CN108183636B - A dual-motor seven-switch inverter and its control method - Google Patents
A dual-motor seven-switch inverter and its control method Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
本发明公开了一种双三相电机七开关逆变器及控制方法,采用七开关逆变器控制双电机系统的基本结构,分别获取两个三相电机的实际转速,将两个电机的实际转速与给定转速经过速度调节后得到转速误差;然后将两个三相电机的转速误差经过PI控制器得到两个三相电机的给定电流,将得到的给定电流经过参考电流发生器得到两个三相电机的参考电流,将参考电流和实际电流经过电流调节模块后得到电流误差,将各独立桥臂所连接的相绕组中的电流误差分别送入滞环控制器中,滞环控制器产生的信号经过PWM产生单元,利用PWM产生单元来实现对两个三相电机的控制,本发明发适用于多种不同类型的三相交流电机,具有算法简单、响应快和精度高的优点,实现简单,适用范围广。
The invention discloses a dual three-phase motor seven-switch inverter and a control method. The seven-switch inverter is used to control the basic structure of a dual-motor system, and the actual rotational speeds of the two three-phase motors are obtained respectively, and the actual rotation speed of the two motors is calculated. After the speed and the given speed are adjusted, the speed error is obtained; then the speed error of the two three-phase motors is passed through the PI controller to obtain the given current of the two three-phase motors, and the obtained given current is obtained through the reference current generator. The reference current of the two three-phase motors, the current error is obtained by passing the reference current and the actual current through the current adjustment module, and the current error in the phase windings connected to each independent bridge arm is respectively sent to the hysteresis controller, and the hysteresis control The signal generated by the generator passes through the PWM generation unit, and the PWM generation unit is used to realize the control of the two three-phase motors. The invention is suitable for many different types of three-phase AC motors, and has the advantages of simple algorithm, fast response and high precision. , the implementation is simple, and the scope of application is wide.
Description
技术领域technical field
本发明涉及电机控制技术领域,具体涉及一种双电机七开关逆变器及其控制方法。The invention relates to the technical field of motor control, in particular to a dual-motor seven-switch inverter and a control method thereof.
背景技术Background technique
双电机系统可以通过控制两台电机的输出转矩,从而达到消除传动间隙并分担负载的目的。近年来,随着社会生活和工业生产更高需求,双电机控制系统广泛应用于造纸、交通、电动汽车、洗衣机、空调及其他家电的应用领域。多相电机驱动系统具有低压大功率输出,高功率密度、转矩波动小,适于容错运行等特点,获得了广泛的关注。在双电机驱动系统中,需要同时控制两个电机对开发人员来说不仅要处理更高的复杂性,还必须确保任何情况下的安全运行,包括设备故障时的安全。近年来,五桥臂逆变器驱动双电机系统得到了广泛的研究,即采用包含十个功率开关的五桥臂逆变器控制两台独立的三相电机,这相对于常规的六桥臂十二功率开关逆变器控制方案节省两个功率器件,降低系统成本,然而,采用五桥臂逆变器驱动双电机系统进行双电机的控制,结构依然复杂,而且控制方法需要进行逻辑运算处理得到逆变器十个功率开关的实际开关状态,运行硬件成本高,运算程序复杂。The dual-motor system can control the output torque of the two motors to eliminate the transmission gap and share the load. In recent years, with the higher demands of social life and industrial production, dual-motor control systems are widely used in papermaking, transportation, electric vehicles, washing machines, air conditioners and other home appliances. The multi-phase motor drive system has the characteristics of low voltage and high power output, high power density, small torque fluctuation, and is suitable for fault-tolerant operation, and has received extensive attention. In a dual-motor drive system, the need to control both motors at the same time presents a higher complexity for developers not only to deal with, but also to ensure safe operation in any situation, including safety in the event of equipment failure. In recent years, the five-leg inverter-driven dual-motor system has been widely studied, that is, the five-leg inverter containing ten power switches is used to control two independent three-phase motors, which is compared with the conventional six-legged motor. The 12-power switch inverter control scheme saves two power devices and reduces the system cost. However, using a five-arm inverter to drive a dual-motor system for dual-motor control is still complicated in structure, and the control method requires logic operation processing. Obtaining the actual switching states of the ten power switches of the inverter requires high operating hardware costs and complicated operation procedures.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种双电机七开关逆变器及其控制方法,以克服现有技术的不足。The purpose of the present invention is to provide a dual-motor seven-switch inverter and a control method thereof to overcome the deficiencies of the prior art.
为达到上述目的,本发明采用如下技术方案:To achieve the above object, the present invention adopts the following technical solutions:
一种双电机七开关逆变器,包括控制器、三相电机M1、三相电机M2以及四个并联在同一直流电源上的逆变器桥臂L1、逆变器桥臂L2、逆变器桥臂L3和逆变器桥臂L4;逆变器桥臂L1和逆变器桥臂L2包括两个串联的功率开关管,逆变器桥臂L3包括三个串联的功率开关管,逆变器桥臂L4为电容逆变器桥臂;A dual-motor seven-switch inverter, comprising a controller, a three-phase motor M1, a three-phase motor M2, and four inverter bridge arms L1, inverter bridge arms L2, and an inverter connected in parallel to the same DC power supply The bridge arm L3 and the inverter bridge arm L4; the inverter bridge arm L1 and the inverter bridge arm L2 include two series-connected power switch tubes, and the inverter bridge arm L3 includes three series-connected power switch tubes. The inverter bridge arm L4 is a capacitor inverter bridge arm;
三相电机M1的绕组A与逆变桥臂L1的中点a相连;三相电机M1的绕组B与逆变桥臂L2的中点b相连;三相电机M1的绕组C与电容变桥臂L4的中点c相连;The winding A of the three-phase motor M1 is connected to the midpoint a of the inverter bridge arm L1; the winding B of the three-phase motor M1 is connected to the midpoint b of the inverter bridge arm L2; the winding C of the three-phase motor M1 is connected to the capacitor variable bridge arm The midpoint c of L4 is connected;
三相电机M2的绕组U与逆变桥臂L2的中点x相连;三相电机M2的绕组V与逆变桥臂L3的中点y相连;三相电机M2的绕组W与第四个电容逆变桥臂L4的中点c相连。The winding U of the three-phase motor M2 is connected to the midpoint x of the inverter bridge arm L2; the winding V of the three-phase motor M2 is connected to the midpoint y of the inverter bridge arm L3; the winding W of the three-phase motor M2 is connected to the fourth capacitor The midpoint c of the inverter bridge arm L4 is connected.
进一步的,其中控制器包括电流检测传感器、霍尔位置传感器和依次连接的速度调节模块、PI控制器、参考电流发生器、电流调节模块、滞环控制器和PWM脉冲产生单元;PWM脉冲产生单元连接于逆变器桥臂的功率开关管;电流检测传感器连接于三相电机的电枢绕组端口,用于检测两个三相电机的三相电流,将检测到的三相电流送到电流调节模块;霍尔位置传感器用于检测两个三相电机的霍尔信号并通过中控单元解析为两个三相电机的转子位置信号θ1、θ2和实际转速ω1、ω2,将生成的转子位置信号θ1、θ2传送至参考电流发生器,将生成的实际转速ω1、ω2传送至速度调节模块。Further, the controller includes a current detection sensor, a Hall position sensor and a speed adjustment module, a PI controller, a reference current generator, a current adjustment module, a hysteresis controller and a PWM pulse generation unit connected in sequence; the PWM pulse generation unit The power switch tube connected to the bridge arm of the inverter; the current detection sensor is connected to the armature winding port of the three-phase motor to detect the three-phase current of the two three-phase motors, and send the detected three-phase current to the current regulator Module; Hall position sensor is used to detect the Hall signals of two three-phase motors and parse them into rotor position signals θ 1 , θ 2 and actual rotational speeds ω 1 , ω 2 of two three-phase motors through the central control unit, which will generate The rotor position signals θ 1 and θ 2 are sent to the reference current generator, and the generated actual rotational speeds ω 1 and ω 2 are sent to the speed adjustment module.
进一步的,其中主控单元包括位置生成单元和转速生成单元,位置生成单元用于将霍尔位置传感器将检测到的霍尔信号解析为转子位置信号θ1、θ2,转速生成单元用于将霍尔位置传感器将检测到的霍尔信号解析为实际转速ω1、ω2,将生成的转子位置信号θ1、θ2传送至参考电流发生器,将生成的实际转速ω1、ω2传送至速度调节模块。Further, the main control unit includes a position generating unit and a rotational speed generating unit, the position generating unit is used to parse the Hall signal detected by the Hall position sensor into rotor position signals θ 1 , θ 2 , and the rotational speed generating unit is used to The Hall position sensor analyzes the detected Hall signal into actual rotational speed ω 1 , ω 2 , transmits the generated rotor position signal θ 1 , θ 2 to the reference current generator, and transmits the generated actual rotational speed ω 1 , ω 2 to the speed regulation module.
进一步的,功率开关管均采用IGBT或MOSFET。Further, the power switch tubes all use IGBT or MOSFET.
进一步的,两个三相电机采用三相电机、三相无刷直流电机、三相步进电机或三相交流异步电机。Further, the two three-phase motors are three-phase motors, three-phase brushless DC motors, three-phase stepping motors or three-phase AC asynchronous motors.
一种双电机七开关逆变器的控制方法,包括以下步骤,首先分别获取两个三相电机的实际转速和转子位置信号,将两个电机的实际转速与给定转速经过速度调节后得到转速误差;然后将两个三相电机的转速误差经过PI控制器得到两个三相电机的给定电流,将得到的给定电流和转子位置信号经过参考电流发生器得到两个三相电机的参考电流,将参考电流和实际电流经过电流调节模块后得到电流误差,将各独立桥臂所连接的相绕组中的电流误差分别送入滞环控制器中,滞环控制器产生的信号经过PWM产生单元,利用PWM产生单元来实现对两个三相电机的控制。A control method for a dual-motor seven-switch inverter, comprising the following steps: first, the actual rotational speed and rotor position signals of two three-phase motors are obtained respectively, and the actual rotational speed and the given rotational speed of the two motors are adjusted by speed to obtain the rotational speed Then, the speed error of the two three-phase motors is passed through the PI controller to obtain the given current of the two three-phase motors, and the obtained given current and rotor position signal are passed through the reference current generator to obtain the reference of the two three-phase motors. Current, the current error is obtained by passing the reference current and the actual current through the current adjustment module, and the current error in the phase windings connected to each independent bridge arm is sent to the hysteresis controller respectively, and the signal generated by the hysteresis controller is generated by PWM The unit uses the PWM generation unit to realize the control of the two three-phase motors.
进一步的,具体包括以下步骤:Further, it specifically includes the following steps:
步骤1)、系统进行初始化,获取两个三相电机M1、M2的实际转速ω1、ω2并传送到速度调节模块中,通过速度调节模块的定参考转速ω1 *、ω2 *与实际转速ω1、ω2得到转速误差eω1、eω2,将得到转速误差eω1、eω2传送至PI控制器得到给定参考电流I1 *、I2 *并传送至参考电流发生器,获取两个三相电机M1、M2的转子霍尔位置信号θ1、θ2并传送至参考电流发生器;Step 1), the system is initialized, and the actual rotational speeds ω 1 and ω 2 of the two three-phase motors M 1 and M 2 are acquired and sent to the speed adjustment module, and the fixed reference rotational speeds ω 1 * and ω 2 * of the speed adjustment module are used. and the actual rotation speed ω 1 , ω 2 to obtain the rotation speed errors e ω1 , e ω2 , and send the obtained rotation speed errors e ω1 , e ω2 to the PI controller to obtain the given reference currents I 1 * , I 2 * and send them to the reference current generator , obtain the rotor Hall position signals θ 1 and θ 2 of the two three-phase motors M 1 and M 2 and transmit them to the reference current generator;
步骤2)、利用电流检测传感器获取两个三相电机的两相电流信号IA、IB和IU、IV分别送入到电流调节模块中;,Step 2), utilize the current detection sensor to obtain the two-phase current signals IA , IB and IU , IV of the two three-phase motors and send them to the current adjustment module respectively;
步骤3)、步骤1)中得到的给定电流I1 *、I2 *和两个三相电机M1、M2的转子霍尔位置信号θ1、θ2经过参考电流发生器计算得到两个三相电机M1、M2的三相参考电流IA *、IB *和IU *、IV *;The given currents I 1 * and I 2 * obtained in step 3) and step 1) and the rotor Hall position signals θ 1 and θ 2 of the two three-phase motors M 1 and M 2 are calculated by the reference current generator to obtain two Three-phase reference currents IA * , IB * and IU * , IV * of the three-phase motors M1, M2;
步骤4)、两个三相电机M1、M2的三相参考电流IA *、IB *和IU *、IV *和实际检测的电流IA、IB和IU、IV在电流调节模块中各自计算电流误差后得到两个电机M1、M2的对应的电流误差e1、e2和e4、e5;Step 4), the three-phase reference currents I A * , I B * and I U * , I V * of the two three-phase motors M1 and M2 and the actual detected currents I A , I B and I U , I V are in the current The corresponding current errors e 1 , e 2 and e 4 , e 5 of the two motors M1 and M2 are obtained after the current errors are respectively calculated in the adjustment module;
步骤5)、利用四个电流误差e1、e2和e4、e5信号可以计算得到六个滞环控制器输入信号δk:Step 5), using the four current errors e 1 , e 2 and e 4 , e 5 signals can be calculated to obtain six hysteresis controller input signals δ k :
式中,k=1,2,3,4,5,6;In the formula, k=1, 2, 3, 4, 5, 6;
再将信号δk输入到六个滞环控制器后,可以得到双三相电机七开关三相逆变器七个功率开关Tm的触发信号Sm,即可实现对两个电机M1、M2的有效控制。After inputting the signal δk to the six hysteresis controllers, the trigger signal S m of the seven power switches T m of the two-phase motor seven-switch three-phase inverter can be obtained, which can realize the control of the two motors M1 and M2. effective control.
进一步的,将步骤1)中得到的两个三相电机M1、M2的实际转速ω1、ω2与给定参考转速ω1 *、ω2 *经过速度调节模块后得到转速误差eω1、eω2:Further, the actual rotational speed ω 1 , ω 2 of the two three-phase motors M1 and M2 obtained in step 1) and the given reference rotational speed ω 1 * , ω 2 * are passed through the speed adjustment module to obtain the rotational speed errors e ω1 , e ω2 :
转速误差eω1、eω2经过PI控制器得到给定参考电流I1 *、I2 *:The speed errors e ω1 , e ω2 obtain the given reference currents I 1 * and I 2 * through the PI controller:
式中,Kp为正值比例常数,KI为正值积分常数。In the formula, K p is a positive proportional constant, and K I is a positive integral constant.
进一步的,对于三相电机或三相异步电动机,两个电机M1、M2的三相参考电流分别为IA *、IB *和IU *、IV *:Further, for a three-phase motor or a three-phase asynchronous motor, the three-phase reference currents of the two motors M1 and M2 are I A * , I B * and I U * , I V * respectively:
进一步的,触发信号Sm计算如下:Further, the trigger signal S m is calculated as follows:
式中,m=1,2,3,4,5,6,7,ε为一个较小的正值常数。In the formula, m=1, 2, 3, 4, 5, 6, 7, and ε is a small positive constant.
本发明一种双三相电机七开关逆变器,通过利用七开关逆变器同时连接两个三相电机,实现两个三相电机的分时控制,采用七开关逆变器控制双电机系统的基本结构,减少开关器件的使用数量,省掉了矢量变换方式的坐标变换与计算和为解耦而简化异步电动机数学模型,没有通常的PWM脉宽调制信号发生器,控制结构简单、控制信号处理的物理概念明确、系统的转矩响应迅速且无超调,是一种具有高静、动态性能的交流调速控制方式。The present invention is a dual-phase motor seven-switch inverter. By using the seven-switch inverter to connect two three-phase motors at the same time, the time-sharing control of the two three-phase motors is realized, and the seven-switch inverter is used to control the dual-motor system. The basic structure of the inverter reduces the number of switching devices used, saves the coordinate transformation and calculation of the vector transformation method, and simplifies the mathematical model of the asynchronous motor for decoupling. There is no usual PWM pulse width modulation signal generator, the control structure is simple, and the control signal The physical concept of processing is clear, the torque response of the system is fast and there is no overshoot. It is an AC speed control method with high static and dynamic performance.
本发明一种双三相电机七开关逆变器控制方法,首先分别获取两个三相电机的实际转速,将两个电机的实际转速与给定转速经过速度调节后得到转速误差;然后将两个三相电机的转速误差经过PI控制器得到两个三相电机的给定电流,将得到的给定电流经过参考电流发生器得到两个三相电机的参考电流,将参考电流和实际电流经过电流调节模块后得到电流误差,将各独立桥臂所连接的相绕组中的电流误差分别送入滞环控制器中,滞环控制器产生的信号经过PWM产生单元,利用PWM产生单元来实现对两个三相电机的控制,本发明发适用于多种不同类型的三相交流电机,具有算法简单、响应快和精度高的优点,实现简单,适用范围广。The invention provides a method for controlling a seven-switch inverter for a dual-phase motor. First, the actual rotational speeds of the two three-phase motors are obtained respectively, and the rotational speed error is obtained by adjusting the actual rotational speed and the given rotational speed of the two motors; The speed error of three three-phase motors is obtained through the PI controller to obtain the given currents of the two three-phase motors, and the obtained given currents are passed through the reference current generator to obtain the reference currents of the two three-phase motors. After the current adjustment module, the current error is obtained, and the current error in the phase windings connected to each independent bridge arm is sent to the hysteresis controller. For the control of two three-phase motors, the present invention is suitable for many different types of three-phase AC motors, and has the advantages of simple algorithm, fast response and high precision, simple implementation and wide application range.
附图说明Description of drawings
图1为本发明系统控制方法流程示意图。FIG. 1 is a schematic flowchart of a system control method of the present invention.
图2为本发明逆变器系统的结构示意图。FIG. 2 is a schematic structural diagram of an inverter system of the present invention.
图3为本发明系统控制电路图。Fig. 3 is a system control circuit diagram of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明做进一步详细描述:Below in conjunction with accompanying drawing, the present invention is described in further detail:
如图2、图3所示,一种双电机七开关逆变器,包括控制器、三相电机M1、三相电机M2以及四个并联在同一直流电源上的逆变器桥臂L1、逆变器桥臂L2、逆变器桥臂L3和逆变器桥臂L4;逆变器桥臂L1和逆变器桥臂L2包括两个串联的功率开关管,逆变器桥臂L3包括三个串联的功率开关管,逆变器桥臂L4为电容逆变器桥臂;As shown in Figures 2 and 3, a dual-motor seven-switch inverter includes a controller, a three-phase motor M1, a three-phase motor M2, and four inverter bridge arms L1, an inverter, and an inverter connected in parallel to the same DC power supply. The inverter bridge arm L2, the inverter bridge arm L3 and the inverter bridge arm L4; the inverter bridge arm L1 and the inverter bridge arm L2 include two power switch tubes connected in series, and the inverter bridge arm L3 includes three power switches. A power switch tube connected in series, the inverter bridge arm L4 is a capacitor inverter bridge arm;
其中控制器包括电流检测传感器、霍尔位置传感器和依次连接的速度调节模块、PI控制器、参考电流发生器、电流调节模块、滞环控制器和PWM脉冲产生单元;PWM脉冲产生单元连接于逆变器桥臂的功率开关管;电流检测传感器连接于三相电机的电枢绕组端口,用于检测两个三相电机的三相电流,将检测到的三相电流送到电流调节模块;霍尔位置传感器用于检测两个三相电机的霍尔信号并通过中控单元解析为两个三相电机的转子位置信号θ1、θ2和实际转速ω1、ω2,将生成的转子位置信号θ1、θ2传送至参考电流发生器,将生成的实际转速ω1、ω2传送至速度调节模块;The controller includes a current detection sensor, a Hall position sensor, a speed regulation module, a PI controller, a reference current generator, a current regulation module, a hysteresis controller and a PWM pulse generation unit connected in sequence; the PWM pulse generation unit is connected to the inverter The power switch tube of the bridge arm of the inverter; the current detection sensor is connected to the armature winding port of the three-phase motor to detect the three-phase current of the two three-phase motors, and sends the detected three-phase current to the current adjustment module; The Hall position sensor is used to detect the Hall signals of the two three-phase motors and parse them into the rotor position signals θ 1 , θ 2 and the actual rotational speeds ω 1 , ω 2 of the two three-phase motors through the central control unit, and the generated rotor position The signals θ 1 and θ 2 are sent to the reference current generator, and the generated actual rotational speeds ω 1 and ω 2 are sent to the speed adjustment module;
其中主控单元包括位置生成单元和转速生成单元,位置生成单元用于将霍尔位置传感器将检测到的霍尔信号解析为转子位置信号θ1、θ2,转速生成单元用于将霍尔位置传感器将检测到的霍尔信号解析为实际转速ω1、ω2,将生成的转子位置信号θ1、θ2传送至参考电流发生器,将生成的实际转速ω1、ω2传送至速度调节模块;The main control unit includes a position generating unit and a rotational speed generating unit. The position generating unit is used to parse the Hall signal detected by the Hall position sensor into rotor position signals θ 1 and θ 2 , and the rotational speed generating unit is used to convert the Hall position The sensor analyzes the detected Hall signal into actual rotational speed ω 1 , ω 2 , transmits the generated rotor position signals θ 1 , θ 2 to the reference current generator, and transmits the generated actual rotational speed ω 1 , ω 2 to the speed adjustment module;
三相电机M1的绕组A与逆变桥臂L1的中点a相连;三相电机M1的绕组B与逆变桥臂L2的中点b相连;三相电机M1的绕组C与电容变桥臂L4的中点c相连;The winding A of the three-phase motor M1 is connected to the midpoint a of the inverter bridge arm L1; the winding B of the three-phase motor M1 is connected to the midpoint b of the inverter bridge arm L2; the winding C of the three-phase motor M1 is connected to the capacitor variable bridge arm The midpoint c of L4 is connected;
三相电机M2的绕组U与逆变桥臂L2的中点x相连;三相电机M2的绕组V与逆变桥臂L3的中点y相连;三相电机M2的绕组W与第四个电容逆变桥臂L4的中点c相连;The winding U of the three-phase motor M2 is connected to the midpoint x of the inverter bridge arm L2; the winding V of the three-phase motor M2 is connected to the midpoint y of the inverter bridge arm L3; the winding W of the three-phase motor M2 is connected to the fourth capacitor The midpoint c of the inverter bridge arm L4 is connected;
功率开关管均采用IGBT或MOSFET。The power switch tube adopts IGBT or MOSFET.
两个三相电机采用三相电机、三相无刷直流电机、三相步进电机或三相交流异步电机。The two three-phase motors are three-phase motors, three-phase brushless DC motors, three-phase stepper motors or three-phase AC asynchronous motors.
如图1所示,一种双电机七开关逆变器控制方法,包括以下步骤,首先分别获取两个三相电机的实际转速和转子位置信号,将两个电机的实际转速与给定转速经过速度调节后得到转速误差;然后将两个三相电机的转速误差经过PI控制器得到两个三相电机的给定电流,将得到的给定电流和转子位置信号经过参考电流发生器得到两个三相电机的参考电流,将参考电流和实际电流经过电流调节模块后得到电流误差,将各独立桥臂所连接的相绕组中的电流误差分别送入滞环控制器中,滞环控制器产生的信号经过PWM产生单元,利用PWM产生单元来实现对两个三相电机的控制。As shown in Figure 1, a dual-motor seven-switch inverter control method includes the following steps. First, the actual speed and rotor position signals of the two three-phase motors are obtained respectively, and the actual speed and the given speed of the two motors are passed through After speed adjustment, the speed error is obtained; then the speed error of the two three-phase motors is passed through the PI controller to obtain the given current of the two three-phase motors, and the obtained given current and rotor position signal are passed through the reference current generator to obtain two The reference current of the three-phase motor, the current error is obtained by passing the reference current and the actual current through the current adjustment module, and the current error in the phase windings connected to each independent bridge arm is respectively sent to the hysteresis controller, and the hysteresis controller generates The signal passed through the PWM generation unit, and the PWM generation unit is used to realize the control of the two three-phase motors.
具体包括以下步骤:Specifically include the following steps:
步骤1)、系统进行初始化,利用霍尔位置传感器分别将两个三相电机M1、M2的转子霍尔位置信号采集到主控单元中,主控单元将霍尔位置信号解析为两个三相电机的转子位置信号θ1、θ2和实际转速ω1、ω2,将获取的两个三相电机的实际转速ω1、ω2送入到速度调节模块中,将获取的两个三相电机的转子位置信号θ1、θ2送入到参考电流发生器中,利用电流检测传感器获取两个三相电机的两相电流信号IA、IB和IU、IV分别送入到电流调节模块中;Step 1), the system is initialized, and the Hall position sensor is used to collect the rotor Hall position signals of the two three-phase motors M 1 and M 2 into the main control unit, and the main control unit parses the Hall position signal into two The rotor position signals θ 1 , θ 2 and the actual rotational speeds ω 1 , ω 2 of the three-phase motor are sent into the speed adjustment module, and the obtained actual rotational speeds ω 1 and ω 2 of the two three-phase motors are sent to the speed adjustment module, and the obtained two The rotor position signals θ 1 and θ 2 of the three-phase motor are sent to the reference current generator, and the two-phase current signals I A , I B and I U , IV of the two three-phase motors are obtained by using the current detection sensor and sent to the into the current regulation module;
步骤2)、将步骤1)中得到的两个三相电机M1、M2的实际转速ω1、ω2与给定参考转速ω1 *、ω2 *经过速度调节模块后得到转速误差eω1、eω2:In step 2), the actual rotational speed ω 1 , ω 2 of the two three-phase motors M1 and M2 obtained in step 1) and the given reference rotational speed ω 1 * , ω 2 * are passed through the speed adjustment module to obtain the rotational speed error e ω1 , e ω2 :
转速误差eω1、eω2经过PI控制器得到给定参考电流I1 *、I2 *:The speed errors e ω1 , e ω2 obtain the given reference currents I 1 * and I 2 * through the PI controller:
式中,Kp为正值比例常数,KI为正值积分常数;In the formula, K p is a positive proportional constant, and K I is a positive integral constant;
步骤3)、将步骤2)中得到的给定电流I1 *、I2 *和步骤1)得到的两个三相电机的转子位置信号θ1、θ2经过参考电流发生器计算得到两个三相电机M1、M2的三相参考电流;对于三相电机或三相异步电动机,两个电机M1、M2的三相参考电流分别为IA *、IB *和IU *、IV *:In step 3), the given currents I 1 * and I 2 * obtained in step 2) and the rotor position signals θ 1 and θ 2 of the two three-phase motors obtained in step 1) are calculated through the reference current generator to obtain two Three-phase reference currents of three-phase motors M1 and M2; for three-phase motors or three-phase asynchronous motors, the three-phase reference currents of two motors M1 and M2 are I A * , I B * and I U * , I V * respectively :
步骤4)、将步骤3)中得到的两个三相电机M1、M2的三相参考电流IA *、IB *、IU *、IV *和步骤1)中检测的实际检测的电流IA、IB、IU、IV在电流调节模块中各自计算电流误差后得到两个电机M1、M2的对应的电流误差e1、e2和e4、e5:Step 4), using the three-phase reference currents IA * , IB * , IU * , IV * of the two three-phase motors M1 and M2 obtained in step 3) and the actual detected current detected in step 1) After I A , I B , I U , I V respectively calculate the current error in the current adjustment module, the corresponding current errors e 1 , e 2 and e 4 , e 5 of the two motors M1 and M2 are obtained:
步骤5)、利用四个电流误差e1、e2和e4、e5信号可以计算得到六个滞环控制器输入信号δk:Step 5), using the four current errors e 1 , e 2 and e 4 , e 5 signals can be calculated to obtain six hysteresis controller input signals δ k :
式中,k=1,2,3,4,5,6;In the formula, k=1, 2, 3, 4, 5, 6;
再将信号δk输入到六个滞环控制器后,可以得到双三相电机七开关三相逆变器七个功率开关Tm的触发信号Sm,通过逆变器不同开关状态就可实现对两个电机M1、M2的有效控制。After inputting the signal δk to the six hysteresis controllers, the trigger signal S m of the seven power switches T m of the two-phase motor seven-switch three-phase inverter can be obtained, which can be realized by different switch states of the inverter. Effective control of two motors M1, M2.
式中,m=1,2,3,4,5,6,7,⊙表示逻辑与非,ε为一个正值常数。In the formula, m=1, 2, 3, 4, 5, 6, 7, ⊙ represents logical and negation, and ε is a positive constant.
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