CN108363877A - A kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection - Google Patents
A kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection Download PDFInfo
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Abstract
The invention belongs to power electronics fields, specifically provide a kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection, are suitable for analyzing the electromagnetic interference of speed-adjusting driving system generation；To solve the problem of that the existing motor high frequency model for considering motor physical arrangement but precision are poor, cannot meet requirement of engineering or do not account for the motor high frequency model of motor physical arrangement, precision height does not still have directive significance to engineering and motor research.Motor physical arrangement and mathematics are cleverly solved engineering method and organically combined by the present invention, motor high frequency model precision is higher, obtained high frequency common mode model is approximate with the Commonmode model actually measured consistent, and model itself has physical significance, can provide directive significance to engineering and motor research.
Description
Technical field
The invention belongs to power electronics fields, and in particular to a kind of permanent magnet synchronous motor with star-like connection it is complete
Whole triphase flow is suitable for analyzing the electromagnetic interference of speed-adjusting driving system generation.
Background technology
With the deep development of science and technology, the requirement to motor modeling is also higher and higher, especially as intelligence manufacture and
Demand of the numerical control industry to three phase alternating current motor is growing day by day, is carried to precision, the frequency range of three phase alternating current motor high frequency modeling
Higher requirement is gone out.To meet in certain frequency range, the demand that engineering precisely models motor, domestic and international many is related to intelligent system
The company, well-known universities and colleges and R＆D institution for making field model expansion research to motor one after another, and achieve plentiful and substantial achievement in research,
A series of motor high frequency model is obtained, but these models have more or less defect, has needed further to be optimized.
Currently, to there are mainly two types of the methods of motor high frequency modeling：One is the physical arrangements for considering motor, are based on object
Reason structure proposes a kind of motor high frequency model, is then measured to the relevant parameter of motor using precision instrument, to measuring
Data are handled to have obtained motor model relevant parameter, with circuit simulating softwares such as Pspice, Candence to motor high frequency
Model is emulated, and obtained motor common code impedance amplitude and phase angle and actually measures obtained impedance magnitude and phase angle difference ratio
It is larger, it cannot meet the error requirements of engineering well；Another kind is the physical arrangement for not considering motor, directly utilizes essence
Close instrument measures the common code impedance of electrode, and it is quasi- then to carry out high-order to impedance curve with the correlation function in Matlab
It closes, obtains the impedance transfer function of a fitting, the decomposition of pure mathematics is then carried out to transmission function, is obtained by several small circuits
Motor high frequency model made of series network equally carries out motor model with circuit simulating softwares such as Pspice, Candence
Emulation, obtained motor common code impedance amplitude and phase angle and actually measures obtained impedance magnitude and phase angle is identical, still
This method analyzes no any help to engineering and motor high frequency equivalent circuit, because the model that this method obtains does not have
The physical arrangement of motor is considered, and the capacitive reactance that will appear the resistance value of resistance, the induction reactance of inductance, capacitance is negative value, with practical electricity
The capacitive reactance of the resistance value of resistance, the induction reactance of inductance, capacitance is that positive value is contradiction, is not had to the analysis and engineering practice of motor high frequency model
There is any directive significance.Therefore, in certain frequency range, with degree of precision, have physical significance based on motor physical arrangement
Three phase alternating current motor model becomes our research emphasis.
Invention content
Present invention aims at a kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection is provided, to solve
The certainly existing motor high frequency model for considering motor physical arrangement but precision is poor, cannot meet requirement of engineering, or do not have
There is the motor high frequency model for considering motor physical arrangement, precision are high still there is no directive significance to ask engineering and motor research
Topic；Present invention offer motor high frequency model precision is higher and has physical significance, can provide guidance to engineering and motor research
Meaning.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection, by identical U, V, W three-phase windings electricity
Road is formed in parallel；It is characterized in that, any phase winding circuit includes：Four sub-circuits, five parasitic capacitances, damping resistance RT
And leakage inductance LT；
Wherein, four sub-circuits are sequentially connected in series, and the first sub-circuit includes：Winding equivalent resistance RStart, winding equivalent inductance
LStart, winding equivalent capacity CStartAnd motor side resistance Rg, the winding equivalent resistance RStart, winding equivalent inductance LStartWith
Winding equivalent capacity CStartParallel connection is connected after the series electrical generator terminal resistance Rg of one end, other end series connection second with machine winding endpoint
Sub-circuit；
Second sub-circuit includes：First turn-to-turn effect equivalent resistance Rj1, the first turn-to-turn effect equivalent inductance Lj1, the first circle
Between effect equivalent capacity Cj1, the first stator inductance L11And the first eddy-current loss resistance R11, the first turn-to-turn effect equivalent resistance
Rj1, the first turn-to-turn effect equivalent inductance Lj1With the first turn-to-turn effect equivalent capacity Cj1It is sequentially connected in series rear and the first stator inductance L11、
First eddy-current loss resistance R11Parallel connection constitutes the second sub-circuit；
Third sub-circuit includes：Second turn-to-turn effect equivalent resistance Rj2, the second turn-to-turn effect equivalent inductance Lj2, the second circle
Between effect equivalent capacity Cj2And five pairs of L-R branches being sequentially connected in series, each pair of L-R branch route the second stator inductance (L21、L22、
L23、L24、L25) and second eddy current loss resistance (R21、R22、R23、R24、R25) composition in parallel, the equivalent electricity of the second turn-to-turn effect
Hinder Rj2, the second turn-to-turn effect equivalent inductance Lj2, the second turn-to-turn effect equivalent capacity Cj2It is sequentially connected in series rear and five pairs of L-R branch
Road is in parallel, constitutes third sub-circuit；
4th sub-circuit includes：Third stator inductance L31With third eddy-current loss resistance R31, the third stator inductance L31
With third eddy-current loss resistance R31Parallel connection, one end connect third sub-circuit, other end ground connection；
The damping resistance RT, leakage inductance LTWith the first parasitic capacitance CTIt is sequentially connected in series, damping resistance RTOne end is connected to the first son
Between circuit and the second sub-circuit, the first parasitic capacitance CTOne end is grounded, and mono- ends the second parasitic capacitance Cg1 are connected to the first son
Between circuit and the second sub-circuit, other end ground connection, mono- ends third parasitic capacitance Cg2 are connected to the second sub-circuit and third
Between circuit, other end ground connection, mono- ends the 4th parasitic capacitance Cg3 are connected between third sub-circuit and the 4th sub-circuit, another
One end is grounded, and the 5th parasitic capacitance Cg4 is connected between the 4th sub-circuit and ground.
In the present invention, frequency range is divided into low frequency, intermediate frequency, high frequency, abbreviation goes out the equivalent circuit of model under different frequency range, profit
With Laplace transform, the model is write out in the impedance expression in the domains s of each frequency range, corner frequency is found out according to expression formula.
By impedance instrument measurement obtain obtaining on common code impedance curve representational Frequency point (on main impedance curve amplitude and
The turning point of phase angle) corresponding impedance magnitude and phase angle, and be mapped with the corner frequency found out, find out partial parameters.
Differential-mode impedance curve is obtained by impedance instrument measurement, in low-frequency range, 5 rank rational functions is calculated with vector fitting method and is hindered
Anti- curve coordinates the impedance equation of low-frequency range to calculate partial parameters；In Mid Frequency, calculate the amplitude of differential-mode impedance, phase angle,
The frequency of resonance point determines partial parameters by " trial-and-error method ".
The beneficial effects of the present invention are,
The present invention provides a kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection, cleverly motor object
It manages structure and mathematics solves engineering method and organically combines, obtained high frequency common mode model approximate with the Commonmode model actually measured one
It causes, model itself has physical significance, has directive significance to the research of engineering and motor model.
Description of the drawings
Fig. 1 has star-like connection forever for the electromagnetic interference of the invention provided suitable for analyzing speed-adjusting driving system generation
The complete triphase flow of magnetic-synchro motor.
Fig. 2 is the amplitude and phase angle for the common code impedance curve surveyed on the permanent magnet synchronous motor of laboratory.
Fig. 3 be the embodiment of the present invention 1 in common code impedance model low-frequency range simplification circuit.
Fig. 4 be the embodiment of the present invention 1 in common code impedance model Mid Frequency simplification circuit.
Fig. 5 be the embodiment of the present invention 1 in common code impedance model high band simplification circuit.
Fig. 6 is the amplitude and phase angle for the differential-mode impedance curve surveyed on the permanent magnet synchronous motor of laboratory.
Fig. 7 be the embodiment of the present invention 1 in differential-mode impedance model low-frequency range simplification circuit.
Fig. 8 be the embodiment of the present invention 1 in differential-mode impedance model Mid Frequency simplification circuit.
Fig. 9 is the common code impedance of motor measure and that model calculates.
Figure 10 is the differential-mode impedance of motor measure and that model calculates.
Specific implementation mode
Below in conjunction with specific embodiment and attached drawing, the present invention is described in further detail.
Embodiment 1
There is star-like connection the present embodiment provides a kind of electromagnetic interference being suitable for analyze speed-adjusting driving system generation
The complete triphase flow of permanent magnet synchronous motor, as shown in Figure 1；The model describes stator winding using distributed constant, and examines
The turn-to-turn effect of winding and the leakage inductance factor of the former circles of winding are considered；Permanent magnet synchronous electric with star-like connection in the present embodiment
The complete triphase flow of machine is formed by U, V, W three-phase windings circuit in parallel, the circuit structure and parameter all same of three-phase windings；It should
Stator winding is divided into three parts by model, and first part is used for describing the spy of the Mid Frequency (10kHz~1MHz) of common code impedance
Property, including a pair of L-R branches in parallel, have a significant impact to the common code impedance of Mid Frequency；Second part is used for describing differential mode resistance
The characteristic of anti-low-frequency range (100Hz~10kHz), including five pairs of L-R branches in parallel, have the differential-mode impedance of low-frequency range very big
It influences；Part III is used for describing the characteristic of the Mid Frequency (10kHz~1MHz) of differential-mode impedance, including a pair of L-R branch in parallel
Road has a significant impact to the differential-mode impedance of Mid Frequency；Need in addition to illustrate, first part in above-mentioned model, second part,
Part III is that physical arrangement is equivalent, with the first sub-circuit, the second sub-circuit, third sub-circuit, the 4th son electricity in circuit structure
Road has no correspondence.
Further, in precircuit structure：Rg is the resistance of motor side, and LStart, RStart, CStart are respectively
Equivalent inductance, equivalent resistance, the equivalent capacity of first circle winding of first slot, RT are the second to the 5th circle winding and stator
The damping resistance of seat, LT are the leakage inductances of the second to the 5th circle winding, and CT is the parasitic capacitance of the second to the 5th circle winding, Lj1,
Rj1, Cj1 are turn-to-turn effect equivalent inductance, turn-to-turn effect equivalent resistance, the turn-to-turn effect equivalent capacity of first part respectively,
L11, R11 are the stator inductance and eddy-current loss resistance of first part respectively, and Lj2, Rj2, Cj2 are the turn-to-turn of second part respectively
Effect equivalent inductance, turn-to-turn effect equivalent resistance, turn-to-turn effect equivalent capacity, L21, R21, L22, R22, L23, R23, L24,
R24, L25, R25 are the stator inductance and eddy-current loss resistance of second part respectively, and L31, R31 are the stator of Part III respectively
Inductance and eddy-current loss resistance, Cg1, Cg2, Cg3, Cg4 are the parasitic capacitances between stator winding and out frame, and EMF is electricity
The electromagnetic field radiation that machine generates when running.
In the present embodiment, the impedance curve actually measured is obtained by being surveyed on the permanent magnet synchronous motor in laboratory, such as Fig. 2 institutes
It is shown as the amplitude and phase angle of common code impedance curve measured；A, B, C, E, F, H, I are the turning point on common mode amplitude impedance curve,
D, G, J are the peak point on common mode phase angle impedance curve, and K, L are the point that phase angle is 0, and wherein K is resonance point, and L is antiresonance point.
Since laboratory motor three-phase windings are full symmetric, 120 ° are differed between arbitrary two-phase, the resistance of the correspondence resistance of each phase
Value, the capacitance of capacitance, the inductance value of inductance are identical, therefore, in middle low-frequency range (100Hz~100kHz), the model after simplifying
As shown in Figure 3；Because the value of Cg3 and Cg4 is very small, generally only tens pF, therefore ignore when abbreviation.
A point common code impedances ZAExpression formula is as follows：
Wherein, fAFor the frequency of A points；
Equivalent common code impedance expression formula between middle low-frequency range UVW and ground is as follows after Laplace transform：
Wherein, Rs=R11/ 3, Ls=L11/ 3, s are the variable of Laplace domain；
The angular frequency f of B, C point can be obtained by (2) formulaB、fCAs follows：
Simultaneous (1) (3) (4) can calculate Cg1、Cg2、LsValue the common code impedance of D points can be obtained by equation (2)
Phase angle thetaDAs follows：
∠Z(j2πfD)=θD (5)
Wherein, fDFor the frequency of D points；
RsIt is calculated by equation (5)；
At medium-high frequency section (100KHz~1MHz), the model after simplifying is as shown in figure 4, concatenated RT-LT-CTBranch and Cg1
Equivalent common code impedance (dotted box portion in Fig. 4) expression formula after parallel connection is as follows after Laplace transform：
The angular frequency f of E, F point can be obtained by (6) formulaE、fFAs follows：
Simultaneous (7) (8) can obtain CT、LTValue；Equivalent common code impedance expression formula warp between medium-high frequency section UVW and ground
It is as follows after Laplace transform：
By equation (9), the common code impedance phase angle theta of G points can be obtainedGAs follows：
∠Z(j2πfG)=θG (10)
RTIt is calculated by equation (10)；
At high band (1MHz~10MHz), the model after simplifying is as shown in figure 5, in 5MHz hereinafter, LStart-RStart-
CStartIt is considered short circuit, therefore in frequency range fHAnd fIBetween equivalent common code impedance expression formula it is as follows：
Because of Cj1<<Cg2, so Cg2It can be ignored, therefore formula (11) can be using abbreviation as following expression：
The angular frequency f of H, I point can be obtained by (12) formulaH、fIAs follows：
Simultaneous (13) (14) can obtain Cj1、Lj1Value；By equation (12), the common code impedance phase angle of J points can be obtained
θJAs follows：
∠Z(j2πfJ)=θJ (15)
Rj1It is calculated by equation (15)；
Within the scope of 5MHz~10MHz, Rj1-Lj1-Cj1It is considered open circuit, it is equivalent in this band limits
Common code impedance expression formula is as follows after Laplace transform：
The angular frequency f of resonance point K, antiresonance point L can be obtained by (16) formulaK、fLAs follows：
Simultaneous (17) (18) can obtain LstartAnd CstartValue；By equation (16), the common mode resistance of K points can be obtained
Anti- phase angle is as follows：
∠Z(j2πfK)=0 (19)
RstartIt is calculated by equation (19)；
Amplitude and the phase angle for surveying obtained differential-mode impedance curve are as shown in Figure 6；A, b, c, d, e, f are differential mode amplitude impedance
Turning point on curve, wherein c are antiresonance point；In 20Hz, motor differential-mode impedance is resistive characteristic, therefore can be obtained：
Wherein, Z20For 20Hz when impedance.
At low-frequency range (100Hz~10kHz), the model after simplifying is as shown in fig. 7, calculating 5 ranks using vector fitting method has
Function is managed, with impedance curve of the approximation from a to b：
The expression formula of low-frequency range differential-mode impedance is as follows：
H (s)=H ' (s) is enabled, following relational expression can be obtained：
At Mid Frequency (10kHz~100kHz), the model after simplifying is as shown in Figure 8；The differential-mode impedance of antiresonance point c's
Amplitude and phase angle are as follows：
∠ZU_VW(j2πfc)=0 (25)
The angular frequency f of c pointscIt can be approximated to be：
Because there is 5 unknown number R31、L31、Rj2、Lj2And Cj2, but only there are three equations, so needing true with " trial-and-error method "
Determine parameter；It can obtain following relationship：
Use " trial-and-error method " can determine the parameter R in (24)~(26) by (27) (28) limited range31、L31、
Rj2、Lj2And Cj2。
After determining all parameters, on MATLAB by the amplitude and phase angle of calculated common code impedance and differential-mode impedance with
The amplitude and phase angle of the common code impedance and differential-mode impedance measured are compared, and as shown in Figure 9, Figure 10, find two songs by contrast
Line is very identical.
In conclusion a kind of electromagnetic interference being suitable for analyzing speed-adjusting driving system generation provided by the invention has star
The complete triphase flow of the permanent magnet synchronous motor of shape connection, solves the existing motor high frequency mould for considering motor physical arrangement
Type but precision is poor cannot meet requirement of engineering and not account for the motor high frequency model of motor physical arrangement, and precision is high, still
There is no the problem of directive significance to engineering and motor research, realizes the accurate modeling to motor, meanwhile, the present invention, which uses, to be divided
Cloth parameter replaces lumped parameter, and this method has compared to the research method modeled with front motor obviously to be improved, and is achieved
Very significant effect is a great breakthrough in motor modeling field.
The above description is merely a specific embodiment, any feature disclosed in this specification, except non-specifically
Narration, can be replaced by other alternative features that are equivalent or have similar purpose；Disclosed all features or all sides
Method or in the process the step of, other than mutually exclusive feature and/or step, can be combined in any way.
Claims (1)
1. a kind of complete triphase flow of the permanent magnet synchronous motor with star-like connection, by identical U, V, W three-phase windings circuit
It is formed in parallel；It is characterized in that, any phase winding circuit includes：Four sub-circuits, five parasitic capacitances, damping resistance RTAnd
Leakage inductance LT；
Wherein, four sub-circuits are sequentially connected in series, and the first sub-circuit includes：Winding equivalent resistance RStart, winding equivalent inductance LStart、
Winding equivalent capacity CStartAnd motor side resistance Rg, the winding equivalent resistance RStart, winding equivalent inductance LStartWith winding etc.
Imitate capacitance CStartParallel connection is connected with machine winding endpoint after the series electrical generator terminal resistance Rg of one end, the other end is connected the second sub-circuit；
Second sub-circuit includes：First turn-to-turn effect equivalent resistance Rj1, the first turn-to-turn effect equivalent inductance Lj1, the first turn-to-turn effect
Equivalent capacity Cj1, the first stator inductance L11And the first eddy-current loss resistance R11, the first turn-to-turn effect equivalent resistance Rj1,
One turn-to-turn effect equivalent inductance Lj1With the first turn-to-turn effect equivalent capacity Cj1It is sequentially connected in series rear and the first stator inductance L11, first
Eddy-current loss resistance R11Parallel connection constitutes the second sub-circuit；
Third sub-circuit includes：Second turn-to-turn effect equivalent resistance Rj2, the second turn-to-turn effect equivalent inductance Lj2, the second turn-to-turn effect
Equivalent capacity Cj2And five pairs of L-R branches being sequentially connected in series, each pair of L-R branch route the second stator inductance (L21、L22、L23、L24、
L25) and second eddy current loss resistance (R21、R22、R23、R24、R25) composition in parallel, the second turn-to-turn effect equivalent resistance Rj2,
Two turn-to-turn effect equivalent inductance Lj2, the second turn-to-turn effect equivalent capacity Cj2Rear and five pairs of L-R branch circuit parallel connections are sequentially connected in series,
Constitute third sub-circuit；
4th sub-circuit includes：Third stator inductance L31With third eddy-current loss resistance R31, the third stator inductance L31With
Three eddy-current loss resistance R31Parallel connection, one end connect third sub-circuit, other end ground connection；
The damping resistance RT, leakage inductance LTWith the first parasitic capacitance CTIt is sequentially connected in series, damping resistance RTOne end is connected to the first sub-circuit
Between the second sub-circuit, the first parasitic capacitance CTOne end is grounded, and mono- ends the second parasitic capacitance Cg1 are connected to the first sub-circuit
Between the second sub-circuit, other end ground connection, mono- ends third parasitic capacitance Cg2 are connected to the second sub-circuit and third sub-circuit
Between, other end ground connection, mono- ends the 4th parasitic capacitance Cg3 are connected between third sub-circuit and the 4th sub-circuit, the other end
Ground connection, the 5th parasitic capacitance Cg4 are connected between the 4th sub-circuit and ground.
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Cited By (3)
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| CN110196998A (en) * | 2019-04-30 | 2019-09-03 | 北京理工大学 | A kind of method for building up of New energy automobile motor drive system motor high frequency equivalent circuit model |
| CN112858909A (en) * | 2021-01-30 | 2021-05-28 | 上海电力大学 | Alternating current motor high-frequency common-mode parameter detection method considering frequency characteristics |
| US20220173688A1 (en) * | 2020-11-30 | 2022-06-02 | The Boeing Company | Systems and methods for controlling motor impedance |
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