CN108123646B - Excitation fault-tolerant power generation system of doubly salient electro-magnetic motor and control method thereof - Google Patents
Excitation fault-tolerant power generation system of doubly salient electro-magnetic motor and control method thereof Download PDFInfo
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- CN108123646B CN108123646B CN201711235101.7A CN201711235101A CN108123646B CN 108123646 B CN108123646 B CN 108123646B CN 201711235101 A CN201711235101 A CN 201711235101A CN 108123646 B CN108123646 B CN 108123646B
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/006—Means for protecting the generator by using 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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
- H02P9/30—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices
Abstract
The invention discloses an excitation fault-tolerant power generation system of an electro-magnetic doubly salient motor and a control method thereof. The control method comprises the following steps: and after an excitation fault is detected, the excitation circuit is disconnected and switched to a fault-tolerant mode to operate, and in the fault-tolerant mode, a switching tube on the power converter is controlled to provide positive and negative alternate excitation current for each phase, so that the fault-tolerant power generation function of the excitation fault of the motor is realized. The fault-tolerant power converter used by the control method disclosed by the invention is a most common full-bridge converter of the electro-magnetic doubly salient motor, remarkably improves the power generation reliability of the electro-magnetic doubly salient motor in important occasions such as aerospace and automobiles, and is suitable for the electro-magnetic doubly salient motor running in multiple quadrants.
Description
Technical Field
The invention relates to an electro-magnetic doubly salient motor fault-tolerant power generation system aiming at an excitation fault and a control method thereof, belonging to the field of motor systems and control.
Background
The electrically excited double salient pole motor is a new type brushless DC motor developed in recent years, and its stator and rotor are similar in structure to switched reluctance motor, and all are in salient pole structure, and the rotor has no winding, and the stator is wound with centralized three-phase armature winding. The main difference between the switched reluctance motor and the stator is that the stator is provided with an excitation winding for excitation, and the existence of the excitation winding makes the electrically excited doubly salient motor and the switched reluctance motor have essential difference. When the double-salient electro-magnetic motor is used for generating electricity, only the rectifier bridge is used for rectifying, and the rotor is not provided with the winding and the permanent magnet, so that the reliability of the electricity generation operation is high, the cost is low, the power density is high, the high reliability can be still kept when the double-salient electro-magnetic motor is used for operating under severe conditions, and when the load or the rotating speed changes, the current of the excitation winding can be adjusted through the generator control unit to maintain constant voltage output.
The excitation winding of the double-salient electro-magnetic motor is aged, wetted, heated, corroded, invaded by foreign matters, impacted by external force and the like, and the winding can be damaged. Meanwhile, an excitation power circuit for controlling an excitation winding may also fail due to reasons such as overcurrent and reverse voltage impact, and even cause the generator to lose excitation in severe cases. If the electric excitation doubly salient motor has a field loss fault during power generation operation, the serious problem of safety and reliability of the whole power generation system can be brought.
The electric excitation doubly salient motor is equivalent to a switched reluctance motor under the condition that an excitation winding has a fault, a three-phase asymmetric half-bridge converter used by the switched reluctance motor is not suitable for the electric excitation doubly salient motor, and a power converter used by the electric excitation doubly salient motor is a three-phase full-bridge converter, so that the granted Chinese invention patent is as follows: an excitation fault-tolerant power generation system of an electro-magnetic doubly salient motor and a control method thereof, wherein the authorization notice number is as follows: CN104579067A proposes to use a three-phase four-leg converter, which is composed of a three-phase full-bridge converter and a fourth leg, to realize the magnetic loss fault-tolerant power generation of the electro-magnetic doubly salient motor. Although the loss-of-field fault-tolerant power generation can be realized by using the three-phase four-leg converter, compared with a three-phase full-bridge converter, the loss-of-field fault-tolerant power generation needs an additional leg, and the loss-of-field fault-tolerant power generation is large in size and high in cost.
Disclosure of Invention
In view of the problems in the prior art, the present invention provides an electrical excitation doubly salient motor fault tolerance power generation system and a control method thereof for an excitation fault based on a three-phase full-bridge power converter which is most commonly used for an electrical excitation doubly salient motor. In order to achieve the purpose, the invention adopts the following technical scheme:
the invention adopts the following technical scheme for solving the technical problems:
the control method of the excitation fault-tolerant power generation system of the doubly salient electro-magnetic motor comprises the steps that a current detection circuit detects excitation current of the doubly salient electro-magnetic motor, and when an excitation fault is not detected, the doubly salient electro-magnetic motor generates power according to a normal power generation mode; when an excitation fault is detected, a field loss power generation control method is adopted, and a motor enters a field fault-tolerant power generation operation mode by controlling a switching tube on a three-phase full-bridge converter.
The field loss power generation control method sets theta to represent the excitation turn-on angle of the phase A, the angle is 0< theta <120 degrees, the direction of current flowing into the midpoint of a winding is set to be a positive direction, in a fault-tolerant operation mode, each phase of the motor has four states of positive excitation, positive power generation, negative excitation and negative power generation under two inductance periods, wherein the source of the excitation current of each phase is divided into two parts, one part of the excitation current is provided by the power generation phase at the moment, and the other part of the excitation current is provided by the energy storage capacitor at the load side.
In an inductance period, the loss of excitation power generation control method specifically comprises the following steps:
when the electrical angle of the motor is theta to 120 degrees, the switch tube S1 is controlled to be conducted,
when the electrical angle of the motor is 120 degrees to theta +120 degrees, the switching tubes S1 and S4 are controlled to be conducted, and when the electrical angle of the motor is equal to theta +120 degrees, the switching tube S1 is switched off;
when the electrical angle of the motor is theta +120 degrees to 240 degrees, the switching tube S4 is controlled to be conducted,
when the electrical angle of the motor is 240 degrees to theta +240 degrees, the switching tubes S4 and S5 are controlled to be conducted, when the electrical angle of the motor is equal to theta +240 degrees, the switching tube S4 is switched off,
when the electrical angle of the motor is theta +240 degrees to 360 degrees, the switching tube S5 is controlled to be conducted,
and when the electrical angle of the motor is 360 degrees to theta +360 degrees, the switching tubes S2 and S5 are controlled to be switched on, and when the electrical angle of the motor is equal to theta +360 degrees, the switching tube S5 is switched off.
The excitation fault-tolerant power generation system of the electro-magnetic doubly salient motor comprises an excitation side power supply, a load side energy storage capacitor, a fault-tolerant power converter, the electro-magnetic doubly salient motor, a controller and a position sensor; the three-phase armature windings of the electro-magnetic doubly salient motor are connected in a star mode, and outlet ends of the A, B, C phase windings are respectively connected to the fault-tolerant power converter; the excitation side power supply is connected with two ends of the excitation winding and is responsible for providing excitation current; the load side energy storage capacitor is connected in parallel with the load.
The fault-tolerant power converter is a three-phase full-bridge converter and comprises a first bridge arm formed by connecting a first IGBT switch S1-S2 and a second IGBT switch S3-S4, a second bridge arm formed by connecting a third IGBT switch S3826-S4 and a sixth IGBT switch S5-S6, wherein the direct current side of the converter is connected to two ends of a load, and the wire outlet ends of a phase winding of an electrically-excited doubly-salient motor A, B, C are respectively connected to the middle points of the first bridge arm, the second bridge arm and the third bridge arm.
The controller comprises a voltage detection and conditioning circuit, a main control unit and an isolation driving circuit, wherein the voltage detection and conditioning circuit collects exciting winding current, three-phase winding current and load side end voltage, a position sensor collects rotor position signals, the main control unit processes the collected current, voltage and rotor position information, and the isolation driving circuit provides driving signals for a switching tube on a three-phase full-bridge circuit.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the fault-tolerant power converter used by the invention is a three-phase full-bridge converter which is most commonly used by an electro-magnetic doubly salient motor, is also a power converter which is most widely used for controlling the current main current motor, has the advantages of low price, high integration level and mature technology, can drive the electro-magnetic doubly salient motor to run electrically, and can enable the motor to generate electricity under the conditions of normal excitation and excitation faults.
Drawings
FIG. 1 is a general block diagram of an excitation fault-tolerant power generation system of an electro-magnetic doubly salient motor;
FIG. 2 is a control rule of a switch tube of the full-bridge converter;
FIG. 3 is a schematic diagram of a C-phase power generation circuit and an A-phase excitation circuit at θ -120 ℃;
FIG. 4 is a schematic view of the A-phase winding excitation circuit at 120 ° - (θ +120 °);
FIG. 5 is a schematic diagram of the A-phase power generation circuit and the B-phase excitation circuit at (θ +120 °) to 240 °;
FIG. 6 is a schematic diagram of a phase B winding excitation circuit at 240 ° - (θ +240 °);
FIG. 7 is a schematic diagram of a B-phase power generation circuit and a C-phase excitation circuit at (θ +240 °) to 360 °;
fig. 8 is a schematic diagram of the C-phase winding excitation circuit at 360 ° - (θ +360 °).
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the structural block diagram of the fault-tolerant power generation system of the electro-magnetic doubly salient motor for the excitation fault is shown in fig. 1 and mainly comprises an excitation side power supply, a load side energy storage capacitor, a three-phase full-bridge converter, the electro-magnetic doubly salient motor, a controller and a position sensor. The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
Three-phase armature winding star connection of electro-magnetic doubly salient motor, IGBT switch S in three-phase full-bridge converter1-S2Connected to form bridge arm 1, S3-S4Connected to form bridge arm 2, S5-S6The bridge arm 3 is formed by connection, the direct current side of the converter is connected to two ends of a load, and the outlet ends of the phase windings of the electro-magnetic doubly salient motor A, B, C are respectively connected to the bridge arm 1, the bridge arm 2 and the bridge arm 3 of the converter. The excitation side power supply is connected with two ends of the excitation winding and is responsible for providing excitation current; the load side energy storage capacitor is connected with the load in parallel, and mainly plays a role in voltage stabilization and filtering under the normal power generation condition and also plays a role in energy storage under the excitation fault power generation condition.
The controller in the fault-tolerant power generation system consists of a voltage and current detection and conditioning circuit, a main control unit and an isolation driving circuit. The voltage and current detection and conditioning circuit collects exciting winding current, three-phase winding current and load side end voltage, the position sensor collects rotor position signals, the main control unit processes the collected current, voltage and rotor position information, and drive signals are provided for a switch tube on the three-phase full-bridge circuit through the isolation drive circuit.
The current detection circuit detects the excitation current, and when the excitation fault is not detected, the doubly salient electro-magnetic motor generates electricity according to a normal power generation mode; when an excitation fault is detected, a field loss power generation control method is adopted, and an electro-magnetic doubly salient motor enters an excitation fault-tolerant power generation operation mode by controlling a switching tube on a three-phase full-bridge converter.
In the fault-tolerant power generation operation mode, theta is set to represent the excitation turn-on angle of the phase A, 0< theta <120 degrees, and the direction of current flowing into the middle point of the winding is set to be a positive direction.
As shown in fig. 2, the a-phase self-inductance is in the rising stage when the electrical angle of the doubly salient electro-magnetic machine is θ to 120 °
C phase self-inductance in descending stage
At the moment, the phase C is in a negative power generation state (the phase C current flows out of the middle point), and the counter potential of the phase C winding
And is greater than Udc(the negative sign indicates the current direction as the outflow midpoint), and the current e can be determined from the self-inductance change direction and the C-phase current directioncThe directions are positive left and negative right as marked in FIG. 3, and the B-phase inductance change rate is 0 at this time, so ebBecause of the positive voltage applied to the diodes D4 and D5, which are approximately equal to 0, the C-phase power generation circuit is configured as shown by the solid line in fig. 3. At this time, the switch tube S1 is controlled to be turned on, the a-phase winding forms a loop with the C-phase winding through the switch tube S1, the diode D5, and as shown by the dotted line in fig. 3, this loop is an excitation loop of the a-phase winding, and the a-phase current direction in the excitation loop of the a-phase winding is the inflow midpoint, so that the a-phase winding is called to be excited in the forward direction. It can be seen from fig. 3 that a part of the electric energy generated by the C phase is positively excited by the a phase winding, and a part of the electric energy is provided to the load end through the C phase power generation loop.
When the electrical angle of the electro-magnetic doubly salient motor is 120 degrees to theta +120 degrees, the switching tubes S1 and S4 are controlled to be conducted, at the moment, the change rate of the inductance of the C phase is 0, the power generation process of the C phase is finished, the phase current of B, C starts to be reduced, the excitation loop is still used for exciting the A-phase winding before the current is reduced to 0, the A-phase winding is continuously excited by the load-side energy storage capacitor after the current of the B-phase winding is reduced to 0, the forward direction of the A-phase current is continuously increased, and the excitation loop is shown in figure 4. And the switching tube S1 is turned off when the angle theta +120 degrees, after that, the A-phase excitation process is ended, and the power generation state is started.
The B-phase self-inductance is in the rising stage when the electrical angle of the electro-magnetic doubly salient motor is theta +120 DEG to 240 DEG
The self-inductance of phase A is in the descending stage
After the previous positive excitation, the phase A is just in the positive generating state (the phase A current flows into the middle point), and the counter potential of the phase A winding
And is greater than UdcThe current e can be judged by the self-induction change direction and the A-phase current directionaThe directions are as indicated in FIG. 5, left negative and right positive, and at this time, the rate of change of the inductance of phase C is 0, so that ecBecause of the positive voltage applied to the diodes D2 and D5, which are approximately equal to 0, the a-phase power generation circuit is configured as shown by the solid line in fig. 5. At this time, the switch tube S4 is controlled to be turned on, the B-phase winding forms a loop with the a-phase winding through the switch tube S4 and the diode D2, as shown by the dotted line in fig. 5, this loop is an excitation loop of the B-phase winding, and since the B-phase current direction in the excitation loop of the B-phase winding is the outflow midpoint, the B-phase winding is called as negative excitation. As can be seen from fig. 5, a part of the electric energy generated by the phase a is negatively excited by the phase B winding, and a part of the electric energy is provided to the load side through the phase a power generation loop.
When the electrical angle of the electro-magnetic doubly salient motor is 240 degrees to theta +240 degrees, the switching tubes S4 and S5 are controlled to be conducted, at the moment, the change rate of the inductance of the phase A is 0, the phase A power generation process is finished, the phase current of A, C starts to be reduced, the excitation loop is still used for exciting the phase B winding before the current is reduced to 0, the phase B winding is continuously excited by the load side energy storage capacitor after the phase C winding current is reduced to 0, the phase B current is continuously increased in the negative direction, and the excitation loop is shown in figure 6. The switching tube S4 is turned off at the electrical angle θ +240 °, after which the B-phase excitation process ends and the power generation state starts.
The C phase self-inductance is in the rising stage when the electrical angle of the electro-magnetic doubly salient motor is theta +240 DEG to 360 DEG
The self inductance of phase B is in the descending stage
After the previous negative excitation, the phase B is in a negative power generation state (the phase B current flows out of the middle point), and the counter potential of the phase B winding
And is greater than Udc(the negative sign indicates the current direction as the outflow midpoint), and the current e at that time can be determined by the self-inductance change direction and the B-phase current directionbThe directions are positive left and negative right as indicated in FIG. 7, and at this time, the rate of change of the inductance of phase A is 0, so that eaBecause of the positive voltage applied to the diodes D2 and D3, which are approximately equal to 0, the B-phase power generation circuit is configured as shown by the solid line in fig. 3. At this time, the switching tube S5 is controlled to be turned on, the C-phase winding forms a loop with the B-phase winding through the switching tube S5, the diode D3, and as shown by the dotted line in fig. 7, this loop is an excitation loop of the C-phase winding, and the C-phase current direction in the excitation loop of the C-phase winding is the inflow midpoint, so that the C-phase winding is called to be excited in the forward direction. It can be seen from fig. 7 that a part of the electric energy generated by the phase B is positively excited by the phase C winding, and a part of the electric energy is provided to the load end through the phase B power generation loop.
When the electrical angle of the electro-magnetic doubly salient motor is 360 degrees to theta +360 degrees, the switching tubes S2 and S5 are controlled to be conducted, at the moment, the change rate of the inductance of the B phase is 0, the power generation process of the B phase is finished, the phase current of B, A starts to be reduced, the C-phase winding is still excited by the excitation loop before the current is reduced to 0, the C-phase winding is continuously excited by the energy storage capacitor on the load side after the current of the A-phase winding is reduced to 0, the forward direction of the C-phase current is continuously increased, and the excitation loop is shown in figure 8. And the switching tube S5 is turned off when the angle theta +360 degrees, and after that, the C-phase excitation process is ended and the power generation state is started.
The full-bridge converter can be controlled according to the rule in the next 360-degree electrical angle, so that the three phases sequentially undergo the processes of C-phase positive power generation, A-phase negative excitation, A-phase negative power generation, B-phase positive excitation, B-phase positive power generation, C-phase negative excitation and C-phase negative power generation. In the control method, because the directions of the winding currents in each two adjacent inductance periods are opposite, the 720-degree electrical angle of the two inductance periods is used as a control period, and the switching tube on the full-bridge converter is driven according to the rule shown in figure 2 of the accompanying drawings and circulates, so that the continuous power generation operation of the electrically-excited doubly-salient motor under the excitation fault can be realized.
In the excitation stage, the magnitude of the excitation magnetic field can be controlled by chopping the excitation current of each phase, and the level of the output voltage can be controlled. The length of the excitation time of each phase can be controlled by controlling the initial excitation angle of each phase, so that the output voltage of the electro-magnetic doubly salient motor is controlled.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
Claims (1)
1. The control method of the excitation fault-tolerant power generation system of the doubly salient electro-excitation motor is characterized in that a current detection circuit detects excitation current of the doubly salient electro-excitation motor, and when an excitation fault is not detected, the doubly salient electro-excitation motor generates power according to a normal power generation mode; when an excitation fault is detected, a field loss power generation control method is adopted, and a motor enters an excitation fault-tolerant power generation operation mode by controlling a switching tube on a three-phase full-bridge converter;
the field loss power generation control method sets theta to represent the excitation turn-on angle of the phase A, the angle is 0< theta <120 degrees, the direction of current flowing into the midpoint of a winding is set to be a positive direction, in a fault-tolerant operation mode, each phase of the motor has four states of positive excitation, positive power generation, negative excitation and negative power generation under two inductance periods, wherein the source of the excitation current of each phase is divided into two parts, one part of the excitation current is provided by the power generation phase at the moment, and the other part of the excitation current is provided by an energy storage capacitor at the load side;
in an inductance period, the loss of excitation power generation control method specifically comprises the following steps:
when the electrical angle of the motor is theta to 120 degrees, the switch tube S1 is controlled to be conducted,
when the electrical angle of the motor is 120 degrees to theta +120 degrees, the switching tubes S1 and S4 are controlled to be conducted, and when the electrical angle of the motor is equal to theta +120 degrees, the switching tube S1 is switched off;
when the electrical angle of the motor is theta +120 degrees to 240 degrees, the switching tube S4 is controlled to be conducted,
when the electrical angle of the motor is 240 degrees to theta +240 degrees, the switching tubes S4 and S5 are controlled to be conducted, when the electrical angle of the motor is equal to theta +240 degrees, the switching tube S4 is switched off,
when the electrical angle of the motor is theta +240 degrees to 360 degrees, the switching tube S5 is controlled to be conducted,
and when the electrical angle of the motor is 360 degrees to theta +360 degrees, the switching tubes S2 and S5 are controlled to be switched on, and when the electrical angle of the motor is equal to theta +360 degrees, the switching tube S5 is switched off.
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| CN109450340B (en) * | 2018-11-12 | 2021-08-06 | 南京航空航天大学 | Control method of excitation double salient pole motor field failure fault-tolerant power generation system |
| CN110247597B (en) * | 2019-06-21 | 2021-04-13 | 南京航空航天大学 | Excitation-circuit doubly salient motor field loss fault-tolerant power generation system and control method thereof |
| CN113890434B (en) * | 2021-09-30 | 2022-05-27 | 南京航空航天大学 | Electro-magnetic doubly salient motor for realizing fault-tolerant control of excitation converter through dynamic switching |
| CN114337458B (en) * | 2021-12-31 | 2022-12-06 | 西比里电机技术(苏州)有限公司 | Drive topology circuit of two-phase switched reluctance motor |
| CN116015124B (en) * | 2022-12-20 | 2023-07-11 | 南京航空航天大学 | Loss-of-magnetic fault-tolerant power generation control method for optimizing copper consumption of electro-magnetic doubly-salient motor |
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