CN108206651B - 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
CN108206651B
CN108206651B CN201810055061.6A CN201810055061A CN108206651B CN 108206651 B CN108206651 B CN 108206651B CN 201810055061 A CN201810055061 A CN 201810055061A CN 108206651 B CN108206651 B CN 108206651B
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permanent magnet
magnet synchronous
phase
armature winding
synchronous motor
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CN108206651A (en
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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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    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P2006/045—Control of current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control 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

Nine-switch inverter double-motor driving system and control method thereof
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor system control, and particularly relates to a topological structure of a dual-motor driving system of a nine-switch inverter and a control method thereof.
Background
With the continuous improvement of power electronic technology and the control theory of the permanent magnet synchronous motor, the control method of driving the permanent magnet synchronous motor by the inverter is widely applied. Particularly, the appearance of the rare earth permanent magnet material of iron with excellent performances such as high residual magnetic density, high magnetic energy product and linear demagnetization curve and the development of corresponding process technology not only reduce the production cost of the permanent magnet synchronous motor, but also improve the working performance of the permanent magnet synchronous motor. The permanent magnet synchronous motor has the advantages of simple structure, high power density, light weight and reliable operation. The traditional control method of the double-permanent-magnet synchronous motor is a topological structure formed by connecting two groups of three-phase six-switch inverters in parallel, and can realize synchronous control of the permanent-magnet synchronous motor, however, twelve power switch tubes are adopted in the two groups of three-phase six-switch inverters, so that the energy required by a driving circuit is large, and the power loss is large; and the two permanent magnet synchronous motors work independently, the control strategy is complicated, and linkage control is inconvenient.
Therefore, the single-power-supply-controlled multi-phase inverter driven double-permanent-magnet synchronous motor and the control strategy thereof are imperative.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a dual-motor driving system of a nine-switch inverter and a control method thereof, so as to enable two permanent magnet synchronous motors to operate synchronously, and the control topology and the control method thereof reduce the power loss of the dual-permanent magnet synchronous motor driven by the nine-switch inverter by reducing the number of power switch tubes.
The invention adopts the following technical scheme:
a nine-switch inverter double-motor driving 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, wherein 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;
three-phase nine-switch inverter includes first inverter leg L1Second inverter leg L2And third inverter leg L3First inverter leg L1Second inverter leg L2And third inverter leg L3One end of the three-phase permanent magnet synchronous motor M1 and the other end of the three-phase permanent magnet synchronous motor M2 are respectively connected with a common direct current power supply after being connected in parallel, the three-phase permanent magnet synchronous motor M1 and the three-phase permanent magnet synchronous motor M2 are both connected with a Hall sensor and a current sensor, and a power switch is controlled according to a pulse control signal generated by a PWM pulse generation unitThe switching state of the tube is combined with that two-phase voltage in the armature winding of the three-phase motor is positive polarity and one-phase voltage is negative polarity or two-phase voltage is negative polarity and one-phase voltage is positive polarity to generate six circuit topological structures to drive the double-permanent-magnet synchronous motor to operate.
Specifically, the inverter arm L1 is formed by connecting a first power switch tube T1, a fourth power switch tube T4 and a seventh power switch tube T7 in series, the inverter arm L2 is formed by connecting a second power switch tube T2, a fifth power switch tube T5 and an eighth power switch tube T8 in series, the inverter arm L3 is formed by connecting a third power switch tube T3, a sixth power switch tube T6 and a ninth power switch tube T9 in series, the three-phase permanent magnet synchronous motor M1 has an independent three-phase armature winding A, B, C, and the three-phase permanent magnet synchronous motor M2 has an independent armature winding U, V, W.
Further, a midpoint between a power switch tube T1 and a power switch tube T4 in the inverter arm L1 is a node x point, a midpoint between a power switch tube T4 and a power switch tube T7 is a node a point, a midpoint between a power switch tube T2 and a power switch tube T5 in the inverter arm L2 is a node y point, a midpoint between a power switch tube T5 and a power switch tube T8 is a node b point, a midpoint between a power switch tube T3 and a power switch tube T6 in the inverter arm L3 is a node z point, and a midpoint between a power switch tube T6 and a power switch tube T9 is a node c point.
Further, a third armature winding C of the three-phase permanent magnet synchronous motor M1 is connected to a point node x between the upper power switch tube T1 and the middle power switch tube T4 of the third inverter leg of the three-phase nine-switch inverter, and a first armature winding U of the three-phase permanent magnet synchronous motor M2 is connected to a point node a between the middle power switch tube T4 and the lower power switch tube T7 of the first inverter leg of the three-phase nine-switch inverter;
a second armature winding B of the three-phase permanent magnet synchronous motor M1 is connected to a point node y between an upper power switch tube T2 and a middle power switch tube T3 of a second inverter bridge arm of the three-phase nine-switch inverter, and a second armature winding V of the three-phase permanent magnet synchronous motor M2 is connected to a point node B between a middle power switch tube T5 and a lower power switch tube T8 of the second inverter bridge arm of the three-phase nine-switch inverter;
the first armature winding a of the three-phase permanent magnet synchronous motor M1 is connected to a point node z between an upper power switch tube T3 and a middle power switch tube T6 of a third inverter leg of the three-phase nine-switch inverter, and the third armature winding W of the three-phase permanent magnet synchronous motor M2 is connected to a point node c between a middle power switch tube T6 and a lower power switch tube T9 of the third inverter leg of the three-phase nine-switch inverter.
Specifically, the six operating modes are as follows:
in the working mode I, the polarity of an armature winding belongs to two-phase voltage, namely negative voltage and positive voltage, when power switching tubes T1, T4, T5, T6, T8 and T9 in a three-phase nine-switch inverter are in an on state, and power switching tubes T2, T3 and T7 are in an off state, an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U of a permanent magnet synchronous motor M2 are electrified positively, and an armature winding B and an armature winding A of a permanent magnet synchronous motor M1 and an armature winding V and an armature winding W of the permanent magnet synchronous motor M2 are electrified negatively;
in the working mode II, the polarity of an armature winding belongs to two-phase voltage, namely negative voltage and positive voltage, when power switching tubes T2, T4, T5, T6, T7 and T9 in the three-phase nine-switch inverter are in an on state, and power switching tubes T1, T3 and T8 are in an off state, an armature winding B of a permanent magnet synchronous motor M1 and an armature winding V of a permanent magnet synchronous motor M2 are electrified positively, and an armature winding A and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding W of the permanent magnet synchronous motor M2 are electrified negatively;
in the working mode III, the polarity of an armature winding belongs to that two-phase voltage is negative, and one-phase voltage is positive, power switching tubes T3, T4, T5, T6, T7 and T8 in a three-phase nine-switch inverter are in an on state, when the power switching tubes T1, T2 and T9 are in an off state, an armature winding A of a permanent magnet synchronous motor M1 and an armature winding W of a permanent magnet synchronous motor M2 are electrified positively, and an armature winding B and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding V of the permanent magnet synchronous motor M2 are electrified negatively;
in the working mode IV, the polarity of an armature winding belongs to the condition that two-phase voltage is positive and one-phase voltage is negative, power switching tubes T1, T2, T4, T5, T6 and T9 in a three-phase nine-switch inverter are in an on state, when power switching tubes T3, T7 and T8 are in an off state, an armature winding A of a permanent magnet synchronous motor M1 and an armature winding W of a permanent magnet synchronous motor M2 are electrified negatively, and an armature winding B and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding V of the permanent magnet synchronous motor M2 are electrified positively;
in the working mode V, power switching tubes L1, T3, T4, T5, T6 and T8 in the three-phase nine-switch inverter are in an on state, when power switching tubes T2, T7 and T9 are in an off state, an armature winding B of a permanent magnet synchronous motor M1 and an armature winding V of the permanent magnet synchronous motor M2 are electrified negatively, an armature winding A and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding W of the permanent magnet synchronous motor M2 are electrified positively, and the polarity of the armature winding belongs to the condition that two-phase voltage is positive and one-phase voltage is negative.
In the working mode VI, the polarity of the armature winding belongs to the state that two-phase voltage is positive, and one-phase voltage is negative, power switching tubes T2, T3, T4, T5, T6 and T7 in the three-phase nine-switch inverter are in an on state, when the power switching tubes T1, T8 and T9 are in an off state, an armature winding C of the permanent magnet synchronous motor M1 and an armature winding U of the permanent magnet synchronous motor M2 are electrified negatively, and an armature winding a and an armature winding B of the permanent magnet synchronous motor M1 and an armature winding V and an armature winding W of the permanent magnet synchronous motor M2 are electrified positively.
A control method of a nine-switch inverter double-motor driving system comprises the following steps:
s1, initializing the system, and acquiring feedback current by a current sensor of the permanent magnet synchronous motor M1 to a current regulation module to generate a current signal; sending the Hall signal of the permanent magnet synchronous motor M1 acquired by the Hall sensor to a position and rotating speed unit, and analyzing to obtain a position signal theta and a speed signal omega of a motor rotorn；
S2, referring to the speed omega*And step S1 feeding back speed signal omeganObtaining a speed error e after passing through a speed comparatorwVelocity error ewObtaining total reference current by linear combination through PI controller
Figure BDA0001553511900000041
S3 Total reference Current
Figure BDA0001553511900000042
The rotor position signal theta of the permanent magnet synchronous motor M1 obtained by analysis with the Hall element is input into a reference current generator and converted into three-phase reference current of the permanent magnet synchronous motor M1
Figure BDA0001553511900000043
S4, converting the three-phase current signal I of the step S3a、Ib、IcBy feedback with three-phase reference currents
Figure BDA0001553511900000051
Obtaining a control signal e of the hysteresis controller through a current comparatora、eb、ecRespectively sent to a hysteresis controller 1, a hysteresis controller 2 and a hysteresis controller 3 to obtain output signals H of the hysteresis controllerC1、HC2、HC3Respectively generate PWMA、PWMB、PWMCThree sets of output signals;
s5, PWM the step S4A、PWMB、PWMCThree sets of output signals are input to a PWM pulse generating unit, and the pulse width generating unit applies three sets of PWMA、PWMB、PWMCThe signals are analyzed into trigger pulses of nine power switch tubes, the trigger pulses respectively correspond to nine power switches of the three-phase nine-switch inverter, and the three-phase nine-switch inverter is in different topological structures to drive the double permanent magnet synchronous motor to be in different working modes.
Specifically, in step S2, the speed error ewThe method specifically comprises the following steps:
ew＝ω*-ωn
wherein, ω is*As reference speed, ωnIs a feedback velocity signal.
Specifically, in step S3,
Figure BDA0001553511900000052
three-phase reference current generated by reference current generator
Figure BDA0001553511900000053
The method specifically comprises the following steps:
Figure BDA0001553511900000054
wherein the content of the first and second substances,
Figure BDA0001553511900000055
is a reference current synthesized by a PI controller.
Specifically, in step S4, the outputs of the hysteretic controller 1, the hysteretic controller 2, and the hysteretic controller 3 are as follows:
Figure BDA0001553511900000056
Figure BDA0001553511900000057
Figure BDA0001553511900000058
wherein e isa、eb、ecInputting a control signal for the hysteresis controller; hC1、HC2、HC3Outputs a signal for the hysteresis controller.
In particular, H C11, the selection module of the hysteretic controller 1 inputs the driving signal 110 into the PWMA，HC1When the value is 0, the selection module of the hysteresis controller 1 inputs a driving signal 011 into PWMA；
HC2The selection module of the hysteretic controller 2 inputs the driving signal 110 to PWM 1B，HC2When the value is 0, the selection module of the hysteresis controller 2 inputs a driving signal 011 into PWMB；
H C31, the selection module of the hysteretic controller 3 inputs the driving signal 110 into PWMC，HC3When the value is 0, the selection module of the hysteresis controller 3 inputs a driving signal 011 into PWMC。
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a nine-switch inverter double-motor driving system, in particular to a first inverter bridge arm L of a three-phase nine-switch inverter1Second inverter leg L2And third inverter leg L3One end of the three-phase permanent magnet synchronous motor M1 and the other end of the three-phase permanent magnet synchronous motor M2 are respectively connected with a three-phase permanent magnet synchronous motor M1 and the other end of the three-phase permanent magnet synchronous motor M2 are connected in parallel and then connected with a common direct current power supply, the three-phase permanent magnet synchronous motor M1 and the three-phase permanent magnet synchronous motor M2 are both connected with a Hall sensor and a current sensor, the switching state of a power switching tube is controlled according to a pulse control signal generated by a PWM pulse generation unit, six circuit topological structures are generated for driving the double permanent magnet synchronous motors to operate by combining the condition that two phase voltages in an armature winding of the three-phase motor are positive polarity and one phase voltage is negative polarity or the condition that the two phase voltages are negative polarity and one phase voltage, the double permanent; meanwhile, the working properties of the two permanent magnet synchronous motors are completely consistent during synchronous operation, so that only a rotating speed signal and a current signal of any motor are required to be detected, one rotating speed sensor and one current sensor are reduced, the circuit structure of the inverter motor control system is simplified, and the economic cost is reduced while the system stability is improved.
Furthermore, the conventional three-phase single-motor driving system and the control method thereof need six power switch tubes, and further at least twelve power switch tubes are needed for driving and controlling the double motors. However, in the nine-switch inverter double-motor driving system, by the method of arranging three power switch tubes on each inverter bridge arm, the purpose is to enable the double motors to share one group of power switch tubes when working, which is beneficial to the driving and the control of the double motors, and also reduces the total number of power switches of the system, thereby reducing the total power consumption of the system and improving the economic benefit.
Furthermore, three armature windings of the two motors are respectively connected with three bridge arms of the nine-switch inverter, so that the three bridge arms can normally drive the two motors. The connection can reduce the number of bridge arms, simplify the structure and have good control effect.
Furthermore, the polarity of the armature winding belongs to three working modes that the two-phase voltage is negative and the one-phase voltage is positive, the polarity of the armature winding belongs to three working modes that the two-phase voltage is positive and the one-phase voltage is negative, the three working modes are generated by the polarity of the armature winding and the two-phase voltage is positive and the one-phase voltage is negative, the armature winding is expanded through a bridge arm of the inverter, the driving of the double permanent magnet synchronous motors by the three-phase nine-switch inverter can be realized by sharing one group of power switch tubes, the number of the power switch tubes is reduced, the two permanent magnet synchronous motors.
The invention also discloses a control method of the nine-switch inverter dual-motor driving system, the rotating speed sensor and the current sensor respectively collect the Hall signal and the three-phase current signal of the permanent magnet synchronous motor M1 into the main control unit and analyze the signals into the position signal and the speed signal of the motor rotor, and because the working states of the two permanent magnet synchronous motors are the same, only the signal of the permanent magnet synchronous motor M1 needs to be collected, thereby reducing a group of sensors, improving the stability of the system and reducing the cost; then, respectively sending the analyzed signals to a reference current generator and a speed comparator, and linearly combining the obtained speed error through a PI controller to obtain a total reference current; then inputting a rotor position signal of the permanent magnet synchronous motor M1 obtained by analysis with a Hall element into a reference current generator to be converted into three-phase reference current of the permanent magnet synchronous motor M1, obtaining control signals of a hysteresis controller by the three-phase reference current and feedback current from a current sensor through a current comparator, respectively sending the control signals to three hysteresis controllers to output to generate PWMA、PWMB、PWMCThree sets of output signals; the three groups of output signals are input to a PWM pulse generation unit, and the pulse width generation unit is used for PWMA、PWMB、PWMCThe signal is analyzed into trigger pulses of nine power switch tubes, the trigger pulses respectively correspond to nine power switches of a three-phase nine-switch inverter, the three-phase nine-switch inverter is in different topological structures to drive the double-permanent-magnet synchronous motor to be in different working modes, and the three-phase nine-switch is adoptedThe inverter drives the double permanent magnet synchronous motors, so that the number of power switch tubes in the system is reduced, the system structure is more reasonable and clear, the control is easy, the power consumption of the system is reduced, the economic benefit is improved, and the practical value is better.
Further, three-phase reference currents are calculated, so that three-phase currents with three components having phase differences of 120 degrees can be obtained. The control method is simple and easy to implement, has strong universality, and can obtain current control signals with good effects.
Furthermore, the hysteresis controllers 1-3 are arranged to perform hysteresis control on current signals output by the current comparators, no carrier is needed for the hysteresis controllers, the control method is easy to implement, the current response is rapid, the tracking error is small, and the error can be set within a certain range by setting the loop width.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a diagram of an equivalent topology of the present invention;
FIG. 2 is a block diagram of the drive system control strategy of the present invention;
FIG. 3 is a flow chart of a drive system control strategy of the present invention;
FIG. 4 is a first equivalent resistance structure diagram of the synchronous operation of the dual PMSM according to the present invention;
FIG. 5 is a diagram of a second type of equivalent resistance structure for synchronous operation of a dual-PMSM according to the present invention;
FIG. 6 is a vector relationship diagram of each armature winding of the double-permanent magnet synchronous motor of the present invention;
fig. 7 is a block diagram of a PWM control strategy of the drive system of the present invention.
Detailed Description
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 and 2, the present invention provides a dual-motor driving system of a nine-switch inverter, wherein a given reference signal is input to a PI controller, the given reference signal is set by PI and then is sent to a reference current generator, the reference current generator calculates three reference current components by a formula, the three reference currents and three feedback currents respectively pass through an over-current comparator and are respectively sent to corresponding hysteresis controllers, hysteresis signals generated by hysteresis control are sent to a PWM generating unit, a three-phase nine-switch inverter is driven by PWM modulation, and two Permanent Magnet Synchronous Motors (PMSM) are further driven, wherein a Permanent Magnet Synchronous Motor (PMSM) M1 is provided with a feedback circuit, hall signals are sent to a position and rotation speed analyzing unit by feedback, the position and rotation speed analyzing unit analyzes the hall signals into a position signal and a speed signal of a motor rotor and then respectively sent to the reference current generator and the speed comparator, and the current and the speed signal output by the comparator are sent to corresponding PI controllers, so as to form a closed-loop control system, wherein the three-phase nine-switch inverter comprises an inverter leg L, an inverter leg 26, an inverter leg L, a bridge leg L, a permanent magnet synchronous motor M2 and a dc synchronous powerabFirst inverter arm L1, second inverter arm L2 and third inverter arm L3 are connected in parallel and then connected with a common direct current power supply, the common direct current power supply is used for supplying power to first inverter arm L1, second inverter arm L2 and third inverter arm L3, and the positive electrode of the common direct current power supply is UabAnd the negative electrode is GND.
The inverter bridge arm L1 is composed of a first power switch tube T1, a fourth power switch tube T4 and a seventh power switch tube T7 which are connected in series, the inverter bridge arm L2 is composed of a second power switch tube T2, a fifth power switch tube T5 and an eighth power switch tube T8 which are connected in series, the inverter bridge arm L3 is composed of a third power switch tube T3, a sixth power switch tube T6 and a ninth power switch tube T9 which are connected in series, the inverter bridge arm L1, the inverter bridge arm L2 and the inverter bridge arm L3 are connected in parallel to form a three-phase nine-switch inverter, and the first power switch tube T1, the second power switch tube T2, the fifth power switch tube T3, the T4, the T5, the T6, the T7, the T8 and the T9 are all of IGBT or MOSFET type.
The double-permanent-magnet synchronous motor is composed of a three-phase permanent-magnet synchronous motor M1 and a three-phase permanent-magnet synchronous motor M2, wherein the three-phase permanent-magnet synchronous motor M1 is provided with an independent three-phase armature winding A, B, C; the three-phase permanent magnet synchronous motor M2 has an independent armature winding U, V, W.
The midpoint between a power switch tube T1 and a power switch tube T4 in the inverter arm L1 is a node x point, the midpoint between the power switch tube T4 and the power switch tube T7 is a node a point, the midpoint between a power switch tube T2 and a power switch tube T5 in the inverter arm L2 is a node y point, the midpoint between the power switch tube T5 and a power switch tube T8 is a node b point, the midpoint between a power switch tube T3 and a power switch tube T6 in the inverter arm L3 is a node z point, and the midpoint between a power switch tube T6 and a power switch tube T9 is a node c point.
A third armature winding C of the three-phase permanent magnet synchronous motor M1 is connected to a point node x between an upper power switch tube T1 and a middle power switch tube T4 of a third inverter arm of the three-phase nine-switch inverter, and a first armature winding U of the three-phase permanent magnet synchronous motor M2 is connected to a point node a between a middle power switch tube T4 and a lower power switch tube T7 of a first inverter arm of the three-phase nine-switch inverter;
a second armature winding B of the three-phase permanent magnet synchronous motor M1 is connected to a point node y between an upper power switch tube T2 and a middle power switch tube T3 of a second inverter bridge arm of the three-phase nine-switch inverter, and a second armature winding V of the three-phase permanent magnet synchronous motor M2 is connected to a point node B between a middle power switch tube T5 and a lower power switch tube T8 of the second inverter bridge arm of the three-phase nine-switch inverter;
the first armature winding a of the three-phase permanent magnet synchronous motor M1 is connected to a point node z between an upper power switch tube T3 and a middle power switch tube T6 of a third inverter leg of the three-phase nine-switch inverter, and the third armature winding W of the three-phase permanent magnet synchronous motor M2 is connected to a point node c between a middle power switch tube T6 and a lower power switch tube T9 of the third inverter leg of the three-phase nine-switch inverter.
The general working principle is as follows:
referring to fig. 2, when the dual permanent magnet synchronous motor of the present invention is in a normal working state of synchronous operation, it can start, brake and reverse according to the same operation rule. In the process of stable point operation of the system, the three-phase nine-switch inverter can control the switching state of the power switch tube according to the pulse control signal generated by the PWM pulse generation unit to generate different circuit topological structures, each topological structure corresponds to one working mode of the double-permanent magnet synchronous motor, the working state represented by each working mode can drive the double-permanent magnet synchronous motor to operate, and the double-permanent magnet synchronous motor feeds current information and rotating speed information in the operation process back to the rotating speed comparison unit, the reference current generator and the current comparison unit through the Hall element and the current sensor in real time in the operation process.
Different control signals are generated by a PWM (pulse width modulation) pulse width modulator, the control strategy of the double-permanent magnet synchronous motor is quickly adjusted, the reconstruction of the three-phase nine-switch inverter is realized, each reconstruction form corresponds to one control strategy of the double-permanent magnet synchronous motor, and each control strategy corresponds to the working mode of one motor. The two permanent magnet synchronous motors have the same working state, and based on the working principle of the three-phase motor, the voltage in the armature winding of the three-phase motor only has two polarity forms, namely, the two-phase voltage is positive, the one-phase voltage is negative, or the two-phase voltage is negative, and the one-phase voltage is positive. Corresponding to a three-phase winding of a permanent magnet synchronous motor, the double permanent magnet synchronous motors have six control strategies, namely six reconstruction modes of a three-phase nine-switch inverter. Each reconstruction form corresponds to one working mode of the double-permanent magnet synchronous motor, and the working modes are respectively as follows:
in the working mode I, when power switching tubes T1, T4, T5, T6, T8 and T9 in the three-phase nine-switch inverter are in an on state, and power switching tubes T2, T3 and T7 are in an off state, an armature winding C of the permanent magnet synchronous motor M1 and an armature winding U of the permanent magnet synchronous motor M2 are electrified positively, and an armature winding B and an armature winding A of the permanent magnet synchronous motor M1 and an armature winding V and an armature winding W of the permanent magnet synchronous motor M2 are electrified negatively. The polarity of the armature winding belongs to that the two-phase voltage is negative, and the one-phase voltage is positive.
In the operating mode II, when the power switching tubes T2, T4, T5, T6, T7 and T9 in the three-phase nine-switch inverter are in an on state and the power switching tubes T1, T3 and T8 are in an off state, the armature winding B of the permanent magnet synchronous motor M1 and the armature winding V of the permanent magnet synchronous motor M2 are energized positively, and the armature winding a and the armature winding C of the permanent magnet synchronous motor M1 and the armature winding U and the armature winding W of the permanent magnet synchronous motor M2 are energized negatively. The polarity of the armature winding belongs to that the two-phase voltage is negative, and the one-phase voltage is positive.
In the operating mode III, when the power switching tubes T3, T4, T5, T6, T7, and T8 in the three-phase nine-switch inverter are in an on state, and the power switching tubes T1, T2, and T9 are in an off state, the armature winding a of the permanent magnet synchronous motor M1 and the armature winding W of the permanent magnet synchronous motor M2 are positively charged, and the armature winding B and the armature winding C of the permanent magnet synchronous motor M1 and the armature winding U and the armature winding V of the permanent magnet synchronous motor M2 are negatively charged. The polarity of the armature winding belongs to that the two-phase voltage is negative, and the one-phase voltage is positive.
In the operating mode IV, when the power switching tubes T1, T2, T4, T5, T6 and T9 in the three-phase nine-switch inverter are in an on state, and the power switching tubes T3, T7 and T8 are in an off state, the armature winding a of the permanent magnet synchronous motor M1 and the armature winding W of the permanent magnet synchronous motor M2 are negatively charged, and the armature winding B and the armature winding C of the permanent magnet synchronous motor M1 and the armature winding U and the armature winding V of the permanent magnet synchronous motor M2 are positively charged. The polarity of the armature winding belongs to that two-phase voltage is positive and one-phase voltage is negative.
In the working mode V, power switching tubes L1, T3, T4, T5, T6 and T8 in the three-phase nine-switch inverter are in an on state, when power switching tubes T2, T7 and T9 are in an off state, an armature winding B of a permanent magnet synchronous motor M1 and an armature winding V of the permanent magnet synchronous motor M2 are electrified negatively, an armature winding A and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding W of the permanent magnet synchronous motor M2 are electrified positively, and the polarity of the armature winding belongs to the condition that two-phase voltage is positive and one-phase voltage is negative.
In the operating mode VI, when the power switching tubes T2, T3, T4, T5, T6 and T7 in the three-phase nine-switch inverter are in an on state, and the power switching tubes T1, T8 and T9 are in an off state, the armature winding C of the permanent magnet synchronous motor M1 and the armature winding U of the permanent magnet synchronous motor M2 are electrified negatively, and the armature winding a and the armature winding B of the permanent magnet synchronous motor M1 and the armature winding V and the armature winding W of the permanent magnet synchronous motor M2 are electrified positively. The polarity of the armature winding belongs to that two-phase voltage is positive and one-phase voltage is negative.
The logic states of the power switches (T1-T9) and the working states of the permanent magnet synchronous motor M1 and the permanent magnet synchronous motor M2 are shown in Table 1:
TABLE 1 working states of double PMSM and logic states of power switches (T1-T9)
T1 T2 T3 T4 T5 T6 T7 T8 T9
State I 1 0 0 1 1 1 0 1 1
State II 0 1 0 1 1 1 1 0 1
State III 0 0 1 1 1 1 1 1 0
State IV 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 indicates on and 0 indicates off.
When the three-phase nine-switch inverter ensures that the two permanent magnet synchronous motors M1 and M2 are in the process of synchronous operation, the three-phase nine-switch inverter has six topological structures in total, and six working modes of the permanent magnet synchronous motors are generated respectively. The winding equivalent diagrams of the permanent magnet synchronous motor under six working modes can be divided into two types, see fig. 4 and fig. 5, wherein the first type comprises a working mode I, a working mode II and a working mode III; the second type comprises a working mode IV, a working mode V and a working mode VI, and if the resistance values of the electromagnetic windings of the two permanent magnet synchronous motors are equal, phase voltages and phase currents in the working modes are as follows:
TABLE 2 relationship between each operating state and node voltage of the dual PMSM
Figure BDA0001553511900000131
Negative sign (-) indicates that the voltage polarity is negative.
TABLE 3 relation between each working state and winding current of dual PMSM
Figure BDA0001553511900000132
The minus sign (-) current flows out, and the unsigned representation indicates that current flows in.
Referring to fig. 6, in the normal operation process of the dual-permanent-magnet synchronous motor driven by the three-phase nine-switch inverter, the voltage characteristics of the armature winding a of the permanent-magnet synchronous motor M1 and the armature winding W of the permanent-magnet synchronous motor M2 are the same, the voltage characteristics of the armature winding B of the permanent-magnet synchronous motor M1 and the armature winding V of the permanent-magnet synchronous motor M2 are the same, and the voltage characteristics of the armature winding C of the permanent-magnet synchronous motor M1 and the armature winding W of the permanent-magnet synchronous motor M2 are the same. The phase angle in each armature winding is fixed and constant in each working mode, and the quantitative relationship is as follows:
Figure BDA0001553511900000141
in the formula uA、uB、uCIs a three-phase input voltage; i.e. iA、iB、iCThree-phase current; e.g. of the typeA、eB、eCThree-phase electromotive force; r1Resistance of each phase of stator winding of permanent magnet synchronous motor M1L1For permanent magnet synchronous motor M1 decidesAnd the inductance corresponding to the leakage flux of each phase of the sub-winding.
The general control strategy in the present invention is as follows:
referring to FIGS. 2 and 3, a reference input speed signal w is given according to the operating requirements*Reference input speed signal w*And the feedback rotating speed w of the permanent magnet synchronous motornGenerating an input signal e of a PI controller after the difference is made by a rotating speed comparatorw，ewLinearly combining proportional P and integral I via PI controller to form control quantity
Figure BDA0001553511900000142
Control quantity
Figure BDA0001553511900000143
Obtaining three-phase current signals through a reference current generator
Figure BDA0001553511900000144
Three phase current signal
Figure BDA0001553511900000145
Three-phase current feedback signal I of permanent magnet synchronous motora、Ib、IcAfter being compared by a current comparator, a control signal e of the hysteresis controller is generateda、eb、ecThe three hysteretic controllers are controlled to generate three groups of trigger pulses required by PWM, and nine paths of control signals generated by the three groups of trigger pulses control the switching states of nine power switching tubes of the three-phase nine-switch inverter to drive the double-permanent-magnet synchronous motor to synchronously operate. The double-permanent-magnet synchronous motor is externally connected with a current sensor and a rotating speed sensor, a closed-loop control system is formed by feedback, the generated error signal can feed back the running state of the double-permanent-magnet synchronous motor in real time, and the double-motor control system of the nine-switch inverter can be ensured to run stably for a long time.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the drawings, the control method of the dual-motor driving system of the nine-switch inverter of the present invention includes the following steps:
s1, initializing the system, and respectively acquiring a Hall signal and a three-phase current signal of the permanent magnet synchronous motor M1 into a main control unit by a rotating speed sensor and a current sensor of the permanent magnet synchronous motor M1; the main control unit analyzes the Hall signal into a position signal theta and a speed signal omega of the motor rotornAnd then sent to a reference current generator and a speed comparator respectively.
S2, reference speed omega*And a feedback speed signal omeganObtaining a speed error e after passing through a speed comparatorwThe mathematical description is as follows: e.g. of the typew＝ω*-ωnVelocity error ewThe total reference current is obtained by linear combination of proportion (P) and integral (I) of PI controller
Figure BDA0001553511900000151
S3 Total reference Current
Figure BDA0001553511900000152
The rotor position signal theta of the permanent magnet synchronous motor M1 obtained by analysis with the Hall element is input into a reference current generator and converted into three-phase reference current
Figure BDA0001553511900000153
The three-phase reference currents obtained were respectively:
Figure BDA0001553511900000154
in the formula (I), the compound is shown in the specification,
Figure BDA0001553511900000155
is a reference current synthesized by a PI controller;
Figure BDA0001553511900000156
is composed of
Figure BDA0001553511900000157
Three-phase current generated by a reference current generator.
S4 three-phase current signal I on armature winding of permanent magnet synchronous motor M1a、Ib、IcBy feedback with three-phase reference currents
Figure BDA0001553511900000158
Figure BDA0001553511900000159
Through a current comparator, according to a calculation formula:
Figure BDA00015535119000001510
obtaining a control signal e of the hysteresis controllera、eb、ecHysteresis controller control signal ea、eb、ecRespectively sending the signals to a hysteresis controller 1, a hysteresis controller 2 and a hysteresis controller 3, wherein the output of the hysteresis controller can be described by the following formula:
Figure BDA0001553511900000161
Figure BDA0001553511900000162
Figure BDA0001553511900000163
in the formula, ea、eb、ecInputting a control signal for the hysteresis controller; hC1、HC2、HC3Outputting a signal for the hysteresis controller;
referring to FIG. 6, the output pulse of the hysteretic controller is a binary select signal, EciWhen > (i ═ a, b, c), Hci1(i 1,2,3) output 110; eci<When (i ═ a, b, c), Hci ═ 0(i ═ 1,2,3) outputs 011. The output signal values 110 and 011 are preset during system initialization.
Three groups of output signals generated by the three hysteresis controllers respectively generate PWMA、PWMB、PWMC。HC11, the selection module of the hysteretic controller 1 inputs the driving signal 110 into the PWMA，HC1When the value is 0, the selection module of the hysteresis controller 1 inputs a driving signal 011 into PWMA；HC2The selection module of the hysteretic controller 2 inputs the driving signal 110 to PWM 1B，HC2When the value is 0, the selection module of the hysteresis controller 2 inputs a driving signal 011 into PWMB；H C31, the selection module of the hysteretic controller 3 inputs the driving signal 110 into PWMC，HC3When the value is 0, the selection module of the hysteresis controller 3 inputs a driving signal 011 into PWMC。
The mathematical expression can be described by the following functional relation:
Figure BDA0001553511900000164
Figure BDA0001553511900000165
Figure BDA0001553511900000166
S5、PWMA、PWMB、PWMCthe driving signals are input to a PWM pulse generating unit, and the pulse width generating unit generates three groupsPWMA、PWMB、PWMCThe signal is analyzed into trigger pulses of nine power switch tubes, and the trigger pulses respectively correspond to nine power switches of the three-phase nine-switch inverter. Trigger pulse PWM of power switch tube1～PWM9Nine power switches T1-T9 corresponding to the three-phase nine-switch inverter respectively, wherein PWM147、PWM258、PWM369The state information of the signal analysis can be expressed as the following table 3:
TABLE 3 PWMA、PWMB、PWMCInput and PWM1～PWM9Correspondence of outputs
Figure BDA0001553511900000171
After the five steps are completed, the trigger pulse, PWM, for triggering nine power switches of the three-phase nine-switch inverter is generated1～PWM9The trigger pulse respectively corresponds to nine power switch tubes T of a three-phase nine-switch inverter1～T9，T1～T9When the three-phase nine-switch inverter is in different switching states, the three-phase nine-switch inverter can be in different topological structures to drive the double permanent magnet synchronous motor to be in different working modes.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (4)

1. A nine-switch inverter double-motor driving system control method is characterized in that the nine-switch inverter double-motor driving 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 sensor, a Hall sensor and a direct current power supply, wherein 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 sensor and the Hall sensor are respectively connected with a position and rotation speed comparator and the reference current generator;
three-phase nine-switch inverter includes first inverter leg L1Second inverter leg L2And third inverter leg L3First inverter leg L1Second inverter leg L2And third inverter leg L3One end of the three-phase permanent magnet synchronous motor M1 and the other end of the three-phase permanent magnet synchronous motor M2 are respectively connected with a three-phase permanent magnet synchronous motor M1, the other end of the three-phase permanent magnet synchronous motor M1 and the other end of the three-phase permanent magnet synchronous motor M2 are connected with a common direct current power supply in parallel, the three-phase permanent magnet synchronous motor M1 and the three-phase permanent magnet synchronous motor M2 are both connected with a Hall sensor and a current sensor, the switching state of a power switching tube is controlled according to a pulse control signal generated by a PWM pulse generation unit, six circuit topological structures are generated by combining that two-phase voltage in an armature winding1The inverter bridge arm L is formed by connecting a first power switch tube T1, a fourth power switch tube T4 and a seventh power switch tube T7 in series2The inverter bridge arm L is formed by connecting a second power switch tube T2, a fifth power switch tube T5 and an eighth power switch tube T8 in series3The three-phase permanent magnet synchronous motor M1 is formed by connecting a third power switch tube T3, a sixth power switch tube T6 and a ninth power switch tube T9 in series, and is provided with an independent three-phase armature winding A, B, C; the three-phase permanent magnet synchronous motor M2 has an independent armature winding U, V, W;
inverter leg L1The midpoint between the power switch tube T1 and the power switch tube T4 is a node x point, the midpoint between the power switch tube T4 and the power switch tube T7 is a node a point, and an inverter bridge arm L2The middle point of the power switch tube T2 and the power switch tube T5 is a node y point, the middle point of the power switch tube T5 and the power switch tube T8 is a node b point, and an inverter bridge arm L3The middle point of the power switch tube T3 and the power switch tube T6 is a node z point, the middle point of the power switch tube T6 and the power switch tube T9 is a node C point, and a third armature winding C of the three-phase permanent magnet synchronous motor M1 is connected with the third armature winding CA node x point connected between a first power switch tube T1 and a fourth power switch tube T4 of a third inverter leg of the three-phase nine-switch inverter, and a first armature winding U of the three-phase permanent magnet synchronous motor M2 is connected to a node a point between a fourth power switch tube T4 and a seventh power switch tube T7 of the first inverter leg of the three-phase nine-switch inverter;
a second armature winding B of the three-phase permanent magnet synchronous motor M1 is connected to a node y point between a second power switch tube T2 and a fifth power switch tube T5 of a second inverter bridge arm of the three-phase nine-switch inverter, and a second armature winding V of the three-phase permanent magnet synchronous motor M2 is connected to a node B point between a fifth power switch tube T5 and an eighth power switch tube T8 of the second inverter bridge arm of the three-phase nine-switch inverter;
a first armature winding A of the three-phase permanent magnet synchronous motor M1 is connected to a node z point between a third power switch tube T3 and a sixth power switch tube T6 of a third inverter arm of the three-phase nine-switch inverter, and a third armature winding W of the three-phase permanent magnet synchronous motor M2 is connected to a node c point between a sixth power switch tube T6 and a ninth power switch tube T9 of the third inverter arm of the three-phase nine-switch inverter;
the six working modes are as follows:
in the working mode I, the polarity of an armature winding belongs to two-phase voltage, namely negative voltage and positive voltage, when power switching tubes T1, T4, T5, T6, T8 and T9 in a three-phase nine-switch inverter are in an on state, and power switching tubes T2, T3 and T7 are in an off state, an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U of a permanent magnet synchronous motor M2 are electrified positively, and an armature winding B and an armature winding A of a permanent magnet synchronous motor M1 and an armature winding V and an armature winding W of the permanent magnet synchronous motor M2 are electrified negatively;
in the working mode II, the polarity of an armature winding belongs to two-phase voltage, namely negative voltage and positive voltage, when power switching tubes T2, T4, T5, T6, T7 and T9 in the three-phase nine-switch inverter are in an on state, and power switching tubes T1, T3 and T8 are in an off state, an armature winding B of a permanent magnet synchronous motor M1 and an armature winding V of a permanent magnet synchronous motor M2 are electrified positively, and an armature winding A and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding W of the permanent magnet synchronous motor M2 are electrified negatively;
in the working mode III, the polarity of an armature winding belongs to that two-phase voltage is negative, and one-phase voltage is positive, power switching tubes T3, T4, T5, T6, T7 and T8 in a three-phase nine-switch inverter are in an on state, when the power switching tubes T1, T2 and T9 are in an off state, an armature winding A of a permanent magnet synchronous motor M1 and an armature winding W of a permanent magnet synchronous motor M2 are electrified positively, and an armature winding B and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding V of the permanent magnet synchronous motor M2 are electrified negatively;
in the working mode IV, the polarity of an armature winding belongs to the condition that two-phase voltage is positive and one-phase voltage is negative, power switching tubes T1, T2, T4, T5, T6 and T9 in a three-phase nine-switch inverter are in an on state, when power switching tubes T3, T7 and T8 are in an off state, an armature winding A of a permanent magnet synchronous motor M1 and an armature winding W of a permanent magnet synchronous motor M2 are electrified negatively, and an armature winding B and an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U and an armature winding V of the permanent magnet synchronous motor M2 are electrified positively;
the working mode V is that power switching tubes T1, T3, T4, T5, T6 and T8 in the three-phase nine-switch inverter are in an on state, when the power switching tubes T2, T7 and T9 are in an off state, an armature winding B of the permanent magnet synchronous motor M1 and an armature winding V of the permanent magnet synchronous motor M2 are electrified negatively, an armature winding A and an armature winding C of the permanent magnet synchronous motor M1 and an armature winding U and an armature winding W of the permanent magnet synchronous motor M2 are electrified positively, and the polarity of the armature winding belongs to that two-phase voltage is positive and one-phase voltage is negative;
in the working mode VI, the polarity of an armature winding belongs to the condition that two-phase voltage is positive, and one-phase voltage is negative, power switching tubes T2, T3, T4, T5, T6 and T7 in a three-phase nine-switch inverter are in a conducting state, when power switching tubes T1, T8 and T9 are in a switching-off state, an armature winding C of a permanent magnet synchronous motor M1 and an armature winding U of a permanent magnet synchronous motor M2 are electrified with negative electricity, and an armature winding A and an armature winding B of a permanent magnet synchronous motor M1 and an armature winding V and an armature winding W of the permanent magnet synchronous motor M2 are electrified with positive electricity;
the drive system control method includes the steps of:
s1, initializing the system and obtaining the permanent magnet synchronous motor M1, a current sensor collects feedback current to a current regulation module to generate three-phase current signals, a position signal theta and a feedback speed signal omegan(ii) a Sending the Hall signal of the permanent magnet synchronous motor M1 acquired by the Hall sensor to a position and rotating speed comparator, and analyzing to obtain a position signal theta and a feedback speed signal omega of a motor rotorn；
S2, referring to the speed omega*And the feedback speed signal ω in step S1nObtaining a speed error e after passing through a speed comparatorwVelocity error ewObtaining total reference current by linear combination through PI controller
Figure FDA0002520814310000031
S3 Total reference Current
Figure FDA0002520814310000032
The rotor position signal theta of the permanent magnet synchronous motor M1 obtained by analysis with the Hall element is input into a reference current generator and converted into three-phase reference current of the permanent magnet synchronous motor M1
Figure FDA0002520814310000033
S4, converting the three-phase current signal I of the step S1a、Ib、IcBy feedback with three-phase reference currents
Figure FDA0002520814310000041
Obtaining an input control signal e of the hysteresis controller through a current comparatora、eb、ecRespectively sent to a hysteresis controller 1, a hysteresis controller 2 and a hysteresis controller 3 to obtain output signals H of the hysteresis controllerC1、HC2、HC3Respectively generate PWMA、PWMB、PWMCThe outputs of the three groups of output signals, the hysteresis controller 1, the hysteresis controller 2 and the hysteresis controller 3 are as follows:
Figure FDA0002520814310000042
Figure FDA0002520814310000043
Figure FDA0002520814310000044
wherein e isa、eb、ecInputting a control signal for the hysteresis controller; hC1、HC2、HC3Is the output signal of the hysteretic controller, HC11, the selection module of the hysteretic controller 1 inputs the driving signal 110 into the PWMA，HC1When the value is 0, the selection module of the hysteresis controller 1 inputs a driving signal 011 into PWMA；
HC2The selection module of the hysteretic controller 2 inputs the driving signal 110 to PWM 1B，HC2When the value is 0, the selection module of the hysteresis controller 2 inputs a driving signal 011 into PWMB；
HC31, the selection module of the hysteretic controller 3 inputs the driving signal 110 into PWMC，HC3When the value is 0, the selection module of the hysteresis controller 3 inputs a driving signal 011 into PWMC；
S5, PWM in the step S4A、PWMB、PWMCThe three sets of output signals are input to a PWM pulse generating unit, which generates three sets of PWMA、PWMB、PWMCThe signals are analyzed into trigger pulses of nine power switch tubes, the trigger pulses respectively correspond to the nine power switch tubes of the three-phase nine-switch inverter, and the three-phase nine-switch inverter is in different topological structures to drive the double permanent magnet synchronous motor to be in different working modes.
2. The method as claimed in claim 1, wherein the speed error e is determined in step S2wThe method specifically comprises the following steps:
ew＝ω*-ωn
wherein, ω is*As reference speed, ωnIs a feedback velocity signal.
3. The method for controlling a nine-switch inverter dual-motor driving system according to claim 1, wherein in step S3,
Figure FDA0002520814310000051
three-phase reference current generated by reference current generator
Figure FDA0002520814310000052
The method specifically comprises the following steps:
Figure FDA0002520814310000053
wherein the content of the first and second substances,
Figure FDA0002520814310000054
is the total reference current synthesized by the PI controller.
4. A nine-switch inverter two-motor drive system characterized by using the nine-switch inverter two-motor drive system control method of claim 1.
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