CN108521243A - A Direct Power Control Method for High Speed Permanent Magnet Synchronous Motor Based on Space Vector Modulation - Google Patents
A Direct Power Control Method for High Speed Permanent Magnet Synchronous Motor Based on Space Vector Modulation Download PDFInfo
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Abstract
本发明公开了一种基于空间矢量调制的高速永磁同步电机直接功率控制方法,采用PI调节器代替滞环控制器从而实现对瞬时功率的直接控制。基于空间矢量调制的高速永磁同步电机直接功率控制方法基于两个PI调节器,输出根据电压矢量的相位大小,经过坐标变换和空间矢量调制,得到理想的电压矢量。利用这种方式,既可以实现定子电压的准确控制以达到控制无功功率为零的目标,又可以克服开关频率不固定的问题。本发明结构简单,算法简便,可以减少电机的损耗,提高电机的运行效率,可用于鼓风机等长期稳态运行且节能要求比较高的应用场合。
The invention discloses a direct power control method of a high-speed permanent magnet synchronous motor based on space vector modulation. A PI regulator is used instead of a hysteresis controller to realize direct control of instantaneous power. The direct power control method of high-speed permanent magnet synchronous motor based on space vector modulation is based on two PI regulators. The output is based on the phase magnitude of the voltage vector, and the ideal voltage vector is obtained through coordinate transformation and space vector modulation. In this way, the precise control of the stator voltage can be achieved to achieve the goal of controlling the reactive power to zero, and the problem of unfixed switching frequency can be overcome. The invention has simple structure and simple algorithm, can reduce the loss of the motor, improve the operating efficiency of the motor, and can be used in long-term steady-state operation such as a blower with relatively high energy-saving requirements.
Description
技术领域technical field
本发明属于电机控制领域,具体涉及一种基于空间矢量调制的高速永磁同步电机直接功率控制方法。The invention belongs to the field of motor control, and in particular relates to a direct power control method of a high-speed permanent magnet synchronous motor based on space vector modulation.
背景技术Background technique
永磁同步电机利用永磁体提供励磁,相比于电励磁电机减少了励磁系统的损耗,电机的效率及功率密度都得到极大的提高。同时,其克服了直流电机电刷和换向器带来的不利因素,应用范围从最初的军事工业,向航空航天、工业自动化等领域迅速发展。The permanent magnet synchronous motor uses permanent magnets to provide excitation. Compared with the electric excitation motor, the loss of the excitation system is reduced, and the efficiency and power density of the motor are greatly improved. At the same time, it overcomes the unfavorable factors brought by DC motor brushes and commutators, and its application scope has rapidly developed from the initial military industry to aerospace, industrial automation and other fields.
目前较为常见的永磁同步电机控制方法有矢量控制方法和直接转矩控制方法。矢量控制实现的基本原理是通过测量和控制电机定子电流矢量,根据磁场定向原理分别对电机的励磁电流和转矩电流进行控制,从而达到控制电机转矩的目的。但是在实际应用中,由于转子磁链难以准确观测,系统特性受电机参数的影响较大,且在电机控制过程中所用矢量旋转变换较复杂,使得实际的控制效果难以达到理想分析的结果。直接转矩控制它不是通过控制电流、磁链等量间接控制转矩,而是把转矩直接作为被控量控制,这种算法不需要复杂的坐标变换,而是直接在电机定子坐标上计算磁链的模和转矩的大小,并通过磁链和转矩的直接跟踪实现PWM脉宽调制和系统的高动态性能,但是直接转矩控制方法低速时存在脉动转矩大的问题,且控制算法的计算量和计算难度都很大。矢量控制法、直接转矩控制法都对系统的动态性能有很好的效果,但是无功功率的含量均有所增加。At present, the more common permanent magnet synchronous motor control methods include vector control method and direct torque control method. The basic principle of vector control is to measure and control the stator current vector of the motor, and to control the excitation current and torque current of the motor according to the principle of magnetic field orientation, so as to achieve the purpose of controlling the motor torque. However, in practical applications, because the rotor flux linkage is difficult to be accurately observed, the system characteristics are greatly affected by the motor parameters, and the vector rotation transformation used in the motor control process is more complicated, making it difficult to achieve the ideal analysis results for the actual control effect. Direct torque control does not indirectly control the torque by controlling the current, flux linkage, etc., but directly controls the torque as the controlled quantity. This algorithm does not require complicated coordinate transformation, but is directly calculated on the coordinates of the motor stator The modulus of the flux linkage and the size of the torque, and the direct tracking of the flux linkage and the torque realizes the PWM pulse width modulation and the high dynamic performance of the system, but the direct torque control method has the problem of large pulsating torque at low speed, and the control The calculation amount and calculation difficulty of the algorithm are very large. Both the vector control method and the direct torque control method have good effects on the dynamic performance of the system, but the content of reactive power has increased.
在构建资源节约型社会的大背景下,面对我国能源短缺的形势,寻找一种新型、高效的电机控制方法成为研究热点。高速磁悬浮电机作为鼓风机等高速动力机械的核心部件,其大部分时间处于稳态运行状态,对动态性能要求不高,但是对系统节能有严格的要求。In the context of building a resource-saving society and facing the situation of energy shortage in our country, finding a new and efficient motor control method has become a research hotspot. As the core component of high-speed power machinery such as blowers, high-speed magnetic levitation motors are in a steady-state operation state most of the time, and do not have high requirements for dynamic performance, but have strict requirements for system energy saving.
为了减少电机吸收的无功功率以达到节能的目标,采用直接功率控制算法对电机进行控制。直接功率控制方法结构简单,通过控制电机无功功率为零,可以实现电机功率因数接近1的理想目标。直接功率控制算法具有高功率因数、低谐波失真、算法及系统结构简单等优点,且无需旋转坐标变换。传统直接功率控制算法采用了滞环比较器和开关表的组合,这样的构成存在开关频率不固定对系统采样频率要求高且时滞的缺点,也会出现定子参数变化、逆变器的开关死区、积分器的误差积累和直流温漂等因素而影响电机的控制性能的问题。因此,需要提出一种新的高速永磁同步电机的控制方法,既可以达到电机无功功率为零的目标,提高电机的工作效率,又可以克服了开关频率不固定和滞环宽度不易确定的问题,避免传统直接控制法中滞环控制器带来的影响电机控制性能的问题,进一步改善电机的稳态性能。In order to reduce the reactive power absorbed by the motor to achieve the goal of saving energy, the direct power control algorithm is used to control the motor. The structure of the direct power control method is simple. By controlling the reactive power of the motor to zero, the ideal goal of the motor power factor close to 1 can be achieved. The direct power control algorithm has the advantages of high power factor, low harmonic distortion, simple algorithm and system structure, etc., and does not need rotating coordinate transformation. The traditional direct power control algorithm uses a combination of a hysteresis comparator and a switch table. Such a composition has the disadvantages that the switching frequency is not fixed, the system sampling frequency is high and the time lag is high, and the stator parameter changes and the inverter switch dead. The control performance of the motor is affected by factors such as the area, the error accumulation of the integrator, and the DC temperature drift. Therefore, it is necessary to propose a new control method for high-speed permanent magnet synchronous motors, which can not only achieve the goal of zero reactive power of the motor, improve the working efficiency of the motor, but also overcome the unfixed switching frequency and the difficult determination of the hysteresis width. To avoid the problem of affecting the motor control performance caused by the hysteresis controller in the traditional direct control method, and further improve the steady-state performance of the motor.
发明内容Contents of the invention
本发明的技术解决问题是:本发明的目的是克服现有技术的不足,解决传统鼓风机等应用场合无功功率增加、电机损耗大及电机效率低的问题,并克服了开关频率不固定的问题。提供一种基于空间矢量调制的高速永磁同步电机直接功率控制的新方法,该方法达到了控制无功功率为零的目标,为鼓风机等长期稳态运行且节能要求比较高的应用场合提供了技术保障。The technical problem of the present invention is: the purpose of the present invention is to overcome the deficiencies of the prior art, solve the problems of increased reactive power, large motor loss and low motor efficiency in traditional blowers and other applications, and overcome the problem of unfixed switching frequency . Provide a new method of direct power control of high-speed permanent magnet synchronous motor based on space vector modulation. Technical Support.
本发明解决上述技术问题采用的技术方案为:一种高速永磁同步电机的直接功率控制方法,包括下列步骤:The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a direct power control method of a high-speed permanent magnet synchronous motor, comprising the following steps:
(1)基于永磁同步电机理想条件下的假设,建立三相PMSM基本数学模型。理想条件为:三相PMSM为理想电机;忽略电机铁芯的饱和;不计电机中的涡流和磁滞损耗;电机中的电流为对称的三相正弦电流。(1) Based on the assumption of the ideal condition of the permanent magnet synchronous motor, the basic mathematical model of the three-phase PMSM is established. The ideal conditions are: the three-phase PMSM is an ideal motor; the saturation of the iron core of the motor is ignored; the eddy current and hysteresis loss in the motor are ignored; the current in the motor is a symmetrical three-phase sinusoidal current.
(2)通过直接功率控制算法实现对电机无功功率为零的控制目标,利用空间矢量调制算法实现固定的开关频率,同时,利用高速永磁同步电机转子位置信息估计算法估算转子位置,为直接功率控制的实施提供保障。(2) The control target of zero reactive power of the motor is realized by the direct power control algorithm, and the fixed switching frequency is realized by the space vector modulation algorithm. At the same time, the rotor position is estimated by the high-speed permanent magnet synchronous motor rotor position information estimation algorithm, which is directly The implementation of power control provides protection.
上述的高速永磁同步电机数学模型为:The mathematical model of the above-mentioned high-speed permanent magnet synchronous motor is:
在ABC坐标系下,定子电流、电压空间矢量可表示为:In the ABC coordinate system, the stator current and voltage space vectors can be expressed as:
其中,a=ej120°代表算子空间;Rs为相电阻;Ls为等效相电感,为相电感与互感之差;ψf是永磁体励磁空间矢量;θr是永磁体相对A轴的旋转角度。Among them, a=e j120° represents the operator space; R s is the phase resistance; L s is the equivalent phase inductance, which is the difference between the phase inductance and mutual inductance; ψ f is the excitation space vector of the permanent magnet; θ r is the relative A of the permanent magnet The rotation angle of the axis.
上述的直接功率控制法为一种基于PI调节器的将电机的瞬时有功功率和瞬时无功功率两个参量作为控制量的控制算法,该方法的具体步骤为:The above-mentioned direct power control method is a control algorithm based on a PI regulator that uses the two parameters of the instantaneous active power and the instantaneous reactive power of the motor as control variables. The specific steps of the method are:
(1)在ABC坐标系下,假设逆变器的六个开关管的状态函数为:SA,SB和SC,分别表示为:(1) In the ABC coordinate system, assume that the state functions of the six switching tubes of the inverter are: S A , S B and S C , which are expressed as:
那么,三相线电压可表示为:Then, the three-phase line voltage can be expressed as:
其中,ud代表d轴电压,uAB、uBC、uCA代表三相线电压。Among them, u d represents the d-axis voltage, u AB , u BC , u CA represent the three-phase line voltage.
结合uA+uB+uC=0,求解出三相相电压矢量为:Combined with u A + u B + u C = 0, the three-phase phase voltage vector is obtained as:
其中,uA、uB、uC代表三相相电压;Among them, u A , u B , u C represent three-phase phase voltage;
(2)通过坐标变换法,将采集的三相电流信号iA、iB和iC转换为α-β坐标系下电流矢量iα和iβ,转换关系为:(2) Transform the collected three-phase current signals i A , i B and i C into current vectors i α and i β in the α-β coordinate system through the coordinate transformation method, and the conversion relationship is:
(3)利用瞬时功率的计算式,求解α-β坐标系下,永磁同步电机三相瞬时有功功率p和无功功率q。(3) Using the calculation formula of instantaneous power, solve the three-phase instantaneous active power p and reactive power q of the permanent magnet synchronous motor in the α-β coordinate system.
瞬时功率的计算式为:The calculation formula of instantaneous power is:
三相瞬时有功功率p和无功功率q分别为:The three-phase instantaneous active power p and reactive power q are respectively:
(4)给定转速ω*与实测转速ω做差,差值输入到差值输入到PI调节器进行转速调节,PI调节器输出值作为瞬时有功功率p*的给定值,将瞬时有功功率p*与实际计算得到的瞬时有功功率p做差,差值送入PI调节器,得到电压矢量usp,瞬时无功功率q*的给定值定为0,将瞬时无功功率q*与实际计算得到的瞬时无功功率q做差,差值送入PI调节器,得到电压矢量usq。(4) Make a difference between the given speed ω * and the measured speed ω, and the difference is input to the PI regulator for speed adjustment. The output value of the PI regulator is used as the given value of the instantaneous active power p * , and the instantaneous active power Make a difference between p * and the actual calculated instantaneous active power p, and the difference is sent to the PI regulator to obtain the voltage vector u sp , the given value of the instantaneous reactive power q * is set to 0, and the instantaneous reactive power q * and The instantaneous reactive power q obtained by the actual calculation is subtracted, and the difference is sent to the PI regulator to obtain the voltage vector u sq .
(5)根据永磁同步电机瞬时功率理论的推导,求解出电压矢量的相位角信息θs。(5) According to the derivation of the instantaneous power theory of the permanent magnet synchronous motor, the phase angle information θ s of the voltage vector is obtained.
ABC坐标系下的瞬时有功功率可以根据瞬时电压矢量和电流矢量的标量积求得,而瞬时无功功率可以由二者的矢量积求得,分别表示为:The instantaneous active power in the ABC coordinate system can be obtained from the scalar product of the instantaneous voltage vector and the current vector, and the instantaneous reactive power can be obtained from the vector product of the two, respectively expressed as:
其中,u=[uA,uB,uC]T和i=[iA,iB,iC]T分别表示相电压矢量和相电流矢量。Among them, u=[u A ,u B ,u C ] T and i=[i A ,i B ,i C ] T represent the phase voltage vector and the phase current vector respectively.
因此,电机三相输入瞬时有功功率和瞬时无功功率分别为:Therefore, the three-phase input instantaneous active power and instantaneous reactive power of the motor are respectively:
定子电流在d-q坐标轴中的变化与电流幅值和角度的变化有关,而当电机运行在稳态时,电机转矩稳定,定子电流在q轴的分量不变,故定子电流幅值不变化,而定子电流矢量和d轴以相同速度旋转,所以定子电流与d轴之间的矢量角度亦不变化,并且,在直接功率控制过程中,要求瞬时功率为0,功率因数为1,所以令q=0。The change of the stator current in the d-q coordinate axis is related to the change of the current amplitude and angle, and when the motor is running in a steady state, the motor torque is stable, and the component of the stator current on the q-axis remains unchanged, so the stator current amplitude does not change , and the stator current vector and the d-axis rotate at the same speed, so the vector angle between the stator current and the d-axis does not change, and, in the process of direct power control, the instantaneous power is required to be 0, and the power factor is 1, so let q=0.
因此,电机三相输入瞬时有功功率可写为:Therefore, the instantaneous active power of the three-phase input of the motor can be written as:
其中,γ为电流矢量is与q轴之间的夹角,δ为电压矢量us与q轴之间的夹角,θ为电压矢量和电流矢量之间的夹角。Among them, γ is the angle between the current vector i s and the q-axis, δ is the angle between the voltage vector u s and the q-axis, and θ is the angle between the voltage vector and the current vector.
因为γ=θ+δ,而当无功功率为零,即功率因数为1的时候,功率因数角为零,也就是说is和us应该同轴,即γ=δ。令:Because γ=θ+δ, and when the reactive power is zero, that is, when the power factor is 1, the power factor angle is zero, that is to say, i s and u s should be coaxial, that is, γ=δ. make:
所以,上式可以变为:Therefore, the above formula can be changed to:
电压矢量的相位角信息θs可由γ和转子位置角θr确定,可表示为:The phase angle information θ s of the voltage vector can be determined by γ and the rotor position angle θ r , which can be expressed as:
θs=90°+δ+θr (32)θ s =90°+δ+θ r (32)
其中,δ和θr的表达式可表示为:Among them, the expression of δ and θ r can be expressed as:
其中,P代表电机极对数。Among them, P represents the number of pole pairs of the motor.
(6)通过坐标变换法,利用PI调节器输出所得的电压矢量信号usp和usq,根据电压矢量的相位角信息θs,解算出α-β坐标系下电压矢量usα和usβ,转换关系为:(6) Through the coordinate transformation method, using the voltage vector signals u sp and u sq output by the PI regulator, and according to the phase angle information θ s of the voltage vector, the voltage vectors u sα and u sβ in the α-β coordinate system are solved, The conversion relationship is:
其中,θs为电压空间矢量us与α轴之间的夹角。Among them, θ s is the angle between the voltage space vector u s and the α axis.
上述的直接功率控制法为一种基于空间矢量调制的永磁同步电机直接功率控制算法,该方法的具体步骤为:The above-mentioned direct power control method is a permanent magnet synchronous motor direct power control algorithm based on space vector modulation, and the specific steps of the method are:
(1)建立空间矢量调制模型。(1) Establish a space vector modulation model.
假设计算得到的矢量是us非零矢量us1和us2之间,利用us1等效us2,等效关系如下:Assuming that the calculated vector is between u s non-zero vector u s1 and u s2 , using u s1 is equivalent to u s2 , the equivalent relationship is as follows:
us·Ts=us1·Ts1+us2·Ts2 (35)u s T s = u s1 T s1 + u s2 T s2 (35)
其中,Ts代表PWM周期;Ts1和Ts2分别代表us1和us2的作用时间。Among them, T s represents the PWM period; T s1 and T s2 represent the action time of u s1 and u s2 respectively.
(2)将α轴的电压矢量usα,β轴的电压矢量usβ进行矢量分解,得到理想的电压矢量uα和uβ,等效关系在α-β坐标系下重写如下:(2) The voltage vector u sα of the α-axis and the voltage vector u sβ of the β-axis are vector-decomposed to obtain the ideal voltage vectors u α and u β , and the equivalent relationship is rewritten in the α-β coordinate system as follows:
求解精确的Ts1和Ts2即可实现固定的开关频率。Fixed switching frequency can be achieved by solving for exact T s1 and T s2 .
(3)理想的电压矢量uα和uβ经过PWM逆变器输出三相电流信号iA、iB、iC,从而调节定子电流矢量幅值来改变瞬时无功功率,同时,输出的三相电流iA、iB、iC经过坐标变换,得到α-β坐标系下电流矢量iα和iβ,与电压矢量uα和uβ一起作为实际计算的瞬时有功功率p*和瞬时无功功率q*的输入,实现直接功率控制的闭环控制。(3) The ideal voltage vectors u α and u β output three-phase current signals i A , i B , i C through the PWM inverter, thereby adjusting the magnitude of the stator current vector to change the instantaneous reactive power. At the same time, the output three-phase The phase currents i A , i B , and i C undergo coordinate transformation to obtain the current vectors i α and i β in the α-β coordinate system, which together with the voltage vectors u α and u β are used as the actual calculated instantaneous active power p * and instantaneous reactive power The input of power q * realizes the closed-loop control of direct power control.
本发明的原理是:本发明涉及一种基于空间矢量调制算法的用于长期稳态运行且节能要求较高场合的高速永磁同步电机的直接功率控制算法。首先,将采集的三相电流信号经坐标变换后得到两相电流信号,实时计算出电机的瞬时有功功率和无功功率,之后与给定的瞬时有功功率和无功功率分别进行做差比较,经过两个PI调节器进行调节,根据电压矢量的相位角,经过坐标变换进行处理,最后使用空间矢量调制算法,得到理想的电压矢量,对电机进行零无功功率控制。The principle of the invention is: the invention relates to a direct power control algorithm of a high-speed permanent magnet synchronous motor based on a space vector modulation algorithm for long-term steady-state operation and high energy-saving requirements. Firstly, the collected three-phase current signals are transformed into two-phase current signals to obtain the two-phase current signals, and the instantaneous active power and reactive power of the motor are calculated in real time, and then compared with the given instantaneous active power and reactive power respectively. After adjustment by two PI regulators, according to the phase angle of the voltage vector, it is processed through coordinate transformation, and finally the space vector modulation algorithm is used to obtain the ideal voltage vector to control the motor with zero reactive power.
本发明与现有技术相比的优点在于:本发明提出了直接功率控制算法,即基于PI调节器,将电机的瞬时有功功率和瞬时无功功率两个参量作为控制量,方法简便,实现了电机无功功率为零的目标,极大地提高了高速电机的运行效率和节能指标。同时,提出了直接功率控制与空间矢量调制算法相结合的方法,克服了开关频率不固定和滞环宽度不易确定的问题。另外在控制过程中,避免了传统直接控制法中滞环控制器输出和需估计定子磁链所在扇区带来的低频情况下定子参数变化、逆变器的开关死区、积分器的误差积累和直流温漂等因素而影响电机的控制性能的问题,有效地改善了电机的稳态性能。Compared with the prior art, the present invention has the advantages that: the present invention proposes a direct power control algorithm, that is, based on a PI regulator, the two parameters of the instantaneous active power and the instantaneous reactive power of the motor are used as the control quantities, the method is simple, and the The goal of zero reactive power of the motor has greatly improved the operating efficiency and energy-saving indicators of high-speed motors. At the same time, a method combining direct power control and space vector modulation algorithm is proposed, which overcomes the problems that the switching frequency is not fixed and the hysteresis width is not easy to determine. In addition, in the control process, the hysteresis controller output in the traditional direct control method and the stator parameter change at low frequencies caused by the sector where the stator flux linkage needs to be estimated, the switching dead zone of the inverter, and the error accumulation of the integrator are avoided. The problem of affecting the control performance of the motor due to factors such as DC temperature drift and so on, effectively improves the steady-state performance of the motor.
附图说明Description of drawings
图1为本发明的系统结构框图;Fig. 1 is a system structure block diagram of the present invention;
图2为本发明的坐标关系示意图;Fig. 2 is a schematic diagram of the coordinate relationship of the present invention;
图3为本发明的空间矢量调制的原理示意图;Fig. 3 is the schematic diagram of the principle of the space vector modulation of the present invention;
具体实施方式Detailed ways
下面结合附图以及具体实施方式进一步说明本发明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
如图1-3所示,本发明的具体方法如下:As shown in Figure 1-3, concrete method of the present invention is as follows:
具体实施方式一:参见图1说明本实施方式,本方式所述的一种高速永磁同步电机的直接功率控制方法是基于空间矢量调制算法的方法,包括永磁同步电机数学模型部分1,直接功率控制部分2,空间矢量调制部分3。Specific embodiment one: Referring to Fig. 1 to illustrate this embodiment, a direct power control method of a high-speed permanent magnet synchronous motor described in this method is a method based on a space vector modulation algorithm, including a permanent magnet synchronous motor mathematical model part 1, directly Power control part 2, space vector modulation part 3.
所述永磁同步电机的数学模型部分1,包括系统电流矢量方程、电压矢量方程、磁链方程。所述直接功率控制部分2为基于PI调节器,将电机的瞬时有功功率和瞬时无功功率两个参量作为控制量,输出电压矢量的初步控制。在电机转子旋转过程中,建立三个相应的坐标系,分别是ABC坐标系,静止α-β坐标系和旋转d-q坐标系。将给定转速ω*与实测转速ω做差,差值输入到PI调节器进行转速调节,PI调节器输出值作为瞬时有功功率p*的给定值,瞬时无功功率q*的给定值定为0。在静止α-β坐标系中,利用电压矢量和电流矢量信息,计算电机三相瞬时有功功率和无功功率。将瞬时有功功率p*、无功功率q*和实际计算得到的瞬时有功功率p、无功功率q分别做差,差值分别送入两个PI调节器进行调节,两个PI调节器的输出根据电压矢量相位角θs,经过坐标变化变换到静止α-β坐标系下,得到α轴的电压矢量usα,β轴的电压矢量usβ。The mathematical model part 1 of the permanent magnet synchronous motor includes a system current vector equation, a voltage vector equation, and a flux linkage equation. The direct power control part 2 is based on a PI regulator, takes the two parameters of the motor's instantaneous active power and instantaneous reactive power as control quantities, and outputs a preliminary control of the voltage vector. During the rotation of the motor rotor, three corresponding coordinate systems are established, namely the ABC coordinate system, the stationary α-β coordinate system and the rotating dq coordinate system. Make a difference between the given speed ω * and the measured speed ω, and the difference is input to the PI regulator for speed regulation. The output value of the PI regulator is used as the given value of the instantaneous active power p * , and the given value of the instantaneous reactive power q * set to 0. In the static α-β coordinate system, the three-phase instantaneous active power and reactive power of the motor are calculated using the voltage vector and current vector information. The instantaneous active power p * , reactive power q * and the actual calculated instantaneous active power p, reactive power q are respectively made difference, and the difference is sent to two PI regulators for adjustment, and the output of the two PI regulators According to the voltage vector phase angle θ s , the coordinates are transformed into the static α-β coordinate system, and the voltage vector u sα of the α axis and the voltage vector u sβ of the β axis are obtained.
所述空间矢量调制部分3为在直接功率控制的基础上,进一步得到理想电压矢量的控制算法。将α轴的电压矢量usα,β轴的电压矢量usβ进行矢量分解,得到理想的电压矢量uα和uβ。此电压信号经过PWM逆变器输出三相电流信号iA、iB、iC从而调节定子电流矢量幅值来改变瞬时无功功率。同时,输出的三相电流信号iA、iB、iC经过坐标变换,得到α-β坐标系下电流矢量iα和iβ,与电压矢量uα和uβ一起作为实际计算的瞬时有功功率p*和瞬时无功功率q*的输入。The space vector modulation part 3 is a control algorithm for further obtaining an ideal voltage vector on the basis of direct power control. The voltage vector u sα of the α-axis and the voltage vector u sβ of the β-axis are vector-decomposed to obtain the ideal voltage vectors u α and u β . This voltage signal outputs three-phase current signals i A , i B , i C through the PWM inverter to adjust the magnitude of the stator current vector to change the instantaneous reactive power. At the same time, the output three-phase current signals i A , i B , and i C undergo coordinate transformation to obtain the current vectors i α and i β in the α-β coordinate system, which together with the voltage vectors u α and u β are used as the actual calculated instantaneous active power Input of power p * and instantaneous reactive power q * .
具体实施方式二:本实施方式是对具体实施方式一所述的基于空间矢量调制的高速磁悬浮同步电机直接功率控制方法的进一步限定,所述永磁同步电机的数学模型部分1,包括系统电流矢量方程、电压矢量方程、磁链方程和电磁转矩方程。Specific embodiment 2: This embodiment is a further limitation of the direct power control method of high-speed magnetic levitation synchronous motor based on space vector modulation described in specific embodiment 1. The mathematical model part 1 of the permanent magnet synchronous motor includes the system current vector equations, voltage vector equations, flux linkage equations, and electromagnetic torque equations.
在ABC坐标系下,定子电流、电压空间矢量、定子磁链可表示为:In the ABC coordinate system, the stator current, voltage space vector, and stator flux linkage can be expressed as:
其中,a=ej120°代表算子空间;Rs为相电阻;Ls为等效相电感,为相电感与互感之差;ψs为三相绕组的磁链;us,Rs,is分别为三相绕组的相电压、电阻和电流;ψf是永磁体励磁空间矢量;θr是永磁体相对A轴的旋转角度,且满足:Among them, a=e j120° represents the operator space; R s is the phase resistance; L s is the equivalent phase inductance, which is the difference between the phase inductance and mutual inductance; ψ s is the flux linkage of the three-phase winding; u s , R s , i s is the phase voltage, resistance and current of the three-phase winding respectively; ψ f is the excitation space vector of the permanent magnet; θ r is the rotation angle of the permanent magnet relative to the A axis, and satisfies:
Ls为定子互感,L3为定子漏感。 L s is the stator mutual inductance, L 3 is the stator leakage inductance.
具体实施方式三:参见图1、图2说明本实施方式,本实施方式是对具体实施方式一所述的基于空间矢量调制的高速磁悬浮同步电机直接功率控制方法的进一步限定,所述直接功率控制部分2包括如下步骤:Specific embodiment three: Referring to Fig. 1 and Fig. 2 to illustrate this embodiment, this embodiment is a further limitation of the direct power control method for high-speed magnetic levitation synchronous motors based on space vector modulation described in specific embodiment one, the direct power control Part 2 includes the following steps:
步骤一,利用逆变器开关管的状态,求解出三相电压矢量uA、uB和uC。Step 1, using the states of the switching tubes of the inverter, the three-phase voltage vectors u A , u B and u C are obtained.
在ABC坐标系下,假设逆变器的六个开关管的状态函数为:SA,SB和SC,分别表示为:In the ABC coordinate system, it is assumed that the state functions of the six switching tubes of the inverter are: S A , S B and S C , which are expressed as:
那么,三相线电压可表示为:Then, the three-phase line voltage can be expressed as:
其中,ud代表d轴电压,uAB、uBC、uCA代表三相线电压。Among them, u d represents the d-axis voltage, u AB , u BC , u CA represent the three-phase line voltage.
结合uA+uB+uC=0,求解出三相相电压矢量为:Combined with u A + u B + u C = 0, the three-phase phase voltage vector is obtained as:
其中,uA、uB、uC代表三相相电压。Among them, u A , u B , u C represent three-phase phase voltages.
步骤二,通过坐标变换法,将采集的三相电流信号iA、iB和iC转换为α-β坐标系下电流矢量iα和iβ。根据图2所示的坐标关系示意图,转换关系为:Step 2: Transform the collected three-phase current signals i A , i B and i C into current vectors i α and i β in the α-β coordinate system by coordinate transformation method. According to the schematic diagram of the coordinate relationship shown in Figure 2, the conversion relationship is:
步骤三,利用瞬时功率的计算式,求解α-β坐标系下,永磁同步电机三相瞬时有功功率p和无功功率q。Step 3, use the calculation formula of instantaneous power to solve the three-phase instantaneous active power p and reactive power q of the permanent magnet synchronous motor in the α-β coordinate system.
瞬时功率的计算式为:The calculation formula of instantaneous power is:
三相瞬时有功功率p和无功功率q分别为:The three-phase instantaneous active power p and reactive power q are respectively:
步骤四,根据图1所示的直接功率控制算法的框图,给定转速ω*与实测转速ω做差,差值输入到PI调节器进行转速调节,PI调节器输出值作为瞬时有功功率p*的给定值。将瞬时有功功率p*与实际计算得到的瞬时有功功率p做差,差值送入PI调节器,得到电压矢量usp。瞬时无功功率q*的给定值定为0,将瞬时无功功率q*与实际计算得到的瞬时无功功率q做差,差值送入PI调节器,得到电压矢量usq。Step 4, according to the block diagram of the direct power control algorithm shown in Figure 1, the given speed ω * is compared with the measured speed ω, and the difference is input to the PI regulator for speed regulation, and the output value of the PI regulator is used as the instantaneous active power p * given value of . Make a difference between the instantaneous active power p * and the actual calculated instantaneous active power p, and send the difference to the PI regulator to obtain the voltage vector u sp . The given value of instantaneous reactive power q * is set to 0, and the difference between instantaneous reactive power q * and the calculated instantaneous reactive power q is made, and the difference is sent to the PI regulator to obtain the voltage vector u sq .
步骤五,利用永磁同步电机瞬时功率理论的推导,根据图2所示的坐标关系示意图,求解出电压矢量的相位角信息θs。Step five, using the derivation of the instantaneous power theory of the permanent magnet synchronous motor, and according to the schematic diagram of the coordinate relationship shown in Figure 2, the phase angle information θ s of the voltage vector is obtained.
d-q坐标系下的三相瞬时功率可根据复功率定义法进行计算:The three-phase instantaneous power in the d-q coordinate system can be calculated according to the complex power definition method:
S=p+jq=us×is* (44)S=p+jq=u s ×i s * (44)
其中,S代表复功率;p代表瞬时有功功率;q代表瞬时无功功率;is *代表is的共轭复数。Among them, S represents the complex power; p represents the instantaneous active power; q represents the instantaneous reactive power; i s * represents the complex conjugate of i s .
ABC坐标系下的瞬时有功功率可以根据瞬时电压矢量和电流矢量的标量积求得,而瞬时无功功率可以由二者的矢量积求得,分别表示为:The instantaneous active power in the ABC coordinate system can be obtained from the scalar product of the instantaneous voltage vector and the current vector, and the instantaneous reactive power can be obtained from the vector product of the two, respectively expressed as:
其中,u=[uA,uB,uC]T和i=[iA,iB,iC]T分别表示相电压矢量和相电流矢量。Among them, u=[u A ,u B ,u C ] T and i=[i A ,i B ,i C ] T represent the phase voltage vector and the phase current vector respectively.
电压矢量us在d-q坐标系重写如下:The voltage vector u s is rewritten in the dq coordinate system as follows:
其中,代表d-q坐标系下的定子磁链。所以,可得出电机三相输入瞬时有功功率和瞬时无功功率分别为:in, Represents the stator flux linkage in the dq coordinate system. Therefore, it can be concluded that the instantaneous active power and instantaneous reactive power of the three-phase motor input are:
由于is在d-q坐标下还可表示为所以其微分可表示为:Since i s can also be expressed as So its differential can be expressed as:
其中,θ1代表电流矢量is和d轴之间的夹角。Among them, θ 1 represents the angle between the current vector i s and the d axis.
所以,由上式可以看出,定子电流在d-q坐标轴中的变化与电流幅值和角度的变化有关,而当电机运行在稳态时,电机转矩稳定,定子电流在q轴的分量不变,故定子电流幅值不变化,而定子电流矢量和d轴以相同速度旋转,所以定子电流与d轴之间的矢量角度亦不变化。并且,在直接功率控制过程中,要求瞬时功率为0,功率因数为1,所以令d=0,即:Therefore, it can be seen from the above formula that the change of the stator current in the d-q coordinate axis is related to the change of the current amplitude and angle, and when the motor is running in a steady state, the motor torque is stable, and the component of the stator current on the q axis is not Change, so the stator current amplitude does not change, and the stator current vector and the d-axis rotate at the same speed, so the vector angle between the stator current and the d-axis does not change. Moreover, in the process of direct power control, the instantaneous power is required to be 0 and the power factor is 1, so let d=0, that is:
其中,γ为电流矢量is与q轴之间的夹角。Among them, γ is the angle between the current vector i s and the q axis.
因此,电机三相输入瞬时有功功率可写为:Therefore, the instantaneous active power of the three-phase input of the motor can be written as:
其中,δ为电压矢量us与q轴之间的夹角,θ为电压矢量和电流矢量之间的夹角。Among them, δ is the angle between the voltage vector u s and the q axis, and θ is the angle between the voltage vector and the current vector.
因为γ=θ+δ,而当无功功率为零,即功率因数为1的时候,功率因数角为零,也就是说is和us应该同轴,即γ=δ。令:Because γ=θ+δ, and when the reactive power is zero, that is, when the power factor is 1, the power factor angle is zero, that is to say, i s and u s should be coaxial, that is, γ=δ. make:
所以,上式可以变为:Therefore, the above formula can be changed to:
电压矢量的相位角信息θs可由γ和转子位置角θr确定,可表示为:The phase angle information θ s of the voltage vector can be determined by γ and the rotor position angle θ r , which can be expressed as:
θs=90°+δ+θr (54)θ s =90°+δ+θ r (54)
其中,δ和θr的表达式可表示为:Among them, the expression of δ and θ r can be expressed as:
其中,P代表电机极对数。Among them, P represents the number of pole pairs of the motor.
步骤六,通过坐标变换法,利用PI调节器输出所得的电压矢量信号usp和usq,根据电压矢量的相位角信息θs,解算出α-β坐标系下电压矢量usα和usβ。根据图2所示的坐标关系示意图,转换关系为:Step 6, through the coordinate transformation method, use the voltage vector signals u sp and u sq output by the PI regulator, and calculate the voltage vectors u sα and u sβ in the α-β coordinate system according to the phase angle information θ s of the voltage vector. According to the schematic diagram of the coordinate relationship shown in Figure 2, the conversion relationship is:
其中,θs为电压空间矢量us与α轴之间的夹角。Among them, θ s is the angle between the voltage space vector u s and the α axis.
具体实施方式四:参见图1、图2、图3说明本实施方式,本实施方式是对具体实施方式一所述的基于空间矢量调制的高速磁悬浮同步电机直接功率控制方法的进一步限定,所述空间矢量调制部分3包括如下步骤:Specific embodiment four: referring to Fig. 1, Fig. 2, Fig. 3 to illustrate this embodiment, this embodiment is a further limitation to the direct power control method of high-speed magnetic levitation synchronous motor based on space vector modulation described in specific embodiment one, said Space vector modulation part 3 includes the following steps:
步骤一,建立空间矢量调制模型。Step 1, establishing a space vector modulation model.
假设计算得到的矢量是us非零矢量us1和us2之间,利用us1等效us2,根据图3空间矢量调制原理图,等效关系如下:Assuming that the calculated vector is between u s non-zero vector u s1 and u s2 , using u s1 is equivalent to u s2 , according to the schematic diagram of space vector modulation in Figure 3, the equivalent relationship is as follows:
us·Ts=us1·Ts1+us2·Ts2 (57)u s T s = u s1 T s1 + u s2 T s2 (57)
其中,Ts代表PWM周期;Ts1和Ts2分别代表us1和us2的作用时间。Among them, T s represents the PWM period; T s1 and T s2 represent the action time of u s1 and u s2 respectively.
步骤二,将α轴的电压矢量usα,β轴的电压矢量usβ进行矢量分解,得到理想的电压矢量uα和uβ。根据图3空间矢量调制原理图,等效关系在α-β坐标系下重写如下:Step 2: Carry out vector decomposition of the voltage vector u sα of the α-axis and the voltage vector u sβ of the β-axis to obtain ideal voltage vectors u α and u β . According to the schematic diagram of space vector modulation in Figure 3, the equivalent relationship is rewritten in the α-β coordinate system as follows:
求解精确的Ts1和Ts2即可实现固定的开关频率。Fixed switching frequency can be achieved by solving for exact T s1 and T s2 .
步骤三,根据图1所示的基于空间矢量调制的直接功率控制算法的框图,理想的电压矢量uα和uβ经过PWM逆变器输出三相电流信号iA、iB、iC,从而调节定子电流矢量幅值来改变瞬时无功功率。同时,输出的三相电流iA、iB、iC经过坐标变换,得到α-β坐标系下电流矢量iα和iβ,与电压矢量uα和uβ一起作为实际计算的瞬时有功功率p*和瞬时无功功率q*的输入,实现直接功率控制的闭环控制。Step three, according to the block diagram of the direct power control algorithm based on space vector modulation shown in Figure 1, the ideal voltage vectors u α and u β output three-phase current signals i A , i B , i C through the PWM inverter, so that Adjust the magnitude of the stator current vector to change the instantaneous reactive power. At the same time, the output three-phase currents i A , i B , and i C undergo coordinate transformation to obtain the current vectors i α and i β in the α-β coordinate system, which together with the voltage vectors u α and u β are used as the actual calculated instantaneous active power The input of p * and instantaneous reactive power q * realizes the closed-loop control of direct power control.
本发明可以作为一种新型的基于空间矢量调制的高速磁悬浮同步电机直接功率控制方法,方法简便,能够达到控制无功功率为零的目标,极大地提高了高速电机的运行效率和节能指标,并且克服了开关频率不固定和滞环宽度不易确定的问题该方法工程实现简单,不需要滞环控制器和复杂的磁链角计算,提高了高速永磁同步电机的运行效率。The present invention can be used as a new type of direct power control method of high-speed magnetic levitation synchronous motor based on space vector modulation. It overcomes the problems that the switching frequency is not fixed and the hysteresis width is not easy to determine. This method is simple in engineering, does not need a hysteresis controller and complex flux angle calculation, and improves the operating efficiency of the high-speed permanent magnet synchronous motor.
本发明未详细阐述部分属于本领域公知技术。Parts not described in detail in the present invention belong to the well-known technology in the art.
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CN110361963A (en) * | 2019-06-10 | 2019-10-22 | 岭南师范学院 | A kind of permanent magnetism blower PI parameter optimization method and device |
CN110635736A (en) * | 2019-09-23 | 2019-12-31 | 北京机械设备研究所 | Low-power-consumption control method and control circuit for permanent magnet synchronous motor |
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