CN108183636B - Double-motor seven-switch inverter and control method thereof - Google Patents
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
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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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- 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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping motors
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Abstract
The invention discloses a seven-switch inverter for double three-phase motors and a control method, wherein a basic structure that the seven-switch inverter controls a double-motor system is adopted, the actual rotating speeds of two three-phase motors are respectively obtained, and the actual rotating speeds and the given rotating speeds of the two motors are subjected to speed regulation to obtain rotating speed errors; then the rotation speed error of the two three-phase motors is processed by a PI controller to obtain the given current of the two three-phase motors, the obtained given current is processed by a reference current generator to obtain the reference current of the two three-phase motors, the reference current and the actual current are processed by a current regulation module to obtain the current error, the current error in the phase winding connected with each independent bridge arm is respectively sent to a hysteresis controller, and a signal generated by the hysteresis controller is processed by a PWM generating unit to realize the control of the two three-phase motors by the PWM generating unit.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a double-motor seven-switch inverter and a control method thereof.
Background
The dual-motor system can achieve the purposes of eliminating transmission gaps and sharing loads by controlling the output torques of the two motors. In recent years, with higher demands of social life and industrial production, the dual-motor control system is widely applied to the application fields of paper making, traffic, electric automobiles, washing machines, air conditioners and other household appliances. The multi-phase motor driving system has the characteristics of low-voltage high-power output, high power density, small torque fluctuation, suitability for fault-tolerant operation and the like, and obtains wide attention. In a dual motor drive system, the need to control both motors simultaneously is not only a matter of greater complexity for the developer, but also a necessity to ensure safe operation in any situation, including safety in the event of equipment failure. In recent years, a five-leg inverter driving dual-motor system is widely researched, namely, a five-leg inverter comprising ten power switches is adopted to control two independent three-phase motors, so that two power devices are saved and the system cost is reduced compared with a conventional six-leg twelve-power switch inverter control scheme.
Disclosure of Invention
The invention aims to provide a double-motor seven-switch inverter and a control method thereof, so as to overcome the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a double-motor seven-switch inverter comprises a controller, a three-phase motor M1, a three-phase motor M2, four inverter bridge arms L1, L2, L3 and L4 which are connected in parallel on the same direct-current power supply; the inverter bridge arm L1 and the inverter bridge arm L2 comprise two power switching tubes connected in series, the inverter bridge arm L3 comprises three power switching tubes connected in series, and the inverter bridge arm L4 is a capacitor inverter bridge arm;
a winding A of the three-phase motor M1 is connected with a midpoint a of an inverter bridge arm L1; a winding B of the three-phase motor M1 is connected with a midpoint B of an inverter bridge arm L2; a winding C of the three-phase motor M1 is connected with a midpoint C of the capacitance variable bridge arm L4;
a winding U of the three-phase motor M2 is connected with a midpoint x of an inverter bridge arm L2; a winding V of the three-phase motor M2 is connected with a midpoint y of the inverter bridge arm L3; and a winding W of the three-phase motor M2 is connected with a midpoint c of the fourth capacitor inverter bridge arm L4.
Furthermore, the controller comprises 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 which are connected in sequence; the PWM pulse generating unit is connected with a power switch tube of an inverter bridge arm; the current detection sensor is connected to the armature winding ports of the three-phase motors and used for detecting three-phase currents of the two three-phase motors and sending the detected three-phase currents to the current regulation module; the Hall position sensor is used for detecting Hall signals of the two three-phase motors and analyzing the Hall signals into rotor position signals theta of the two three-phase motors through the central control unit1、θ2And the actual rotational speed omega1、ω2A rotor position signal θ to be generated1、θ2Transmitting to a reference current generator to generate an actual rotation speed omega1、ω2And transmitting to a speed adjusting module.
Further, the main control unit comprises a position generating unit and a rotating speed generating unit, wherein the position generating unit is used for analyzing the Hall signals detected by the Hall position sensor into rotor position signals theta1、θ2The rotating speed generating unit is used for analyzing the Hall signal detected by the Hall position sensor into an actual rotating speed omega1、ω2A rotor position signal θ to be generated1、θ2Transmitting to a reference current generator to generate an actual rotation speed omega1、ω2And transmitting to a speed adjusting module.
Furthermore, the power switch tubes are all Insulated Gate Bipolar Transistors (IGBT) or Metal Oxide Semiconductor Field Effect Transistors (MOSFET).
Further, the two three-phase motors are three-phase motors, three-phase brushless direct current motors, three-phase stepping motors or three-phase alternating current asynchronous motors.
A control method of a double-motor seven-switch inverter comprises the following steps of firstly respectively obtaining actual rotating speeds and rotor position signals of two three-phase motors, and obtaining rotating speed errors after the actual rotating speeds and given rotating speeds of the two motors are subjected to speed regulation; then, the rotation speed errors of the two three-phase motors are processed by a PI controller to obtain given currents of the two three-phase motors, the obtained given currents and rotor position signals are processed by a reference current generator to obtain reference currents of the two three-phase motors, the reference currents and actual currents are processed by a current adjusting module to obtain current errors, the current errors in phase windings connected with independent bridge arms are respectively sent to a hysteresis controller, signals generated by the hysteresis controller are processed by a PWM generating unit, and the two three-phase motors are controlled by the PWM generating unit.
Further, the method specifically comprises the following steps:
step 1), initializing the system to obtain two three-phase motors M1、M2Actual rotational speed ω1、ω2And transmitted to the speed regulating module, and the fixed reference rotating speed omega of the speed regulating module1 *、ω2 *With the actual speed omega1、ω2Obtaining a rotational speed error eω1、eω2Will obtain the error e of the rotation speedω1、eω2Transmitting to PI controller to obtain given reference current I1 *、I2 *And transmitting to a reference current generator to obtain two three-phase motors M1、M2Rotor hall position signal theta1、θ2And transmitted to the reference current generator;
step 2), acquiring two-phase current signals I of two three-phase motors by using current detection sensorsA、IBAnd IU、IVRespectively sending the signals into a current regulation module; ,
step 3), the given current I obtained in step 1)1 *、I2 *And two three-phase motorsM1、M2Rotor hall position signal theta1、θ2Three-phase reference current I of two three-phase motors M1 and M2 is calculated by a reference current generatorA *、IB *And IU *、IV *；
Step 4), three-phase reference current I of two three-phase motors M1 and M2A *、IB *And IU *、IV *And the actually detected current IA、IBAnd IU、IVThe current error e corresponding to the two motors M1, M2 is obtained after the current error is respectively calculated in the current adjusting module1、e2And e4、e5；
Step 5) utilizing four current errors e1、e2And e4、e5The signals can be calculated to obtain six input signals of the hysteresis controllerk：
Wherein k is 1,2,3,4,5, 6;
then will the signalkAfter being input into six hysteresis controllers, seven power switches T of the double three-phase motor seven-switch three-phase inverter can be obtainedmTrigger signal SmTherefore, the effective control of the two motors M1 and M2 can be realized.
Further, the actual rotating speeds ω of the two three-phase motors M1 and M2 obtained in the step 1) are measured1、ω2With a given reference speed omega1 *、ω2 *Obtaining a rotating speed error e after passing through a speed adjusting moduleω1、eω2：
Error of rotation speed eω1、eω2Obtaining given reference power through PI controllerStream I1 *、I2 *：
In the formula, KpIs a positive proportionality constant, KIA positive integration constant.
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 respectivelyA *、IB *And IU *、IV *：
Further, a trigger signal SmThe calculation is as follows:
where m is 1,2,3,4,5,6,7, which is a small positive constant.
The invention relates to a double three-phase motor seven-switch inverter, which is characterized in that a seven-switch inverter is used for simultaneously connecting two three-phase motors to realize time-sharing control of the two three-phase motors, the seven-switch inverter is used for controlling the basic structure of a double-motor system, the using quantity of switch devices is reduced, the coordinate transformation and calculation of a vector transformation mode are omitted, and an asynchronous motor mathematical model is simplified for decoupling.
The invention relates to a control method of a double three-phase motor seven-switch inverter, which comprises the steps of firstly respectively obtaining the actual rotating speeds of two three-phase motors, and obtaining rotating speed errors after the actual rotating speeds of the two motors and the given rotating speed are subjected to speed regulation; then the rotation speed error of the two three-phase motors is processed by a PI controller to obtain the given current of the two three-phase motors, the obtained given current is processed by a reference current generator to obtain the reference current of the two three-phase motors, the reference current and the actual current are processed by a current regulation module to obtain the current error, the current error in the phase winding connected with each independent bridge arm is respectively sent to a hysteresis controller, and a signal generated by the hysteresis controller is processed by a PWM generating unit to realize the control of the two three-phase motors by the PWM generating unit.
Drawings
FIG. 1 is a flow chart of a system control method according to the present invention.
Fig. 2 is a schematic structural diagram of the inverter system of the present invention.
FIG. 3 is a circuit diagram of the system control of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 2 and 3, a two-motor seven-switch inverter includes a controller, a three-phase motor M1, a three-phase motor M2, and four inverter legs L1, L2, L3, and L4 connected in parallel to the same dc power supply; the inverter bridge arm L1 and the inverter bridge arm L2 comprise two power switching tubes connected in series, the inverter bridge arm L3 comprises three power switching tubes connected in series, and the inverter bridge arm L4 is a capacitor inverter bridge arm;
the controller comprises 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 which are sequentially connected; the PWM pulse generating unit is connected with a power switch tube of an inverter bridge arm; the current detection sensor is connected with an armature winding port of the three-phase motorThe three-phase current detection module is used for detecting three-phase currents of the two three-phase motors and sending the detected three-phase currents to the current regulation module; the Hall position sensor is used for detecting Hall signals of the two three-phase motors and analyzing the Hall signals into rotor position signals theta of the two three-phase motors through the central control unit1、θ2And the actual rotational speed omega1、ω2A rotor position signal θ to be generated1、θ2Transmitting to a reference current generator to generate an actual rotation speed omega1、ω2Transmitting to a speed adjusting module;
the main control unit comprises a position generating unit and a rotating speed generating unit, wherein the position generating unit is used for analyzing the Hall signals detected by the Hall position sensor into rotor position signals theta1、θ2The rotating speed generating unit is used for analyzing the Hall signal detected by the Hall position sensor into an actual rotating speed omega1、ω2A rotor position signal θ to be generated1、θ2Transmitting to a reference current generator to generate an actual rotation speed omega1、ω2Transmitting to a speed adjusting module;
a winding A of the three-phase motor M1 is connected with a midpoint a of an inverter bridge arm L1; a winding B of the three-phase motor M1 is connected with a midpoint B of an inverter bridge arm L2; a winding C of the three-phase motor M1 is connected with a midpoint C of the capacitance variable bridge arm L4;
a winding U of the three-phase motor M2 is connected with a midpoint x of an inverter bridge arm L2; a winding V of the three-phase motor M2 is connected with a midpoint y of the inverter bridge arm L3; a winding W of the three-phase motor M2 is connected with a midpoint c of a fourth capacitor inverter bridge arm L4;
the power switch tubes are all Insulated Gate Bipolar Transistors (IGBT) or Metal Oxide Semiconductor Field Effect Transistors (MOSFET).
The two three-phase motors are three-phase motors, three-phase brushless direct current motors, three-phase stepping motors or three-phase alternating current asynchronous motors.
As shown in fig. 1, a method for controlling a dual-motor seven-switch inverter includes the steps of firstly, respectively obtaining actual rotation speeds and rotor position signals of two three-phase motors, and obtaining a rotation speed error after speed regulation of the actual rotation speeds and a given rotation speed of the two motors; then, the rotation speed errors of the two three-phase motors are processed by a PI controller to obtain given currents of the two three-phase motors, the obtained given currents and rotor position signals are processed by a reference current generator to obtain reference currents of the two three-phase motors, the reference currents and actual currents are processed by a current adjusting module to obtain current errors, the current errors in phase windings connected with independent bridge arms are respectively sent to a hysteresis controller, signals generated by the hysteresis controller are processed by a PWM generating unit, and the two three-phase motors are controlled by the PWM generating unit.
The method specifically comprises the following steps:
step 1), initializing a system, and respectively enabling two three-phase motors M to be respectively connected by utilizing Hall position sensors1、M2The Hall position signal of the rotor is collected into the main control unit, and the main control unit analyzes the Hall position signal into rotor position signals theta of two three-phase motors1、θ2And the actual rotational speed omega1、ω2Actual rotational speeds ω of two three-phase motors to be obtained1、ω2Sending the signals into a speed regulation module, and obtaining rotor position signals theta of two three-phase motors1、θ2Sending into a reference current generator, and acquiring two-phase current signals I of two three-phase motors by using a current detection sensorA、IBAnd IU、IVRespectively sending the signals into a current regulation module;
step 2), the actual rotating speeds omega of the two three-phase motors M1 and M2 obtained in the step 1) are used1、ω2With a given reference speed omega1 *、ω2 *Obtaining a rotating speed error e after passing through a speed adjusting moduleω1、eω2：
Error of rotation speed eω1、eω2Obtaining a given reference current I through a PI controller1 *、I2 *：
In the formula, KpIs a positive proportionality constant, KIA positive integration constant;
step 3) of applying the given current I obtained in step 2)1 *、I2 *And the rotor position signals theta of the two three-phase motors obtained in the step 1)1、θ2Calculating three-phase reference currents of two three-phase motors M1 and M2 through a reference current generator; 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 respectivelyA *、IB *And IU *、IV *：
Step 4), three-phase reference current I of the two three-phase motors M1 and M2 obtained in the step 3)A *、IB *、IU *、IV *And the actual detected current I detected in step 1)A、IB、IU、IVThe current error e corresponding to the two motors M1, M2 is obtained after the current error is respectively calculated in the current adjusting module1、e2And e4、e5：
Step 5) utilizing four current errors e1、e2And e4、e5The signals can be calculated to obtain six input signals of the hysteresis controllerk：
Wherein k is 1,2,3,4,5, 6;
then will the signalkAfter being input into six hysteresis controllers, seven power switches T of the double three-phase motor seven-switch three-phase inverter can be obtainedmTrigger signal SmThe effective control of the two motors M1 and M2 can be realized through different switch states of the inverter.
Wherein m is 1,2,3,4,5,6,7, which indicates a logical nand having a positive constant.
Claims (6)
1. The control method of the double-motor seven-switch inverter is characterized in that the double-motor seven-switch inverter comprises a controller, a three-phase motor M1, a three-phase motor M2, four inverter bridge arms L1, L2, L3 and L4, wherein the four inverter bridge arms are connected in parallel on the same direct-current power supply;
the inverter bridge arm L1 comprises two power switching tubes T1 and T2 which are connected in series, the connecting point of the T1 and the T2 is a midpoint a, the inverter bridge arm L2 comprises two power switching tubes T3 and T4 which are connected in series, the connecting point of the T3 and the T4 is a midpoint x, the inverter bridge arm L3 comprises three power switching tubes T5, T6 and T7 which are connected in series, the connecting point of the T5 and the T6 is a midpoint b, and the connecting point of the T6 and the T7 is a midpoint y; the inverter bridge arm L4 is a capacitor inverter bridge arm, the inverter bridge arm L4 comprises two capacitors C1 and C2 which are connected in series, and the connection point of the capacitors C1 and C2 is a midpoint C; a winding A of the three-phase motor M1 is connected with a midpoint a of an inverter bridge arm L1; a winding B of the three-phase motor M1 is connected with a midpoint B of an inverter bridge arm L3; a winding C of the three-phase motor M1 is connected with a midpoint C of the inverter bridge arm L4, and a winding U of the three-phase motor M2 is connected with a midpoint x of the inverter bridge arm L2; a winding V of the three-phase motor M2 is connected with a midpoint y of an inverter bridge arm L3; a winding W of the three-phase motor M2 is connected with a midpoint c of an inverter bridge arm L4;
wherein the controller comprises a position generating unit for analyzing Hall signal detected by the Hall position sensor into rotor position signal theta and a rotation speed generating unit1、θ2The rotating speed generating unit is used for analyzing the Hall signal detected by the Hall position sensor into an actual rotating speed omega1、ω2A rotor position signal θ to be generated1、θ2Transmitting to a reference current generator to generate an actual rotation speed omega1、ω2Transmitting to a speed adjusting module;
the method specifically comprises the following steps: step 1), initializing the system to obtain two three-phase motors M1、M2Actual rotational speed ω1、ω2And transmitted to a speed regulation module which regulates the speed according to a given reference speed omega1 *、ω2 *With the actual speed omega1、ω2Obtaining a rotational speed error eω1、eω2Will obtain the error e of the rotation speedω1、eω2Transmitting to PI controller to obtain given reference current I1 *、I2 *And transmitting to a reference current generator to obtain two three-phase motors M1、M2Rotor position signal theta1、θ2And transmitted to the reference current generator;
step 2), acquiring two-phase current signals I of two three-phase motors by using current detection sensorsA、IBAnd IU、IVRespectively sending the signals into a current regulation module;
step 3), the given reference current I obtained in step 1)1 *、I2 *And two three-phase motors M1、M2Rotor position signal theta1、θ2Calculating two-phase reference current I of two three-phase motors M1 and M2 through a reference current generatorA *、IB *And IU *、IV *；
Step 4), two-phase reference current I of two three-phase motors M1 and M2A *、IB *And IU *、IV *And the actually detected current IA、IBAnd IU、IVThe current error e corresponding to the two motors M1, M2 is obtained after the current error is respectively calculated in the current adjusting module1、e2And e4、e5；
Step 5) utilizing four current errors e1、e2And e4、e5The signals can be calculated to obtain six input signals of the hysteresis controllerk：
Wherein k is 1,2,3,4,5, 6;
then will the signalkAfter being input into six hysteresis controllers, seven power switches T of the double three-phase motor seven-switch three-phase inverter can be obtainedmTrigger signal SmEffective control of two motors M1 and M2 and trigger signal SmThe calculation is as follows:
wherein m is 1,2,3,4,5,6,7, which is a positive constant.
2. The control method of the double-motor seven-switch inverter according to claim 1, wherein the controller comprises 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 which are connected in sequence; the PWM pulse generating unit is connected with a power switch tube of an inverter bridge arm; the current detection sensor is connected with the three-phase motorThe armature winding port is used for detecting the phase currents of the two three-phase motors and sending the detected phase currents to the current regulating module; the Hall position sensor is used for detecting Hall signals of the two three-phase motors and resolving the Hall signals into rotor position signals theta of the two three-phase motors through the controller1、θ2And the actual rotational speed omega1、ω2A rotor position signal θ to be generated1、θ2Transmitting to a reference current generator to generate an actual rotation speed omega1、ω2And transmitting to a speed adjusting module.
3. The method for controlling the two-motor seven-switch inverter as claimed in claim 1, wherein the power switch tubes are all IGBT or MOSFET.
4. The method of claim 1, wherein the three-phase motor is a three-phase brushless dc motor, a three-phase stepping motor or a three-phase ac asynchronous motor.
5. The method for controlling the two-motor seven-switch inverter as claimed in claim 1, wherein the speed adjusting module in step 1) is configured to adjust the speed according to a given reference rotation speed ω1 *、ω2 *With the actual speed omega1、ω2Obtaining a rotational speed error eω1、eω2The method specifically comprises the following steps:
error of rotation speed eω1、eω2Obtaining a given reference current I through a PI controller1 *、I2 *：
In the formula, KpIs a positive proportionality constant, KIA positive integration constant.
6. The method as claimed in claim 1, wherein the two-phase reference current I of two three-phase motors M1, M2A *、IB *And IU *、IV *Respectively as follows:
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