CN108206651A - Nine-switch inverter double-motor driving system and control method thereof - Google Patents

Nine-switch inverter double-motor driving system and control method thereof Download PDF

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Publication number
CN108206651A
CN108206651A CN201810055061.6A CN201810055061A CN108206651A CN 108206651 A CN108206651 A CN 108206651A CN 201810055061 A CN201810055061 A CN 201810055061A CN 108206651 A CN108206651 A CN 108206651A
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China
Prior art keywords
permanent magnet
magnet synchronous
power switch
phase
armature winding
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CN201810055061.6A
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CN108206651B (en
Inventor
林海
石伟
李登峰
李刚
王飚
梁华刚
李晓辉
李�杰
赵毅
董媛
张懿璞
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TIANJIN SAIXIANG ELECTROMECHANICAL ENGINEERING CO LTD
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Changan University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04Arrangements for controlling or regulating the speed or torque of more than one motor
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02MAPPARATUS 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
    • H02M7/00Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48Conversion 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
    • H02M7/53Conversion 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
    • H02M7/537Conversion 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
    • H02M7/5387Conversion 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22Current control, e.g. using a current control loop
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements 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
    • H02P27/06Arrangements 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
    • H02P27/08Arrangements 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
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04Arrangements for controlling or regulating the speed or torque of more than one motor
    • H02P2006/045Control of current
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control

Abstract

The invention discloses a nine-switch inverter double-motor driving system and a control method thereof, wherein the system comprises two three-phase permanent magnet synchronous motors, a three-phase nine-switch inverter, a PI controller, a reference current generator, a hysteresis controller, a PWM pulse generation unit, a permanent magnet synchronous motor current detection sensor, a Hall sensor and a direct current power supply, one end of the PI controller is connected with the direct current power supply, the other end of the PI controller is respectively connected with the two three-phase permanent magnet synchronous motors through the reference current generator, the hysteresis controller, the PWM pulse generation unit and the three-phase nine-switch inverter in sequence, and the permanent magnet synchronous motor current detection sensor and the Hall sensor are respectively connected with a position and rotating speed comparator and the reference current generator. The invention enables the two permanent magnet synchronous motors to synchronously run, and the control topological structure and the control method thereof reduce the power loss of the nine-switch inverter driving the double permanent magnet synchronous motors by reducing the number of the power switch tubes.

Description

A kind of nine switching inverter dual-motor drive systems and its control method
Technical field
The invention belongs to permanent magnet synchronous motor technical field of system control, and in particular to a kind of nine switching inverter bi-motors Drive system topology structure and its control method.
Background technology
It is same using Driven by inverter permanent magnetism with Power Electronic Technique and the constantly improve of permanent magnet synchronous motor control theory The control method of step motor is used widely.It is particularly excellent with high residual flux density, high energy product and linear demagnetizing curve etc. The admire appearance of iron rare earth permanent-magnetic material and the development of corresponding technology of different in nature energy, not only reduce permanent magnet synchronous motor Production cost, and improve the working performance of permanent magnet synchronous motor.Permanent-magnet synchronous electric motor is simple in structure, power density It is high, light-weight, reliable.The control method of traditional double permanent magnet synchronous motors is that two groups of six switching inverters of three-phase are in parallel Topological structure can realize the Synchronization Control of permanent magnet synchronous motor, however, two groups of six switching inverters of three-phase employ ten altogether Two power switch pipes, the energy needed for driving circuit is more, and power attenuation is big;And two permanent magnet synchronous motors work independently, Control strategy complexity is cumbersome, is not easy to coordinated signals.
Therefore the double permanent magnet synchronous motors of polyphase inverter driving and its control strategy of single supply control are imperative.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is inverse to provide nine switch of one kind Become device dual-motor drive system and its control method, two permanent magnet synchronous motors is enable to run simultaneously, the control topological structure And its control method reduces the work(of the double permanent magnet synchronous motors of nine switching inverters driving by reducing the quantity of power switch pipe Rate is lost.
The present invention uses following technical scheme:
A kind of nine switching inverter dual-motor drive systems, switch inverse including two three-phase permanent magnet synchronous motors, three-phase nine Become device, PI controllers, reference current generating, hystersis controller, pwm pulse generation unit, permanent magnet synchronous motor current detecting Sensor, Hall sensor and DC power supply, PI controllers one end are connect with DC power supply, and the other end passes through successively Reference current generating, hystersis controller, pwm pulse generation unit and nine switching inverter of three-phase respectively with two three-phase permanents Synchronous motor connects, permanent magnet synchronous motor current detection sensor and Hall sensor respectively with position and rotary speed comparator and ginseng Examine current feedback circuit connection;
Nine switching inverter of three-phase includes the first inverter leg L1, the second inverter leg L2With third inverter leg L3, the first inverter leg L1, the second inverter leg L2With third inverter leg L3One end it is synchronous with three-phase permanent respectively Motor M1 is connected with three-phase permanent magnet synchronous motor M2, is connected after other end parallel connection with public direct-current power supply, three-phase permanent synchronizes electricity Machine M1 and three-phase permanent magnet synchronous motor M2 are connect with Hall sensor and current sensor, are produced according to pwm pulse generation unit The on off state of raw pulse control signal control power switch pipe, with reference to two-phase voltage in threephase motor armature winding for just One phase voltage of polarity is negative polarity or two-phase voltage be one phase voltage of negative polarity is that positive polarity generates six kinds of circuit topological structures and drives Dynamic double permanent magnet synchronous motor operations.
Specifically, inverter leg L1 is by the first power switch pipe T1, the 4th power switch pipe T4 and the 7th power switch Pipe T7 is composed in series, and inverter leg L2 is by the second power switch pipe T2, the 5th power switch pipe T5 and the 8th power switch pipe T8 is composed in series, and inverter leg L3 is by third power switch pipe T3, the 6th power switch pipe T6 and the 9th power switch pipe T9 It is composed in series, three-phase permanent magnet synchronous motor M1 has independent threephase armature winding A, B, C;Three-phase permanent magnet synchronous motor M2 has Independent armature winding U, V, W.
Further, the midpoint of the power switch pipe T1 in inverter leg L1 and power switch pipe T4 are node x points, work( The midpoint of rate switch transistor T 4 and power switch pipe T7 is node a points;Power switch pipe T2 in inverter leg L2 is opened with power The midpoint for closing pipe T5 is node y points, and the midpoint of power switch pipe T5 and power switch pipe T8 is node b points;Inverter leg L3 In the midpoint of power switch pipe T3 and power switch pipe T6 be node z points, in power switch pipe T6 and power switch pipe T9 Point is node c points.
Further, three-phase permanent magnet synchronous motor M1 thirds armature winding C is connected to the third of nine switching inverter of three-phase Point node x between the upper power switch pipe T1 and middle power switch pipe T4 of inverter leg, three-phase permanent magnet synchronous motor M2's First armature winding U is connected to the middle power switch pipe T4 of the first inverter leg of nine switching inverter of three-phase and lower power is opened Close the node a points between pipe T7;
The second armature winding of three-phase permanent magnet synchronous motor M1 B is connected to the second inverter leg of nine switching inverter of three-phase Upper power switch pipe T2 and middle power switch pipe T3 between point the second armature winding of node y, three-phase permanent magnet synchronous motor M2 V The section being connected between the middle power switch pipe T5 and lower power switch pipe T8 of nine the second inverter leg of switching inverter of three-phase Point b points;
The first armature winding of three-phase permanent magnet synchronous motor M1 A is connected to the third inverter leg of nine switching inverter of three-phase Upper power switch pipe T3 and middle power switch pipe T6 between point node z, three-phase permanent magnet synchronous motor M2 third armature winding W The section being connected between the middle power switch pipe T6 and lower power switch pipe T9 of nine switching inverter third inverter leg of three-phase Point c points.
Specifically, six kinds of operating modes are specific as follows:
Operating mode I, it be negative one phase voltage is just, when nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, In power switch pipe T1, T4, T5, T6, T8, T9 it is in the conduction state, when power switch pipe T2, T3, T7 are off state, The armature winding U of the armature winding C and permanent magnet synchronous motor M2 of permanent magnet synchronous motor M1 lead to positive electricity, the electricity of permanent magnet synchronous motor M1 The armature winding V of pivot winding B, armature winding A and permanent magnet synchronous motor M2, armature winding W lead to negative electricity;
Working mould Formula II, it be negative one phase voltage is just, when nine switch inversion of three-phase that armature winding polarity, which belongs to two-phase voltage, Power switch pipe T2, T4, T5, T6, T7, T9 in device is in the conduction state, and power switch pipe T1, T3, T8 are off state When, the armature winding V of the armature winding B and permanent magnet synchronous motor M2 of permanent magnet synchronous motor M1 lead to positive electricity, permanent magnet synchronous motor M1 Armature winding A, armature winding C and armature winding U, the armature winding W of permanent magnet synchronous motor M2 lead to negative electricity;
Working mould formula III, it be negative one phase voltage is just nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, In power switch pipe T3, T4, T5, T6, T7, T8 it is in the conduction state, when power switch pipe T1, T2, T9 are off state, The armature winding W of the armature winding A and permanent magnet synchronous motor M2 of permanent magnet synchronous motor M1 lead to positive electricity, the electricity of permanent magnet synchronous motor M1 The armature winding U of pivot winding B, armature winding C and permanent magnet synchronous motor M2, armature winding V lead to negative electricity;
Working mould formula IV, it be a positive phase voltage is negative, nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, In power switch pipe T1, T2, T4, T5, T6, T9 it is in the conduction state, when power switch pipe T3, T7, T8 are off state, The armature winding W of the armature winding A and permanent magnet synchronous motor M2 of permanent magnet synchronous motor M1 lead to negative electricity, the electricity of permanent magnet synchronous motor M1 The armature winding U of pivot winding B, armature winding C and permanent magnet synchronous motor M2, armature winding V lead to positive electricity;
Operating mode V, power switch pipe L1, T3, T4, T5, T6, T8 in nine switching inverter of three-phase are on shape State, when power switch pipe T2, T7, T9 are off state, the armature winding B of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Armature winding V lead to negative electricity, armature winding A, the armature winding C of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 around Group U, armature winding W lead to positive electricity.It is a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage,.
Working mould Formula IV, it be a positive phase voltage is negative, nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, In power switch pipe T2, T3, T4, T5, T6, T7 it is in the conduction state, when power switch pipe T1, T8, T9 are off state, The armature winding U of the armature winding C and permanent magnet synchronous motor M2 of permanent magnet synchronous motor M1 lead to negative electricity, the electricity of permanent magnet synchronous motor M1 The armature winding V of pivot winding A, armature winding B and permanent magnet synchronous motor M2, armature winding W lead to positive electricity.
A kind of control method of nine switching inverters dual-motor drive system, includes the following steps:
S1, system are initialized, and the current sensor of permanent magnet synchronous motor M1 acquires feedback current to current regulation mould Block generates current signal;The hall signal of the collected permanent magnet synchronous motor M1 of Hall sensor is sent to position and rotating speed unit In, parsing obtains the position signal θ of rotor and speed signal ωn
S2, by reference velocity ω*With step S1 feedback speed signals ωnVelocity error e is obtained after speed comparatorw, Velocity error ewTotal reference current is obtained by linear combination by PI controllers
S3, total reference currentThe permanent magnet synchronous motor M1 rotor-position signals θ input ginsengs parsed with Hall element Current feedback circuit is examined, is converted into the three-phase reference current of permanent magnet synchronous motor M1
S4, the three-phase current signal I by step S3a、Ib、IcPass through feedback and three-phase reference currentThrough electric current Comparator obtains hystersis controller control signal ea、eb、ec, it is sent to hystersis controller 1, hystersis controller 2, Hysteresis control respectively In device 3, hystersis controller output signal H is obtainedC1、HC2、HC3, PWM is generated respectivelyA、PWMB、PWMCThree groups of output signals;
S5, by step S4PWMA、PWMB、PWMCThree groups of output signals are input to pwm pulse generation unit, the wide generation of pulse Unit is by three groups of PWMA、PWMB、PWMCTrigger pulse of the signal resolution for nine power switch pipes, corresponds to three-phase nine and switchs respectively Nine power switch of inverter make nine switching inverter of three-phase be at the different double permanent magnet synchronous motors of topological structure driving In different operating modes.
Specifically, in step S2, velocity error ewSpecially:
ew*n
Wherein, ω*For reference velocity, ωnFor feedback speed signal.
Specifically, in step S3,The three-phase reference current generated through reference current generatingSpecially:
Wherein,For the reference current synthesized through PI controllers.
Specifically, in step S4, hystersis controller 1, hystersis controller 2, the output of hystersis controller 3 are specific as follows:
Wherein, ea、eb、ecFor hystersis controller input control signal;HC1、HC2、HC3For hystersis controller output signal.
Specifically, HC1=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 1A, HC1=0, stagnant ring control Drive signal 011 is inputted PWM by the selecting module of device 1 processedA
HC2=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 2B, HC2=0, hystersis controller 2 Drive signal 011 is inputted PWM by selecting moduleB
HC3=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 3C, HC3=0, hystersis controller 3 Drive signal 011 is inputted PWM by selecting moduleC
Compared with prior art, the present invention at least has the advantages that:
Nine switching inverter dual-motor drive systems of one kind of the invention, the first inverter leg of nine switching inverter of three-phase L1, the second inverter leg L2With third inverter leg L3One end respectively with three-phase permanent magnet synchronous motor M1 and three-phase permanent Synchronous motor M2 connections, connect after other end parallel connection with public direct-current power supply, and three-phase permanent magnet synchronous motor M1 and three-phase permanent are same Step motor M2 is connect with Hall sensor and current sensor, the pulse control signal generated according to pwm pulse generation unit The on off state of power switch pipe is controlled, with reference to two-phase voltage in threephase motor armature winding be one phase voltage of positive polarity is negative Polarity or two-phase voltage are that one phase voltage of negative polarity is that positive polarity generates six kinds of double permanent magnet synchronous motors of circuit topological structure driving Operation, nine switching inverter Double Motor Controls are in the premise for ensuring two permanent magnet synchronous motors and being run simultaneously according to job requirement Under, reduce three power switch devices, reduce the power consumption of inverter drive system;Two permanent magnet synchronous motors exist simultaneously Job specification is completely the same during synchronous operation, thus need to only detect the tach signal and current signal of wherein arbitrary motor, reduces One speed probe and current sensor simplify the circuit structure of inverter motor control system, in lifting system Reduce financial cost while stability.
Further, traditional three-phase single motor drive system and its control method need six power switch pipes, and then Driving and control bi-motor at least need 12 power switch pipes.But nine switching inverter dual-motor drive systems, by every The method that a inverter leg sets three power switch pipes, it is therefore an objective to bi-motor be enable to share one group of power switch when working Pipe, not only contributes to the driving and its control of bi-motor, also reduces the quantity of the total power switch of system, be so as to reduce It unites total power consumption, improves economic benefit.
Further, three armature winding of two motors are connected respectively with three bridge arms of nine switching inverters, mesh Make three bridge arm normal drivings, two motors.Such connection can reduce bridge arm quantity, simplify structure and with good Control effect.
Further, it be negative one phase voltage is positive to generate three kinds of operating modes, electricity that armature winding polarity, which belongs to two-phase voltage, Pivot winding polarity belong to two-phase voltage be a positive phase voltage be it is negative generate three kinds of operating modes, the bridge arm through inverter is expanded Exhibition can realize the double permanent magnet synchronous motors of nine switching inverter of three-phase driving, the control strategy by sharing one group of power switch pipe Reduce the quantity of power switch pipe, and two permanent magnet synchronous motors is made to generate cascade phenomenons, in practical applications not only power consumption Low and control strategy is simple and practicable.
The invention also discloses a kind of control method of nine switching inverters dual-motor drive system, speed probe and electricity The hall signal of permanent magnet synchronous motor M1 and three-phase current signal are collected in main control unit and resolved to respectively by flow sensor The position signal and speed signal of rotor since two permanent magnet synchronous motor working conditions are identical, therefore need to only acquire permanent magnetism The signal of synchronous motor M1, so as to reduce one group of sensor, lifting system stability while, reduces cost;It then will solution The signal of analysis is sent to reference current generating and speed comparator respectively, and obtained velocity error is passed through line by PI controllers Property combines to obtain total reference current;The permanent magnet synchronous motor M1 rotor-position signals input reference parsed again with Hall element Current feedback circuit is converted into the three-phase reference current of permanent magnet synchronous motor M1, what three-phase reference current and current sensor came out Feedback current obtains hystersis controller control signal through current comparator and is sent to three hystersis controller output generation PWM respectivelyA、 PWMB、PWMCThree groups of output signals;Three groups of output signals are input to pwm pulse generation unit, the wide generation unit of pulse is by three groups PWMA、PWMB、PWMCTrigger pulse of the signal resolution for nine power switch pipes, corresponds to the nine of nine switching inverter of three-phase respectively A power switch makes nine switching inverter of three-phase be in the different double permanent magnet synchronous motors of topological structure driving and is in different works Operation mode drives double permanent magnet synchronous motors using nine switching inverter of three-phase, reduces the quantity of power switch pipe in system, no Only make system structure more rationally clear, it is easily controllable, the power consumption of system is also reduced, improves economic benefit, is had Better practical value.
Further, three-phase reference current is calculated, it is therefore an objective to the three-phase of three poor 120 ° of component phases can be obtained Electric current.This control method is simple and practicable, possesses stronger versatility, the current controling signal that can be worked well.
Further, the purpose of setting hystersis controller 1~3 is stagnant to the current signal progress come out through current comparator Ring controls, and hystersis controller does not need to carrier wave, and control method is easy to implement, and current-responsive is rapid, and tracking error is smaller, by setting Putting ring width size can set error in a certain range.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Fig. 1 is the equivalent topologies structure chart of the present invention;
Fig. 2 is drive system control strategy structure chart of the present invention;
Fig. 3 is drive system control strategy flow chart of the present invention;
Fig. 4 runs simultaneously first kind equivalent resistance structure chart for the double permanent magnet synchronous motors of the present invention;
Fig. 5 runs simultaneously the second class equivalent resistance structure chart for the double permanent magnet synchronous motors of the present invention;
Fig. 6 is each armature winding vector correlation figure of the double permanent magnet synchronous motors of the present invention;
Fig. 7 is drive system PWM control strategy structure charts of the present invention.
Specific embodiment
In the description of the present invention, it is to be understood that term " first ", " second " are only used for description purpose, and cannot It is interpreted as indicating or implies relative importance or imply the quantity of the technical characteristic indicated by indicating.Define as a result, " the One ", one or more this feature can be expressed or be implicitly included to the feature of " second ".In the description of the present invention, Unless otherwise indicated, " multiple " are meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected;It can To be mechanical connection or be electrically connected;It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
It please refers to Fig.1 and Fig. 2, the present invention provides a kind of nine switching inverter dual-motor drive systems, give with reference to letter Number input PI controllers, reference current generating is sent into after PI is adjusted, reference current generating is calculated three through formula Reference current component, three reference currents are respectively fed to corresponding stagnant ring control with three feedback currents by current comparator respectively In device processed, stagnant ring signal is generated by Hysteresis control and is sent into PWM generation units, passes through PWM modulation and drives nine switch inversion of three-phase Device, further drives two permanent magnet synchronous motors (PMSM), and wherein permanent magnet synchronous motor (PMSM) M1 is equipped with feedback circuit, passes through Hall signal is sent into position and rotating speed resolution unit by feedback, and hall signal is resolved to motor with rotating speed resolution unit and turned by position It is sent in reference current generating and speed comparator respectively after the position signal and speed signal of son, the electricity that comparator is come out Stream and speed signal are sent into corresponding PI controllers, so as to form closed-loop control system.Wherein, nine switching inverter packet of three-phase Include inverter leg L1, inverter leg L2, inverter leg L3, permanent magnet synchronous motor M1, permanent magnet synchronous motor M2 and direct current Power supply Uab;After first inverter leg L1, the second inverter bridge leg L2 and third inverter bridge leg L3 parallel connections with public direct current Power supply is connected;Public direct-current power supply is used to power for first, second, third inverter bridge leg L1, L2, L3, just extremely Uab, cathode For GND.
Inverter leg L1 is connected by the first power switch pipe T1, the 4th power switch pipe T4 and the 7th power switch pipe T7 Composition, inverter leg L2 is by the second power switch pipe T2, the 5th power switch pipe T5 and the 8th power switch pipe T8 series connection groups Into inverter leg L3 is composed in series by third power switch pipe T3, the 6th power switch pipe T6 and the 9th power switch pipe T9. Inverter leg L1, inverter leg L2, inverter leg L3 parallel connections form nine switching inverter of three-phase.And first, second, 3rd, the four, the five, the six, the seven, the eight, the 9th power switch pipe T1, T2, T3, T4, T5, T6, T7, T8, T9 are used IGBT or MOSFET types.
Double permanent magnet synchronous motors are made of three-phase permanent magnet synchronous motor M1, three-phase permanent magnet synchronous motor M2, three-phase permanent Synchronous motor M1 has independent threephase armature winding A, B, C;Three-phase permanent magnet synchronous motor M2 have independent armature winding U, V、W。
The midpoint of power switch pipe T1 in inverter leg L1 and power switch pipe T4 is node x points, power switch pipe The midpoint of T4 and power switch pipe T7 is node a points;Power switch pipe T2 in inverter leg L2 and power switch pipe T5's Midpoint is node y points, and the midpoint of power switch pipe T5 and power switch pipe T8 is node b points;Power in inverter leg L3 The midpoint of switch transistor T 3 and power switch pipe T6 is node z points, and the midpoint of power switch pipe T6 and power switch pipe T9 is node c Point.
Three-phase permanent magnet synchronous motor M1 third armature winding C is connected to the third inverter leg of nine switching inverter of three-phase Upper power switch pipe T1 and middle power switch pipe T4 between point node x, three-phase permanent magnet synchronous motor M2 the first armature around Between the middle power switch pipe T4 and lower power switch pipe T7 of the first inverter leg that group U is connected to nine switching inverter of three-phase Node a points;
The second armature winding of three-phase permanent magnet synchronous motor M1 B is connected to the second inverter leg of nine switching inverter of three-phase Upper power switch pipe T2 and middle power switch pipe T3 between point the second armature winding of node y, three-phase permanent magnet synchronous motor M2 V The section being connected between the middle power switch pipe T5 and lower power switch pipe T8 of nine the second inverter leg of switching inverter of three-phase Point b points;
The first armature winding of three-phase permanent magnet synchronous motor M1 A is connected to the third inverter leg of nine switching inverter of three-phase Upper power switch pipe T3 and middle power switch pipe T6 between point node z, three-phase permanent magnet synchronous motor M2 third armature winding W The section being connected between the middle power switch pipe T6 and lower power switch pipe T9 of nine switching inverter third inverter leg of three-phase Point c points.
Overall operation principle is as follows:
It, can be by identical when double permanent magnet synchronous motors of the invention are in the normal operating conditions of synchronous operation referring to Fig. 2 Moving law startup, braking and reverse phase.During system surely puts operation, nine switching inverter of three-phase can be according to PWM arteries and veins The on off state of the pulse control signal control power switch pipe of generation unit generation is rushed, generates different circuit topological structures, Each topological structure corresponds to a kind of operating mode of double permanent magnet synchronous motors, and the working condition represented by each operating mode can The double permanent magnet synchronous motors operations of driving, double permanent magnet synchronous motors in the process of running in real time by the current information in operational process and It is more single that rotary speed information by Hall element and current sensor feeds back to rotating speed comparing unit, reference current generating and electric current Member.
Different control signals, the quick double permanent magnet synchronous motor control strategies of adjustment are generated by pwm pulse width modulator With the reconstruct for realizing nine switching inverter of three-phase, each reconstitituted form corresponds to a kind of control strategy of double permanent magnet synchronous motors, often Kind control strategy corresponds to a kind of operating mode of motor.Two permanent magnet synchronous motor working conditions are identical, based on three-phase electricity The operation principle of motivation, it is known that only there are two types of polar form, i.e. two-phase voltage is the voltage in the armature winding of threephase motor One phase voltage of positive polarity is negative polarity or two-phase voltage be one phase voltage of negative polarity is positive polarity.The three of corresponding permanent magnet synchronous motor Phase winding, it is known that double permanent magnet synchronous motors one share six kinds of control strategies, i.e. nine switching inverter of three-phase has six kinds of reconstitituted forms. Each reconstitituted form corresponds to a kind of operating mode of double permanent magnet synchronous motors, as described below respectively:
Operating mode I, power switch pipe T1, T4, T5, T6, T8, T9 in nine switching inverter of three-phase are on shape State, when power switch pipe T2, T3, T7 are off state, the armature winding C of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Armature winding U lead to positive electricity, armature winding B, the armature winding A of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 around Group V, armature winding W lead to negative electricity.It is negative one phase voltage is just that armature winding polarity, which belongs to two-phase voltage,.
Working mould Formula II, when power switch pipe T2, T4, T5, T6, T7, T9 in nine switching inverter of three-phase are on State, when power switch pipe T1, T3, T8 are off state, the armature winding B and permanent magnet synchronous motor of permanent magnet synchronous motor M1 The armature winding V of M2 leads to positive electricity, armature winding A, the armature winding C of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 Winding U, armature winding W lead to negative electricity.It is negative one phase voltage is just that armature winding polarity, which belongs to two-phase voltage,.
Working mould formula III, power switch pipe T3, T4, T5, T6, T7, T8 in nine switching inverter of three-phase are on shape State, when power switch pipe T1, T2, T9 are off state, the armature winding A of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Armature winding W lead to positive electricity, armature winding B, the armature winding C of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 around Group U, armature winding V lead to negative electricity.It is negative one phase voltage is just that armature winding polarity, which belongs to two-phase voltage,.
Working mould formula IV, power switch pipe T1, T2, T4, T5, T6, T9 in nine switching inverter of three-phase are on shape State, when power switch pipe T3, T7, T8 are off state, the armature winding A of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Armature winding W lead to negative electricity, armature winding B, the armature winding C of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 around Group U, armature winding V lead to positive electricity.It is a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage,.
Operating mode V, power switch pipe L1, T3, T4, T5, T6, T8 in nine switching inverter of three-phase are on shape State, when power switch pipe T2, T7, T9 are off state, the armature winding B of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Armature winding V lead to negative electricity, armature winding A, the armature winding C of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 around Group U, armature winding W lead to positive electricity.It is a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage,.
Working mould Formula IV, power switch pipe T2, T3, T4, T5, T6, T7 in nine switching inverter of three-phase are on shape State, when power switch pipe T1, T8, T9 are off state, the armature winding C of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Armature winding U lead to negative electricity, armature winding A, the armature winding B of permanent magnet synchronous motor M1 and the armature of permanent magnet synchronous motor M2 around Group V, armature winding W lead to positive electricity.It is a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage,.
Each power switch (T1~T9) logic state and the working condition of permanent magnet synchronous motor M1 and permanent magnet synchronous motor M2 Such as table 1:
1 pair of permanent magnet synchronous motor working condition of table and each power switch (T1~T9) logic state
T1 T2 T3 T4 T5 T6 T7 T8 T9
State I 1 0 0 1 1 1 0 1 1
State I I 0 1 0 1 1 1 1 0 1
State I II 0 0 1 1 1 1 1 1 0
State I V 1 1 0 1 1 1 0 0 1
State V 1 0 1 1 1 1 0 1 0
State VI 0 1 1 1 1 1 1 0 0
Note:1 represents conducting, and 0 represents shutdown.
Nine switching inverter of three-phase is when ensuring that two permanent magnet synchronous motors M1 and M2 are in the process of synchronous operation, altogether There are six kinds of topological structures, generate six kinds of operating modes of permanent magnet synchronous motor respectively.It can be by permanent-magnet synchronous under six kinds of operating modes The winding isoboles of motor are divided into two classes, and referring to Fig. 4 and referring to Fig. 5, the first kind includes operating mode I, Working mould Formula II, work Pattern III;Second class include Working mould formula IV, operating mode V, Working mould Formula IV, it is assumed that two permanent magnet synchronous motor electromagnetism around The resistance value of group is equal, then phase voltage and phase current are as follows under each operating mode:
Each working condition of 2 pairs of permanent magnet synchronous motors of table and node voltage relationship
Negative sign (-) represents that polarity of voltage is negative.
Each working condition of 3 pairs of permanent magnet synchronous motors of table and winding current relationship
Negative sign (-) electric current flows out, and no symbolic indication electric current flows into.
Referring to Fig. 6, double permanent magnet synchronous motors of nine switching inverter of three-phase driving are in normal course of operation, permanent-magnet synchronous The voltage characteristic of the armature winding W of the armature winding A and permanent magnet synchronous motor M2 of motor M1 are identical, the electricity of permanent magnet synchronous motor M1 The voltage characteristic of the armature winding V of pivot winding B and permanent magnet synchronous motor M2 is identical, the armature winding C of permanent magnet synchronous motor M1 and The voltage characteristic of the armature winding W of permanent magnet synchronous motor M2 is identical.Phase angle under each operating mode in each armature winding is Changeless, quantitative relationship is as described below:
U in formulaA、uB、uCFor three-phase input voltage;iA、iB、iCFor three-phase current;eA、eB、eCFor three-phase electromotive force;R1For Permanent magnet synchronous motor M1 stator winding is per phase resistance;L1For the electricity corresponding to each phase leakage magnetic flux of permanent magnet synchronous motor M1 stator winding Sense.
Total control strategy is as follows in the present invention:
It please refers to shown in Fig. 2 and Fig. 3, reference input tach signal w is given according to job requirement*, reference input rotating speed letter Number w*With the feedback rotating speed w of permanent magnet synchronous motornThe input signal e of PI controllers is generated after rotary speed comparator makes the differencew, ewThrough Ratio P and integration the I linear combination of PI controllers form controlled quentity controlled variableControlled quentity controlled variableThree-phase is obtained by reference current generating Current signalThree-phase current signalWith the three-phase current feedback signal I of permanent magnet synchronous motora、 Ib、IcThrough current comparator relatively after generate hystersis controller control signal ea、eb、ec, the control production of three hystersis controllers Trigger pulse needed for raw three groups of PWM, nine tunnels control signal control nine switching inverter of three-phase caused by three groups of trigger pulses The on off state of nine power switch pipes drives double permanent magnet synchronous motor synchronous operations.Double permanent magnet synchronous motors are circumscribed with electric current Sensor and speed probe form closed-loop control system, the double permanent magnetism of generated error signal energy Real-time Feedback by feedback The operating status of synchronous motor, it is ensured that nine switching inverter Double Motor Control Systems can be run steadily in the long term.
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real Applying the component of example can be arranged and be designed by a variety of different configurations.Therefore, the present invention to providing in the accompanying drawings below The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of the selected of the present invention Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts The every other embodiment obtained, shall fall within the protection scope of the present invention.
It please refers to shown in figure, a kind of control method of nine switching inverters dual-motor drive system of the present invention, including following Step:
S1, system are initialized, and the speed probe and current sensor of permanent magnet synchronous motor M1 is same by permanent magnetism respectively The hall signal and three-phase current signal of step motor M1 is collected in main control unit;Hall signal is resolved to motor by main control unit The position signal θ of rotor and speed signal ωnIt is sent in reference current generating and speed comparator respectively afterwards.
S2, reference velocity ω*With feedback speed signal ωnVelocity error e is obtained after speed comparatorw, mathematics retouches State for:ew*n, velocity error ewHeadquarters of the General Staff are obtained by linear combination by the ratio (P) and integration (I) of PI controllers Examine electric current
S3, total reference currentThe permanent magnet synchronous motor M1 rotor-position signals θ input ginsengs parsed with Hall element Current feedback circuit is examined, is converted into three-phase reference currentObtained three-phase reference current is respectively:
In formula,For the reference current synthesized through PI controllers;ForIt is generated through reference current generating Three-phase current.
Three-phase current signal I on S4, permanent magnet synchronous motor M1 armature windinga、Ib、IcBy feedback with three-phase with reference to electricity Stream Through current comparator, according to calculation formula:
Obtain hystersis controller control signal ea、eb、ec, hystersis controller control signal ea、eb、ecIt is sent to stagnant ring control respectively In device 1 processed, hystersis controller 2, hystersis controller 3, the output of hystersis controller can be described with equation below:
In formula, ea、eb、ecFor hystersis controller input control signal;HC1、HC2、HC3For hystersis controller output signal;
Referring to Fig. 6, the output pulse of hystersis controller is a kind of two-value selection signal, EciDuring > ε (i=a, b, c), Hci =1 (i=1,2,3) outputs 110;Eci<During ε (i=a, b, c), Hci=0 (i=1,2,3) outputs 011.110 He of output signal value 011 presets in system initialization process.
Three groups of output signals that three hystersis controllers generate generate PWM respectivelyA、PWMB、PWMC。HC1=1, Hysteresis control Drive signal 110 is inputted PWM by the selecting module of device 1A, HC1=0, the selecting module of hystersis controller 1 is defeated by drive signal 011 Enter PWMA;HC2=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 2B, HC2=0, the choosing of hystersis controller 2 It selects module and drive signal 011 is inputted into PWMB;HC3=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 3C, HC3=0, drive signal 011 is inputted PWM by the selecting module of hystersis controller 3C
Its mathematical expression can be used following functional relation to describe:
S5、PWMA、PWMB、PWMCDrive signal is input to pwm pulse generation unit, and the wide generation unit of pulse is by three groups PWMA、PWMB、PWMCTrigger pulse of the signal resolution for nine power switch pipes, corresponds to the nine of nine switching inverter of three-phase respectively A power switch.The trigger pulse PWM of power switch pipe1~PWM9Nine power for corresponding to nine switching inverter of three-phase respectively are opened Close T1~T9, wherein PWM147、PWM258、PWM369The status information of signal resolution is represented by such as the following table 3:
Table 3:PWMA、PWMB、PWMCInput and PWM1~PWM9The correspondence of output
Five steps more than completing just produce the triggering arteries and veins of triggering three-phase nine switching inverters, nine power switch Punching, PWM1~PWM9Trigger pulse corresponds to nine power switch pipe T of nine switching inverter of three-phase respectively1~T9, T1~T9It is in Nine switching inverter of three-phase can be made to be in different topological structures during different on off state, double permanent magnet synchronous motors is driven to be in Different operating modes.
More than content is merely illustrative of the invention's technical idea, it is impossible to protection scope of the present invention is limited with this, it is every to press According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention Protection domain within.

Claims (10)

1. a kind of nine switching inverter dual-motor drive systems, which is characterized in that including two three-phase permanent magnet synchronous motors, three-phases Nine switching inverters, PI controllers, reference current generating, hystersis controller, pwm pulse generation unit, permanent magnet synchronous motor Current detection sensor, Hall sensor and DC power supply, PI controllers one end are connect with DC power supply, the other end Successively by reference current generating, hystersis controller, pwm pulse generation unit and nine switching inverter of three-phase respectively with two Three-phase permanent magnet synchronous motor connects, permanent magnet synchronous motor current detection sensor and Hall sensor respectively with position and rotating ratio It is connected compared with device with reference current generating;
Nine switching inverter of three-phase includes the first inverter leg L1, the second inverter leg L2With third inverter leg L3, the One inverter leg L1, the second inverter leg L2With third inverter leg L3One end respectively with three-phase permanent magnet synchronous motor M1 is connected with three-phase permanent magnet synchronous motor M2, is connected after other end parallel connection with public direct-current power supply, three-phase permanent magnet synchronous motor M1 It connect with Hall sensor and current sensor with three-phase permanent magnet synchronous motor M2, is generated according to pwm pulse generation unit Pulse control signal controls the on off state of power switch pipe, is positive polarity with reference to two-phase voltage in threephase motor armature winding One phase voltage be negative polarity or two-phase voltage to be that one phase voltage of negative polarity is that positive polarity generates the driving of six kinds of circuit topological structures double Permanent magnet synchronous motor is run.
A kind of 2. nine switching inverters dual-motor drive system according to claim 1, which is characterized in that inverter leg L1 is composed in series by the first power switch pipe T1, the 4th power switch pipe T4 and the 7th power switch pipe T7, inverter leg L2 Be composed in series by the second power switch pipe T2, the 5th power switch pipe T5 and the 8th power switch pipe T8, inverter leg L3 by Third power switch pipe T3, the 6th power switch pipe T6 and the 9th power switch pipe T9 are composed in series, three-phase permanent magnet synchronous motor M1 has independent threephase armature winding A, B, C;Three-phase permanent magnet synchronous motor M2 has independent armature winding U, V, W.
A kind of 3. nine switching inverters dual-motor drive system according to claim 2, which is characterized in that inverter leg The midpoint of power switch pipe T1 and power switch pipe T4 in L1 is node x points, power switch pipe T4 and power switch pipe T7's Midpoint is node a points;The midpoint of power switch pipe T2 in inverter leg L2 and power switch pipe T5 is node y points, power The midpoint of switch transistor T 5 and power switch pipe T8 is node b points;Power switch pipe T3 and power switch in inverter leg L3 The midpoint of pipe T6 is node z points, and the midpoint of power switch pipe T6 and power switch pipe T9 is node c points.
4. a kind of nine switching inverters dual-motor drive system according to claim 3, which is characterized in that three-phase permanent is same Step motor M1 third armature winding C be connected to nine switching inverter of three-phase third inverter leg upper power switch pipe T1 and The first armature winding U of point node x, three-phase permanent magnet synchronous motor M2 between middle power switch pipe T4 are connected to three-phase nine and switch Node a points between the middle power switch pipe T4 of first inverter leg of inverter and lower power switch pipe T7;
The second armature winding of three-phase permanent magnet synchronous motor M1 B is connected to the upper of the second inverter leg of nine switching inverter of three-phase Point node y, three-phase permanent magnet synchronous motor M2 the second armature winding V connections between power switch pipe T2 and middle power switch pipe T3 Node b between the middle power switch pipe T5 and lower power switch pipe T8 of nine the second inverter leg of switching inverter of three-phase Point;
The first armature winding of three-phase permanent magnet synchronous motor M1 A is connected to the upper of the third inverter leg of nine switching inverter of three-phase Point node z between power switch pipe T3 and middle power switch pipe T6, three-phase permanent magnet synchronous motor M2 third armature winding W connections Node c between the middle power switch pipe T6 and lower power switch pipe T9 of nine switching inverter third inverter leg of three-phase Point.
5. a kind of nine switching inverters dual-motor drive system according to any one of claim 1 to 4, feature exist In six kinds of operating modes are specific as follows:
Operating mode I, it be negative one phase voltage is just, when in nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, Power switch pipe T1, T4, T5, T6, T8, T9 are in the conduction state, when power switch pipe T2, T3, T7 are off state, permanent magnetism The armature winding U of the armature winding C and permanent magnet synchronous motor M2 of synchronous motor M1 lead to positive electricity, the armature of permanent magnet synchronous motor M1 around Armature winding V, the armature winding W of group B, armature winding A and permanent magnet synchronous motor M2 lead to negative electricity;
Working mould Formula II, it be negative one phase voltage is just, when in nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, Power switch pipe T2, T4, T5, T6, T7, T9 it is in the conduction state, when power switch pipe T1, T3, T8 are off state, forever The armature winding V of the armature winding B and permanent magnet synchronous motor M2 of magnetic-synchro motor M1 lead to positive electricity, the armature of permanent magnet synchronous motor M1 Armature winding U, the armature winding W of winding A, armature winding C and permanent magnet synchronous motor M2 lead to negative electricity;
Working mould formula III, it be negative one phase voltage is just, in nine switching inverter of three-phase that armature winding polarity, which belongs to two-phase voltage, Power switch pipe T3, T4, T5, T6, T7, T8 are in the conduction state, when power switch pipe T1, T2, T9 are off state, permanent magnetism The armature winding W of the armature winding A and permanent magnet synchronous motor M2 of synchronous motor M1 lead to positive electricity, the armature of permanent magnet synchronous motor M1 around Armature winding U, the armature winding V of group B, armature winding C and permanent magnet synchronous motor M2 lead to negative electricity;
Working mould formula IV, it be a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage, in nine switching inverter of three-phase Power switch pipe T1, T2, T4, T5, T6, T9 are in the conduction state, when power switch pipe T3, T7, T8 are off state, permanent magnetism The armature winding W of the armature winding A and permanent magnet synchronous motor M2 of synchronous motor M1 lead to negative electricity, the armature of permanent magnet synchronous motor M1 around Armature winding U, the armature winding V of group B, armature winding C and permanent magnet synchronous motor M2 lead to positive electricity;
Operating mode V, power switch pipe L1, T3, T4, T5, T6, T8 in nine switching inverter of three-phase are in the conduction state, work( When rate switch transistor T 2, T7, T9 are off state, the electricity of the armature winding B and permanent magnet synchronous motor M2 of permanent magnet synchronous motor M1 Pivot winding V leads to negative electricity, armature winding A, the armature winding C of permanent magnet synchronous motor M1 and the armature winding U of permanent magnet synchronous motor M2, Armature winding W leads to positive electricity, and it be a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage,;
Working mould Formula IV, it be a positive phase voltage is negative that armature winding polarity, which belongs to two-phase voltage, in nine switching inverter of three-phase Power switch pipe T2, T3, T4, T5, T6, T7 are in the conduction state, when power switch pipe T1, T8, T9 are off state, permanent magnetism The armature winding U of the armature winding C and permanent magnet synchronous motor M2 of synchronous motor M1 lead to negative electricity, the armature of permanent magnet synchronous motor M1 around Armature winding V, the armature winding W of group A, armature winding B and permanent magnet synchronous motor M2 lead to positive electricity.
6. it is a kind of according to any one of claim 1 to 5 nine switching inverters dual-motor drive system control method, it is special Sign is, includes the following steps:
S1, system are initialized, and the current sensor of permanent magnet synchronous motor M1 acquires feedback current and produced to current regulating module Raw current signal;The hall signal of the collected permanent magnet synchronous motor M1 of Hall sensor is sent in position and rotating speed unit, Parsing obtains the position signal θ of rotor and speed signal ωn
S2, by reference velocity ω*With step S1 feedback speed signals ωnVelocity error e is obtained after speed comparatorw, speed Error ewTotal reference current is obtained by linear combination by PI controllers
S3, total reference currentThe permanent magnet synchronous motor M1 rotor-position signals θ input reference currents parsed with Hall element Generator is converted into the three-phase reference current of permanent magnet synchronous motor M1
S4, the three-phase current signal I by step S3a、Ib、IcPass through feedback and three-phase reference currentCompare through electric current Device obtains hystersis controller control signal ea、eb、ec, it is sent to hystersis controller 1, hystersis controller 2, hystersis controller 3 respectively In, obtain hystersis controller output signal HC1、HC2、HC3, PWM is generated respectivelyA、PWMB、PWMCThree groups of output signals;
S5, by step S4PWMA、PWMB、PWMCThree groups of output signals are input to pwm pulse generation unit, the wide generation unit of pulse By three groups of PWMA、PWMB、PWMCTrigger pulse of the signal resolution for nine power switch pipes, corresponds to nine switch inversion of three-phase respectively Nine power switch of device make nine switching inverter of three-phase be in the different double permanent magnet synchronous motors of topological structure driving and are in not Same operating mode.
A kind of 7. nine switching inverters dual-motor drive system control method according to claim 6, which is characterized in that step In rapid S2, velocity error ewSpecially:
ew*n
Wherein, ω*For reference velocity, ωnFor feedback speed signal.
8. a kind of control method of nine switching inverters dual-motor drive system according to claim 6, which is characterized in that In step S3,The three-phase reference current generated through reference current generatingSpecially:
Wherein,For the reference current synthesized through PI controllers.
9. a kind of control method of nine switching inverters dual-motor drive system according to claim 6, which is characterized in that In step S4, hystersis controller 1, hystersis controller 2, the output of hystersis controller 3 are specific as follows:
Wherein, ea、eb、ecFor hystersis controller input control signal;HC1、HC2、HC3For hystersis controller output signal.
10. a kind of control method of nine switching inverters dual-motor drive system according to claim 6, feature exist In HC1=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 1A, HC1=0, the selection mould of hystersis controller 1 Drive signal 011 is inputted PWM by blockA
HC2=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 2B, HC2=0, the selection of hystersis controller 2 Drive signal 011 is inputted PWM by moduleB
HC3=1, drive signal 110 is inputted PWM by the selecting module of hystersis controller 3C, HC3=0, the selection of hystersis controller 3 Drive signal 011 is inputted PWM by moduleC
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