CN108390602B - A kind of direct prediction power control method of hybrid exciting synchronous motor - Google Patents
A kind of direct prediction power control method of hybrid exciting synchronous motor Download PDFInfo
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- CN108390602B CN108390602B CN201810157326.3A CN201810157326A CN108390602B CN 108390602 B CN108390602 B CN 108390602B CN 201810157326 A CN201810157326 A CN 201810157326A CN 108390602 B CN108390602 B CN 108390602B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
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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
- 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
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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Abstract
The invention discloses a kind of direct prediction power control methods of hybrid exciting synchronous motor, realize hybrid exciting synchronous motor direct Power Control, calculate d axis reference current i by control strategydref, q axis reference current iqref, excitation reference current ifref, obtain stator flux linkage set value；Based on instantaneous power prediction model, reference current and stator flux linkage set value and estimated value, motor instantaneous active and reactive power are effectively controlled.Control method proposed by the present invention effectively increases control system efficiency and power factor, realizes Energy Saving Control；Torque and speed dynamic response are faster；Reduce system adjustable parameter, magnetic linkage is smaller with torque ripple, and Ability of Resisting Disturbance is stronger, and robustness is more preferable；The advantages of having given full play to hybrid exciting synchronous motor low speed high torque and wide range speed control, the efficient increasing magnetic and weak magnetic for realizing hybrid exciting synchronous motor control, and have certain value to application of the promotion hybrid exciting synchronous motor in electric car.
Description
Technical field
The invention belongs to electric drive technology fields, and in particular to a kind of direct prediction power control of hybrid exciting synchronous motor
Method processed.
Background technique
Electric drive system for electric vehicles requirement motor volume is small, light-weight, power density is high, high-efficient, high reliablity, rises
Dynamic torque is big, overload capacity is strong and speed-regulating range width.Hybrid exciting synchronous motor is because it is with low speed high torque, wide range speed control model
It encloses, the features such as power/torque density is high has extraordinary application prospect in electric car field.Hybrid exciting synchronous motor knot
The advantages of having closed permanent magnet synchronous motor and electric excitation synchronous motor, while having avoided respective disadvantage, permanent magnet and electrical excitation again
Two kinds of excitation sources interact in air gap, and when electrical excitation winding is passed through positive exciting current, motor, which is in, increases magnetic operation shape
State improves motor load capacity；When electrical excitation winding is passed through reversed exciting current, motor is in weak magnetic field operation state, opens up
Wide electric machine speed regulation range.
Currently, the control method and its Research on Driving System of hybrid exciting synchronous motor are less, two classes can be divided into substantially:
The problems such as vector controlled and Direct Torque Control, wherein vector control technology is slow there are dynamic response, Direct Torque Control exist
The problems such as torque pulsation is big.
Summary of the invention
The purpose of the present invention is to propose to a kind of direct prediction power control methods of hybrid exciting synchronous motor, solve existing skill
The problem that hybrid exciting synchronous motor vector control system dynamic response present in art is slow, drive system operational efficiency is low.
The technical scheme adopted by the invention is that a kind of direct prediction power control method of hybrid exciting synchronous motor, tool
Body follows the steps below to implement:
Step 1: acquiring phase current i from the main circuit of hybrid exciting synchronous motora、ibWith exciting current if, busbar voltage Udc
With excitation voltage Uf, collected signal is sent into control after the signal condition of voltage follow, filtering, biasing and overvoltage protection
Device is handled, and is carried out accurate initial position detection to motor, is obtained revolving speed n and initial position angle of rotor θr；
Step 2: by the phase current i of acquisitiona、ibThrough described in step 1 signal condition and A/D conversion, it is quiet by abc three-phase
Only coordinate system obtains the α shaft current i under two-phase stationary reference α β coordinate system to α β coordinate transformαWith β shaft current iβ；Utilize step 1
Obtained DC bus-bar voltage UdcWith inverter switching states Sa、Sb、ScCalculate the α shaft voltage of two-phase stationary reference α β coordinate system
uαWith β shaft voltage uβ；Utilize uα、uβWith iα、iβCalculate stator magnetic linkage ψsAmplitude | ψs|, magnetic linkage angular position thetas；
Step 3: the revolving speed n and given rotating speed n that step 1 is obtainedrefRevolving speed deviation delta n is obtained after making the difference, revolving speed is inclined
Poor Δ n obtains electromagnetic torque reference value T after speed regulatoreref；By TerefThe revolving speed n obtained with step 1 is rotated in two-phase
Operation is carried out in dq coordinate system obtains d shaft current reference value idref, q shaft current reference value iqrefWith exciting current reference value ifref；
Step 4: the d shaft current reference value i obtained using step 3dref, q shaft current reference value iqrefIt is referred to exciting current
Value ifrefCalculate stator magnetic linkage reference value ψsref；
Step 5: the d shaft current reference value i that step 3 is obtaineddref, q shaft current reference value iqrefIt is sat by dq coordinate to xy
Mark transformation obtains x-axis current reference value ixref, y-axis current reference value iyref；The stator magnetic linkage amplitude that step 2 is obtained | ψs| warp
Cross α β coordinate and obtain the amplitude of stator magnetic linkage under xy coordinate system to xy coordinate transform | ψx|；Utilize ixref、iyref、|ψx| and step 4
Obtained stator magnetic linkage reference value ψsrefCalculate the instantaneous active power reference value P of hybrid exciting synchronous motorxyrefWith idle function
Rate reference value Qxyref；
Step 6: the instantaneous active power P obtained using step 5xyref, reactive power QxyrefThe α axis electricity obtained with step 2
Flow iα, β shaft current iβCalculate separately the switching voltage vector reference value u of α axisαrefWith the switching voltage vector reference value of β axis
uβref；
Step 7: the switching voltage vector reference value u that step 6 is obtainedαref、uβrefThe DC bus electricity obtained with step 1
Press Udc6 road pulse width modulating signals are exported after space vector pulse width modulation, drive main power inverter；Simultaneously will
The exciting current i that step 1 obtainsf, the exciting current reference value i that is obtained with step 3 after signal condition and A/D conversionfrefTogether
After DC excitation pulsewidth modulation, operation exports 4 road pulse width modulating signals to drive exciting power converter.
The features of the present invention also characterized in that:
Step 2 calculates stator magnetic linkage ψsAmplitude, magnetic linkage angular position thetasSpecific steps are as follows:
Three phase static abc reference frame is converted to the static α β reference frame of two-phase are as follows:
In formula, iα、iβThe respectively component of stator current α axis and β axis in α β reference frame, ia、ib、icThree-phase respectively
A phase current in static abc reference frame, b phase current, c phase current,
α shaft voltage u in the static α β reference frame of two-phaseαWith β shaft voltage uβAre as follows:
In formula, Sa、Sb、ScThe respectively switch state of three-phase inversion bridge arm a, b, c device for power switching, upper bridge arm conducting
Duration is 1, and when lower bridge arm is connected, being worth is 0,
When the three-phase symmetrical stator winding of hybrid exciting synchronous motor is powered by three-phase voltage, stator voltage space vector us
With stator magnetic linkage space vector ψsRelationship are as follows:
In formula, RsFor armature winding resistance, isFor stator current space vector, t is the time,
(3) formula is subjected to abc to α β coordinate transform, obtains motor α axis stator magnet in the static α β reference frame of two-phase
Chain ψαWith β axis stator magnetic linkage ψβ:
Stator magnetic linkage amplitude | ψs| and magnetic linkage angular position thetasIt is respectively as follows:
Step 3 calculates d shaft current reference value idref, q shaft current reference value iqrefWith exciting current reference value ifrefIt is specific
Step are as follows:
Mathematical model of the hybrid exciting synchronous motor under dq reference frame are as follows:
Flux linkage equations:
Voltage equation:
Electromagnetic torque equation:
Wherein, ψd、ψq、ψm、ψfRespectively d axis, q axis, permanent magnetism and excitation winding magnetic linkage, Ld、Lq、LfRespectively d axis, q axis
With excitation winding inductance, MfMutual inductance between armature and excitation winding；id、iq、ifRespectively d axis, q axis and exciting current, ωe
For angular rate；ud、uq、ufRespectively d axis, q axis and excitation winding voltage, RsFor armature winding resistance, RfFor excitation winding electricity
Resistance, TeFor electromagnetic torque, p is motor number of pole-pairs, UdcFor DC bus-bar voltage,
When hybrid exciting synchronous motor runs on low regime, d shaft current reference value i is calculateddref, q shaft current reference value
iqrefWith exciting current reference value ifref；
Enable d shaft current id=0, formula (8) simplifies are as follows:
Motor operation underloading or nominal load and it is following when, without increasing magnetic control, exciting current if=0, convolution (9)
Following reference current is calculated:
Motor operation utilizes exciting current i in starting or heavy conditionfIncreasing magnetic control is carried out, convolution (9) calculates
To following reference current:
Wherein, isNFor armature rated current,
When hybrid exciting synchronous motor runs on high velocity, d shaft current reference value i is calculateddref, q shaft current reference value
iqrefWith exciting current reference value ifref；
Hybrid exciting synchronous motor voltage and current Limiting Equations are as follows:
Negligible resistance pressure drop under stable state simplifies formula (7) are as follows:
Formula (13) are substituted into formula (12), obtain voltage limit equation are as follows:
Coordinate d shaft current idWith exciting current ifCommon weak magnetic is specifically divided into two weak magnetic field operation states:
Motor operation keeps d shaft current i in first weak magnetic stated=0, using exciting current ifWeak magnetic is meeting
Under conditions of given rotating speed and torque, according to formula (8) and formula (14), following reference current is calculated:
Second weak magnetic field operation state refers to exciting current ifReach negative rated value-ifNAfterwards, revolving speed is continued to lift up, then
In ifOn the basis of weak magnetic, using d shaft current idWeak magnetic makes hybrid exciting synchronous motor operate in wide range speed control region, according to formula
(8) and formula (14) following reference current, is calculated:
Wherein, ifNIt is rated exciting current.
Step 4 calculates stator magnetic linkage reference value ψsrefSpecific steps are as follows:
Stator magnetic linkage reference value ψ is obtained by hybrid exciting synchronous motor flux linkage equationssrefAre as follows:
By reference current value i obtained in step 3dref、iqref、ifref(17) formula of substitution obtains stator magnetic linkage reference value
ψsref。
The instantaneous active power reference value P of step 5 calculating hybrid exciting synchronous motorxyrefAnd reactive power reference qref
QxyrefSpecific steps are as follows:
According to instantaneous reactive power theory, instantaneous active power P under xy reference framexyAnd reactive power QxyExpression formula
For
Wherein, ux、uyThe voltage of x-axis, y-axis, i respectively under xy coordinate systemx、iyTo be respectively x-axis, y-axis under xy coordinate system
Electric current,
The instantaneous active power P at k+1 moment is obtained using Euler method discretization formula (20)xy(k+1) and reactive power Qxy(k
+ 1) expression formula is
Wherein, ix(k+1)、iy(k+1) be respectively x-axis, y-axis under k+1 moment xy coordinate system electric current, ux(k+1)、uy(k+
It 1) is respectively stator voltage x-axis component, y-axis component,
ψx、ψyRespectively stator magnetic linkage ψsX-axis, y-axis component in xy coordinate system, with stator magnetic linkage amplitude | ψs| relationship
For
Above formula (22) are substituted into composite excitation voltage equation and obtain xy seat in the equation after xy coordinate system to α β coordinate transform
Mark is that lower stator voltage equation is
The stator voltage x-axis component u at k+1 moment is obtained using Euler method discretization formula (23)x(k+1), y-axis component uy(k+
1) expression formula is
In formula, TsFor the sampling time；ψx(k)、ψxIt (k+1) is respectively k and k+1 moment x-axis stator magnetic linkage,
By instantaneous active power P of formula (24) substitution after discretexy(k+1) and reactive power Qxy(k+1) in expression formula (21)
?
Construct cost function g:g=| Pxy(k+1)-Pxyref|+|Qxy(k+1)-Qxyref| (26)
To minimize cost function, ideal situation is
Being adjusted by closed loop makes the x-axis electric current, y-axis electric current and x-axis magnetic linkage at k+1 moment constantly level off to respective reference
Value, then formula (25) is reduced to
Obtain instantaneous active power reference value PxyrefWith reactive power reference qref QxyrefFor
Wherein, ixref、iyrefRespectively represent the reference current of x-axis, y-axis under xy coordinate system, ψxrefFor x-axis under xy coordinate system
Stator magnetic linkage reference value.
Step 6 calculates switching voltage vector reference value uαrefAnd uβrefSpecific steps are as follows:
Since active power and reactive power are scalar, then have
In formula, Pαβ(k+1)、Qαβ(k+1) be respectively the k+1 moment under α β coordinate system instantaneous active power and reactive power,
Known by instantaneous reactive power theory, the instantaneous active power P under α β coordinate systemαβAnd reactive power QαβExpression formula is
Setting stator current be it is constant, formula (31) discretization is obtained
In formula, uα(k+1)、uβ(k+1) k+1 moment switching voltage vector reference value u is respectively representedαrefAnd uβref, by formula
(27), formula (30) substitutes into formula (32) and obtains switching voltage vector reference value uαrefAnd uβrefFor
The invention has the advantages that a kind of direct prediction power control method of hybrid exciting synchronous motor of the invention,
Hybrid exciting synchronous motor instantaneous power prediction model is established, by controlling active and reactive power, keeps composite excitation synchronous
Motor all has preferable dynamic and static characteristic and efficiency in whole service region, specifically has the advantage that
(1) by control, hybrid exciting synchronous motor is active and reactive power, improves operating system efficiency and power factor,
Effectively realize energy conservation, and algorithm control and calculating are simple and convenient, it is easy to accomplish；(2) motor Direct Power prediction model is established, it is real
The quick tracking of existing torque and revolving speed, drive system dynamic response is faster；(3) instantaneous power control, magnetic linkage and torque arteries and veins are used
Dynamic smaller, drive system Ability of Resisting Disturbance is stronger, and robustness is more preferable；(4) hybrid exciting synchronous motor low speed is given full play to turn greatly
The characteristics of square and wide range speed control, realizes that the efficient increasing magnetic of hybrid exciting synchronous motor and weak magnetic control.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the direct prediction power control method of hybrid exciting synchronous motor of the present invention；
Fig. 2 is a kind of direct prediction power control method system block diagram of hybrid exciting synchronous motor of the present invention；
Fig. 3 is a kind of direct prediction power control method structural block diagram of hybrid exciting synchronous motor of the present invention；
Fig. 4 is direct prediction power control method coordinate conversion relation figure of the invention.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The system block diagram of the direct prediction power control method of hybrid exciting synchronous motor of the invention a kind of as shown in Fig. 2,
The control system is passed by AC power source, rectifier, electric capacity of voltage regulation, main power inverter, exciting power converter, electric current and voltage
The composition such as sensor, hybrid exciting synchronous motor, dsp controller.
AC power source is powered to whole system, and after rectifier rectification, main, exciting power transformation is given in filtering, pressure stabilizing
Device, Hall voltage sensor acquire busbar voltage, are sent into controller after conditioning.Main, exciting power converter output termination is mixed
Excitation magnetic synchronization motor is closed, Hall current mutual inductor acquires phase current and exciting current, is sent into controller after conditioning；Encoder acquisition
Revolving speed and rotor-position signal are sent into controller and calculate rotor position angle and revolving speed after processing.Controller exports 10 road pwm signals
Respectively drive main, exciting power converter.
A kind of direct prediction power control method of hybrid exciting synchronous motor of the present invention, detailed process as shown in Figure 1, according to
Following steps are implemented:
Step 1: three Hall current sensors and two Hall voltage sensors acquire mutually electricity from motor main circuit respectively
Flow ia、ibWith exciting current if, DC bus-bar voltage UdcWith excitation voltage Uf, by collected signal through voltage follow, filtering,
Controller is sent into after the signal conditions such as biasing and overvoltage protection to be handled, and accurate initial position detection is carried out to motor, is obtained
Revolving speed n and initial position angle of rotor θr；
Step 2: by the phase current i of acquisitiona、ibIt is converted through signal condition and A/D, by abc to α β coordinate transform (such as Fig. 4
It is shown) obtain the α shaft current i under the static α β coordinate system of two-phaseαWith β shaft current iβ；The DC bus-bar voltage obtained using step 1
UdcWith inverter switching states Sa、Sb、ScCalculate α shaft voltage u in two-phase stationary reference coordinate systemαWith β shaft voltage uβ；Utilize uα、
uβWith iα、iβCalculate stator magnetic linkage ψsAmplitude, magnetic linkage angular position thetas, specifically:
Three phase static abc reference frame is converted to the static α β reference frame of two-phase are as follows:
In formula, iα、iβThe respectively component of stator current α axis and β axis in α β reference frame, ia、ib、icThree-phase respectively
A phase current in static abc reference frame, b phase current, c phase current,
α shaft voltage u in the static α β reference frame of two-phaseαWith β shaft voltage uβAre as follows:
In formula, Sa、Sb、ScThe respectively switch state of three-phase inversion bridge arm a, b, c device for power switching, upper bridge arm conducting
Duration is 1, and when lower bridge arm is connected, being worth is 0.
When the three-phase symmetrical stator winding of hybrid exciting synchronous motor is powered by three-phase voltage, stator voltage space vector us
With stator magnetic linkage space vector ψsRelationship are as follows:
In formula, RsFor armature winding resistance；isFor stator current space vector, t is the time,
It brings formula (1) into formula (3), obtains motor α axis stator magnetic linkage ψ in the static α β reference frame of two-phaseαIt is fixed with β axis
Sub- magnetic linkage ψβ:
Stator magnetic linkage amplitude | ψs| and magnetic linkage angular position thetasIt is respectively as follows:
Step 3: as shown in figure 3, the revolving speed n that step 1 is obtained and given rotating speed nrefRevolving speed deviation is obtained after making the difference
Δ n, revolving speed deviation delta n obtain electromagnetic torque reference value T after speed regulatoreref；By TerefThe revolving speed n obtained with step 1
Operation, which is carried out, in two-phase rotation dq coordinate system obtains d shaft current reference value idref, q shaft current reference value iqrefAnd exciting current
Reference value ifref, specifically:
Mathematical model of the hybrid exciting synchronous motor under dq reference frame are as follows:
Flux linkage equations:
Voltage equation:
Electromagnetic torque equation:
Wherein, ψd、ψq、ψm、ψfD axis, q axis, permanent magnetism and excitation winding magnetic linkage respectively；Ld、Lq、LfRespectively d axis, q axis with
Excitation winding inductance, MfMutual inductance between armature and excitation winding；id、iq、ifRespectively d axis, q axis and exciting current；ωeFor
Angular rate；ud、uq、ufRespectively d axis, q axis and excitation winding voltage, RsFor armature winding resistance, RfFor excitation winding resistance；
TeFor electromagnetic torque, p is motor number of pole-pairs, UdcFor DC bus-bar voltage,
Hybrid exciting synchronous motor can run on low regime or high velocity:
When hybrid exciting synchronous motor runs on low regime, d shaft current reference value i is calculateddref, q shaft current reference value
iqrefWith exciting current reference value ifref；
Enable d shaft current id=0, formula (8) simplifies are as follows:
Motor operation underloading or nominal load and it is following when, without increasing magnetic control, exciting current if=0, convolution (9)
Following reference current is calculated:
Motor operation utilizes exciting current i in starting or heavy conditionfIncreasing magnetic control is carried out, convolution (9) calculates
To following reference current:
Wherein, isNFor armature rated current.
When hybrid exciting synchronous motor runs on high velocity, d shaft current reference value i is calculateddref, q shaft current reference value
iqrefWith exciting current reference value ifref；
Hybrid exciting synchronous motor voltage and current Limiting Equations are as follows:
Negligible resistance pressure drop under stable state simplifies formula (7) are as follows:
Formula (13) are substituted into formula (12), obtain voltage limit equation are as follows:
Coordinate d shaft current idWith exciting current ifCommon weak magnetic is specifically divided into two weak magnetic field operation states.Motor operation exists
When first weak magnetic state, d shaft current i is keptd=0, using exciting current ifWeak magnetic.In the item for meeting given rotating speed and torque
Under part, according to formula (8) and formula (14), following reference current is calculated:
Second weak magnetic field operation state refers to exciting current ifReach negative rated value-ifNAfterwards, turn if to continue to lift up
Speed, then in ifOn the basis of weak magnetic, using d shaft current idWeak magnetic makes hybrid exciting synchronous motor operate in wide range speed control region, root
According to formula (8) and formula (14), following reference current is calculated: where ifNIt is rated exciting current,
Step 4: the reference current that step 3 is obtained is sent into stator magnetic linkage computing module and calculates stator magnetic linkage reference value
ψsref, specifically:
Hybrid exciting synchronous motor stator magnetic linkage reference value ψ is obtained by formula (6)srefAre as follows:
By reference current i obtained in step 3dref、iqref、ifrefSubstitution formula (17) obtains stator magnetic linkage reference value ψsref。
Step 5: the d shaft current reference value i that step 3 is obtaineddref, q shaft current reference value iqrefBy two-phase rotation dq ginseng
The transformation (as shown in Figure 4) for examining coordinate system to two-phase rotation xy reference frame obtains x-axis current reference value ixref, y-axis electric current
Reference value iyref；The stator magnetic linkage amplitude that step 2 is obtained | ψs| by the static α β reference frame of two-phase to two-phase rotation xy ginseng
The transformation (as shown in Figure 4) for examining coordinate system obtains the amplitude of stator magnetic linkage under xy coordinate system | ψx|；Utilize ixref、iyref、|ψx| and
The stator magnetic linkage reference value ψ that step 4 obtainssrefCalculate the instantaneous active power reference value P of hybrid exciting synchronous motorxyrefAnd nothing
Function value and power reference Qxyref, specifically:
Transformation of the dq reference frame to xy reference frame are as follows:
Transformation of the α β reference frame to xy reference frame are as follows:
According to instantaneous reactive power theory, instantaneous active power P under xy reference framexyAnd reactive power QxyExpression formula
For
The instantaneous active power P at k+1 moment is obtained using Euler method discretization formula (20)xy(k+1) and reactive power Qxy(k
+ 1) expression formula is
Wherein, ix(k+1)、iy(k+1) be respectively x-axis, y-axis under k+1 moment xy coordinate system electric current, ux(k+1)、uy(k+
It 1) is respectively stator voltage x-axis component, y-axis component,
As shown in figure 4, stator magnetic linkage ψsX-axis, y-axis component ψx、ψy, with stator magnetic linkage amplitude | ψs| relationship be
Formula (18), formula (22) substitution formula (7), which are obtained stator voltage equation under xy coordinate system, is
The stator voltage x-axis component u at k+1 moment is obtained using Euler method discretization formula (23)x(k+1), y-axis component uy(k+
1) expression formula is
In formula, TsFor the sampling time；ψx(k)、ψxIt (k+1) is respectively k and k+1 moment x-axis stator magnetic linkage,
Formula (24) are substituted into formula (21) to obtain
Construct cost function g:g=| Pxy(k+1)-Pxyref|+|Qxy(k+1)-Qxyref|(26)
To minimize cost function, ideal situation is
Being adjusted by closed loop makes the x-axis electric current, y-axis electric current and x-axis magnetic linkage at k+1 moment constantly level off to respective reference
Value, then formula (25) is reduced to
Formula (27) are substituted into formula (28) and obtain instantaneous active power reference value PxyrefWith reactive power reference qref QxyrefFor
Wherein, ixref、iyrefRespectively represent the reference current of x-axis, y-axis under xy coordinate system, ψxrefFor x-axis under xy coordinate system
Stator magnetic linkage reference value,
Step 6: the instantaneous active power P obtained using step 5xyref, reactive power QxyrefThe α axis electricity obtained with step 2
Flow iα, β shaft current iβCalculate switching voltage vector reference value uαrefAnd uβref, specifically:
Since active power and reactive power are scalar, then
In formula, Pαβ(k+1)、Qαβ(k+1) be respectively the k+1 moment under α β coordinate system instantaneous active power and reactive power.
Known by instantaneous reactive power theory, the instantaneous active power P under α β coordinate systemαβAnd reactive power QαβExpression formula is
Since motor is resistance sense load, stator current cannot be mutated, therefore work as TsEnough in short-term, it is approximately considered single TsInterior
Stator current be it is constant, formula (31) discretization is obtained
In formula, uα(k+1)、uβ(k+1) k+1 moment switching voltage vector reference value u is respectively representedαrefAnd uβref。
Formula (27), formula (30) are substituted into formula (32) and obtain switching voltage vector reference value uαrefAnd uβrefFor
Step 7: the switching voltage vector reference value u that step 6 is obtainedαref、uβrefThe DC bus electricity obtained with step 1
Press Udc6 road pulse width modulating signals are exported after being sent into space vector pulse width modulation module, drive main power inverter；Together
When the exciting current i that obtains step 1f, the exciting current reference value i that is obtained with step 3 after signal condition and A/D conversionfref
It is sent into DC excitation pulse width modulation module together, operation exports 4 road pulse width modulating signals to drive exciting power converter.
Application of the control method that the invention proposes to promotion hybrid exciting synchronous motor in electric car field has one
Fixed theory and practical significance, meets China's strategy of sustainable development very much.
Claims (1)
1. a kind of direct prediction power control method of hybrid exciting synchronous motor, which is characterized in that specifically real according to the following steps
It applies:
Step 1: acquiring phase current i from the main circuit of hybrid exciting synchronous motora、ibWith exciting current if, busbar voltage UdcWith encourage
Magnetoelectricity presses Uf, collected signal is sent into after the signal condition of voltage follow, filtering, biasing and overvoltage protection controller into
Row processing carries out accurate initial position detection to motor, obtains revolving speed n and initial position angle of rotor θr；
Step 2: by the phase current i of acquisitiona、ibThrough described in step 1 signal condition and A/D conversion, by abc three phase static sit
Mark system obtains the α shaft current i under two-phase stationary reference α β coordinate system to α β coordinate transformαWith β shaft current iβ；It is obtained using step 1
DC bus-bar voltage UdcWith inverter switching states Sa、Sb、ScCalculate the α shaft voltage u of two-phase stationary reference α β coordinate systemαAnd β
Shaft voltage uβ；Utilize uα、uβWith iα、iβCalculate stator magnetic linkage ψsAmplitude | ψs|, magnetic linkage angular position thetas；
Calculate stator magnetic linkage ψsAmplitude, magnetic linkage angular position thetasSpecific steps are as follows:
Three phase static abc reference frame is converted to the static α β reference frame of two-phase are as follows:
In formula, iα、iβThe respectively component of stator current α axis and β axis in α β reference frame, ia、ib、icThree phase static respectively
A phase current in abc reference frame, b phase current, c phase current,
α shaft voltage u in the static α β reference frame of two-phaseαWith β shaft voltage uβAre as follows:
In formula, Sa、Sb、ScDuration is connected in the respectively switch state of three-phase inversion bridge arm a, b, c device for power switching, upper bridge arm
It is 1, when lower bridge arm is connected, being worth is 0,
When the three-phase symmetrical stator winding of hybrid exciting synchronous motor is powered by three-phase voltage, stator voltage space vector usWith it is fixed
Sub- flux linkage space vector ψsRelationship are as follows:
In formula, RsFor armature winding resistance, isFor stator current space vector, t is the time,
(3) formula is subjected to abc to α β coordinate transform, obtains motor α axis stator magnetic linkage ψ in the static α β reference frame of two-phaseαWith
β axis stator magnetic linkage ψβ:
Stator magnetic linkage amplitude | ψs| and magnetic linkage angular position thetasIt is respectively as follows:
Step 3: the revolving speed n and given rotating speed n that step 1 is obtainedrefRevolving speed deviation delta n, revolving speed deviation delta are obtained after making the difference
N obtains electromagnetic torque reference value T after speed regulatoreref；By TerefThe revolving speed n obtained with step 1 is sat in two-phase rotation dq
Operation, which is carried out, in mark system obtains d shaft current reference value idref, q shaft current reference value iqrefWith exciting current reference value ifref；
Calculate d shaft current reference value idref, q shaft current reference value iqrefWith exciting current reference value ifrefSpecific steps are as follows:
Mathematical model of the hybrid exciting synchronous motor under dq reference frame are as follows:
Flux linkage equations:
Voltage equation:
Electromagnetic torque equation:
Wherein, ψd、ψq、ψm、ψfRespectively d axis, q axis, permanent magnetism and excitation winding magnetic linkage, Ld、Lq、LfRespectively d axis, q axis and excitation
Winding inductance, MfMutual inductance between armature and excitation winding；id、iq、ifRespectively d axis, q axis and exciting current, ωeFor electric angle
Speed；ud、uq、ufRespectively d axis, q axis and excitation winding voltage, RsFor armature winding resistance, RfFor excitation winding resistance, TeFor
Electromagnetic torque, p are motor number of pole-pairs, UdcFor DC bus-bar voltage,
Hybrid exciting synchronous motor can run on low regime or high velocity:
When hybrid exciting synchronous motor runs on low regime, d shaft current reference value i is calculateddref, q shaft current reference value iqrefWith
Exciting current reference value ifref；
Enable d shaft current id=0, formula (8) simplifies are as follows:
Motor operation underloading or nominal load and it is following when, without increasing magnetic control, exciting current if=0, convolution (9) calculates
Obtain following reference current:
Motor operation utilizes exciting current i in starting or heavy conditionfCarry out increasing magnetic control, convolution (9) be calculated as
Lower reference current:
Wherein, isNFor armature rated current,
When hybrid exciting synchronous motor runs on high velocity, d shaft current reference value i is calculateddref, q shaft current reference value iqrefWith
Exciting current reference value ifref；
Hybrid exciting synchronous motor voltage and current Limiting Equations are as follows:
Negligible resistance pressure drop under stable state simplifies formula (7) are as follows:
Formula (13) are substituted into formula (12), obtain voltage limit equation are as follows:
Coordinate d shaft current idWith exciting current ifCommon weak magnetic is specifically divided into two weak magnetic field operation states:
Motor operation keeps d shaft current i in first weak magnetic stated=0, using exciting current ifWeak magnetic, it is given meeting
Under conditions of revolving speed and torque, according to formula (8) and formula (14), following reference current is calculated:
Second weak magnetic field operation state refers to exciting current ifReach negative rated value-ifNAfterwards, revolving speed is continued to lift up, then in if
On the basis of weak magnetic, using d shaft current idWeak magnetic makes hybrid exciting synchronous motor operate in wide range speed control region, according to formula (8) and
Formula (14), is calculated following reference current:
Wherein, ifNIt is rated exciting current；
Step 4: the d shaft current reference value i obtained using step 3dref, q shaft current reference value iqrefWith exciting current reference value
ifrefCalculate stator magnetic linkage reference value ψsref；
Calculate stator magnetic linkage reference value ψsrefSpecific steps are as follows:
Stator magnetic linkage reference value ψ is obtained by hybrid exciting synchronous motor flux linkage equationssrefAre as follows:
By reference current value i obtained in step 3dref、iqref、ifref(17) formula of substitution obtains stator magnetic linkage reference value ψsref；
Step 5: the d shaft current reference value i that step 3 is obtaineddref, q shaft current reference value iqrefBecome by dq coordinate to xy coordinate
Get x-axis current reference value i in returnxref, y-axis current reference value iyref；The stator magnetic linkage amplitude that step 2 is obtained | ψs| pass through α β
Coordinate obtains the amplitude of stator magnetic linkage under xy coordinate system to xy coordinate transform | ψx|；Utilize ixref、iyref、|ψx| and step 4 obtains
Stator magnetic linkage reference value ψsrefCalculate the instantaneous active power reference value P of hybrid exciting synchronous motorxyrefJoin with reactive power
Examine value Qxyref；
Calculate the instantaneous active power reference value P of hybrid exciting synchronous motorxyrefWith reactive power reference qref QxyrefSpecific steps
Are as follows:
According to instantaneous reactive power theory, instantaneous active power P under xy reference framexyAnd reactive power QxyExpression formula is
Wherein, ux、uyThe voltage of x-axis, y-axis, i respectively under xy coordinate systemx、iyFor the electricity for being respectively x-axis, y-axis under xy coordinate system
Stream,
The instantaneous active power P at k+1 moment is obtained using Euler method discretization (20) formulaxy(k+1) and reactive power Qxy(k+1) table
It is up to formula
Wherein, ix(k+1)、iy(k+1) be respectively x-axis, y-axis under k+1 moment xy coordinate system electric current, ux(k+1)、uy(k+1) divide
Not Wei stator voltage x-axis component, y-axis component,
ψx、ψyRespectively stator magnetic linkage ψSX-axis, y-axis component in xy coordinate system, with stator magnetic linkage amplitude | ψs| relationship be
Above formula (22) are substituted into composite excitation voltage equation and obtain xy coordinate system in the equation after xy coordinate system to α β coordinate transform
Lower stator voltage equation is
The stator voltage x-axis component u at k+1 moment is obtained using Euler method discretization formula (23)x(k+1), y-axis component uy(k+1) table
It is up to formula
In formula, TsFor the sampling time；ψx(k)、ψxIt (k+1) is respectively k and k+1 moment x-axis stator magnetic linkage,
By instantaneous active power Px of formula (24) substitution after discretey(k+1) and reactive power Qxy(k+1) in expression formula (21)
Construct cost function g:g=| Pxy(k+1)-Pxyref|+|Qxy(k+1)-Qxyref| (26)
To minimize cost function, ideal situation is
Being adjusted by closed loop makes the x-axis electric current, y-axis electric current and x-axis magnetic linkage at k+1 moment constantly level off to respective reference value, then
Formula (25) is reduced to
Obtain instantaneous active power reference value PxyrefWith reactive power reference qref QxyrefFor
Wherein, ixref、iyrefRespectively represent the reference current of x-axis, y-axis under xy coordinate system, ψxrefFor x-axis stator under xy coordinate system
Magnetic linkage reference value；
Step 6: the instantaneous active power P obtained using step 5xyref, reactive power QxyrefThe α shaft current i obtained with step 2α、
β shaft current iβCalculate separately the switching voltage vector reference value u of α axisαrefWith the switching voltage vector reference value u of β axisβref；
Calculate switching voltage vector reference value uαrefAnd uβrefSpecific steps are as follows:
Since active power and reactive power are scalar, then have
In formula, Pαβ(k+1)、Qαβ(k+1) be respectively the k+1 moment under α β coordinate system instantaneous active power and reactive power,
Known by instantaneous reactive power theory, the instantaneous active power P under α β coordinate systemαβAnd reactive power QαβExpression formula is
Setting stator current be it is constant, formula (31) discretization is obtained
In formula, uα(k+1)、uβ(k+1) k+1 moment switching voltage vector reference value u is respectively representedαrefAnd uβref,
Formula (27), formula (30) are substituted into formula (32) and obtain switching voltage vector reference value uαrefAnd uβrefFor
Step 7: the switching voltage vector reference value u that step 6 is obtainedαref、uβrefThe DC bus-bar voltage U obtained with step 1dc
6 road pulse width modulating signals are exported after space vector pulse width modulation, drive main power inverter；Simultaneously by step
1 obtained exciting current if, the exciting current reference value i that is obtained with step 3 after signal condition and A/D conversionfrefPass through together
After DC excitation pulsewidth modulation, operation exports 4 road pulse width modulating signals to drive exciting power converter.
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