statement in the Fuzzy theory, as shown in fig. 7.
The above analysis clearly results in: the bridge is compensated by adjusting the other two bridge arms, and the capacitor voltage is clamped, so that a basic control rule can be obtained:
if C2The potential is higher than the upper limit potential of the voltage band, then for C1Charging, C2Discharge ";
if C2If the potential is lower than the lower limit potential of the voltage band, the pair C1Discharge, C2Charge ".
Defining input-output fuzzy sets
Is provided with
Electric potential and
difference of E, rate of change of difference EC, and ambiguity of control quantity USets and domains of discourse are defined as follows:
E. the EC fuzzy sets are all: { NB, NS, Z, PS, PB }, the corresponding physical states are { far below the lower limit of the setting range, slightly above the upper limit of the setting range within the setting range, far above the upper limit of the setting range }, respectively. E. The discourse domain of EC is: { -2, -1,0,1,2}. The membership degrees of the obtained voltage error E and the error change EC are shown in a table 2:
TABLE 2 membership of Voltage error E and error variation EC
The only output control quantity of the fuzzy logic controller is 4 state words, is a discrete and clear digital quantity output and can be represented by a single-point fuzzy set, and the control quantity U domain is as follows:the state can be expressed as { forward conducting, forward direction remaining unchanged, reverse conducting }.
The design adopts a triangular membership function commonly used in engineering as a membership function of a fuzzy control system subset, and has the advantages of simple calculation and small occupied memory, and the mathematical expression is as follows:
the distribution of the individual membership functions of the fuzzy controller inputs plotted according to the above rules over MATLAB is shown in FIG. 8(a) and FIG. 8(b), respectively.
The fuzzy inference method adopted by the design is a Mamdani inference method which is a commonly used method in fuzzy control and is essentially a synthetic inference method. Wherein the ith rule is represented as
Ri：“If E is A and EC is B,then U is C.”
Here A, B, C denotes the respective fuzzy subsets. The ith rule has an action strength of
Through Mamdani 'take small' operator (min) fuzzy inference operation, the control decision corresponding to the rule can be obtained as
Here muA、μB、μCMembership functions for fuzzy variables E, EC and U, respectively. Final membership function mu of output quantity U by clustering analysisCCan be represented as 25
i＝1
Because the fuzzy inference outputs the single-point fuzzy set of the output state as the clear quantity, the fuzzy solution is not needed.
The fuzzy control rules made according to the actual operation experience on site are shown in table 3, and the number of the fuzzy control rules is 25.
TABLE 3 fuzzy control rules
The state of the control variable obtained by the fuzzy controller is directly used for controlling the bridge arm by selecting the control signal through the chip.
It should be noted that, in the related research, two additional switches are used, and two low-capacity switching tubes are added to hardware to clamp the capacitor voltage. Under the condition of not adding devices, the bridge arms which do not work in different periods are directly utilized to clamp the capacitance voltage of the direct current bus, and a simple and effective main circuit for controlling the unbalance degree of the two series capacitors of the direct current bus is designed. Greatly improves the utilization rate of the bridge arm and has great practical significance.
According to the fault-tolerant inverter of the double-permanent magnet synchronous motor, a mode of combining software and hardware is adopted, two bridge arms are additionally arranged on the hardware in different periods to clamp the voltage of a capacitor, when the voltage is seriously unbalanced, the capacitor with low voltage can be automatically charged to maintain the voltage balance, the fault-tolerant inverter of the double-permanent magnet synchronous motor is combined with a new control algorithm, the influence of the voltage unbalance of a capacitor of a direct current bus on the operation of the motor can be effectively reduced, and the reliability and the safety of the double-three-phase permanent magnet synchronous motor are enhanced.
Claims (4)
1. The utility model provides a two PMSM control inverter which characterized in that: the three-phase direct-current motor comprises a controller, a three-phase permanent-magnet motor M1, a three-phase permanent-magnet motor M2, an inverter bridge arm L1, an inverter bridge arm L2, an inverter bridge arm L4, an inverter bridge arm L5 and a capacitor bridge arm L3, wherein the inverter bridge arm L2, the inverter bridge arm L4, the capacitor bridge arm L3 and the inverter bridge arm L2;
a first phase winding A of the three-phase permanent magnet motor M1 is connected with the midpoint of an inverter bridge arm L1; a second phase winding B of the three-phase permanent magnet motor M1 is connected with the midpoint of an inverter bridge arm L2; a third phase winding C of the three-phase permanent magnet motor M1 is connected with the midpoint of the capacitor bridge arm L3;
a first phase winding A of the three-phase permanent magnet motor M2 is connected with the midpoint of a capacitor bridge arm L3; a second phase winding B of the three-phase permanent magnet motor M2 is connected with the midpoint of an inverter bridge arm L4; a third phase winding C of the three-phase permanent magnet motor M2 is connected with the midpoint of the inverter bridge arm L5;
the inverter bridge arm L1, the inverter bridge arm L2, the inverter bridge arm L4 and the inverter bridge arm L5 are all composed of two power switch tubes which are connected in series;
capacitor bridge arm L3 is composed of two capacitors C connected in series1And C2Composition is carried out;
voltage sensors are arranged at a three-phase winding port of the three-phase permanent magnet motor M1, a second-phase winding B port of the three-phase permanent magnet motor M2 and a third-phase winding C port of the three-phase permanent magnet motor M2, and are respectively connected with a controller, and the controller is respectively connected with an inverter bridge arm L1, an inverter bridge arm L2, an inverter bridge arm L4 and an inverter bridge arm L5;
the three-phase permanent magnet motor M1 works in the Nth period, the three-phase permanent magnet motor M2 works in the (n +1) th period and the three-phase permanent magnet motor M1 works in the working periodDuring the period, the capacitance C of the capacitor bridge arm L3 is measured2Is given with respect to the dc bus voltage UdcA voltage ring zone contrast capacitor C with symmetrical midpoint2Voltage of
Determining the output states of inverter arms L4 and L5 according to the unbalance degree, and supplying power U to the three-phase permanent magnet motor M2 in the working perioddcAnd capacitor C of capacitor bridge arm L32By comparing the voltage annulus with a capacitor C2Voltage of
The unbalance degree determines the output states of the inverter arms L1 and L2, and the potential midpoint is moved to the balanced direction, so that the offset of the potential midpoint is clamped within a certain range, and the voltage unbalance degree of the two series capacitors on the direct current bus is suppressed.
2. The double-pm synchronous motor control inverter according to claim 1, wherein: the power switch tubes are all Insulated Gate Bipolar Transistors (IGBT) or Metal Oxide Semiconductor Field Effect Transistors (MOSFET).
3. A compensation control method of the double-pm synchronous motor controlled inverter according to claim 1, characterized in that:
the method comprises the following steps:
the method comprises the following steps: initializing the system, and respectively setting the midpoint bus voltage potential of the inverter
DC bus capacitor C2Voltage U ofC2The three-phase current signals and the speed signals of the two three-phase permanent magnet motors are collected into a main control unit;
step two: the main control unit analyzes the speed signals of the two three-phase permanent magnet motors into position signals theta of the motor rotor1And theta2And an angular velocity signal w1And w2(ii) a Is provided withFixed reference speed
And
reference speedAndand the angular velocity signal w1And w2Obtaining a speed error after passing through a speed adjusting module, and obtaining a quadrature axis reference current after the speed error passes through a PI (proportional-integral) controller
And
step three: the three-phase current signal is subjected to abc/alpha beta conversion and alpha beta/dq conversion to obtain quadrature axis feedback current iq1And iq2And direct axis feedback current id1And id2(ii) a Quadrature axis feedback current iq1And iq2And the quadrature axis reference current obtained in the step two
And
obtaining quadrature axis current error through a current regulation module; direct axis feedback current id1And id2With a set direct reference current
And
obtaining a direct-axis current error through a current regulating module;
step four: the quadrature axis current error and the direct axis current error are processed by a PI controller to obtain quadrature axis reference voltage
And
and a direct axis reference voltageAnd
the quadrature axis reference voltage and the direct axis reference voltage are subjected to dq/alpha beta conversion to obtain three-phase reference voltage
And
the three-phase reference voltage is subjected to three-phase four-switch SVPWM modulation to obtain an SVPWM modulation signal;
voltage potential of main control unit via midpoint bus
And a DC bus capacitor C2Voltage U ofC2Obtaining a voltage error, and outputting a corresponding clamping state by the voltage error through a fuzzy control algorithm to obtain a capacitance bridge compensation modulation signal;
capacitor bridge arm L3 is composed of two capacitors C connected in series1And C2Composition is carried out; the control rule of the fuzzy control algorithm is as follows:
if C2The potential is higher than the upper limit potential of the voltage band, then for C1Charging, C2Discharging;
if C2If the potential is lower than the lower limit potential of the voltage band, the pair C1Discharge, C2Charging;
step five: and inputting the SVPWM modulation signal and the capacitance bridge compensation modulation signal obtained in the fourth step into a PWM generating unit, and outputting PWM waves to drive the inverter to control the double permanent magnet motor so as to complete compensation control of the double permanent magnet synchronous motor control inverter.
4. The compensation control method of the double-pm synchronous motor controlled inverter according to claim 3, characterized in that: direct axis reference current in step threeAnd
are all set to 0.
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| CN108449002B (en) * | 2018-05-09 | 2020-10-02 | 青岛海尔智能技术研发有限公司 | Control method and device of three-phase inverter, driving system and storage medium |
| CN108512482B (en) * | 2018-05-25 | 2023-09-29 | 陕西科技大学 | Double-bridge arm AC-DC-AC frequency conversion circuit and control method thereof |
| CN109921705A (en) * | 2019-01-16 | 2019-06-21 | 苏州英威腾电力电子有限公司 | A kind of multi-phase motor control method and device |
| CN110071673B (en) * | 2019-04-26 | 2021-03-16 | 河北工业大学 | Permanent magnet motor period lag compensation and three-phase power-on six-beat control device and method |
| CN111682518A (en) * | 2020-05-08 | 2020-09-18 | 江苏科能电力工程咨询有限公司 | Power controller based on fuzziness |
| CN113595451A (en) * | 2021-08-30 | 2021-11-02 | 上海东软载波微电子有限公司 | Multi-motor operation control system |
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