CN108683366B - Double-direct-current motor reverse series control system and method - Google Patents
Double-direct-current motor reverse series control system and method Download PDFInfo
- Publication number
- CN108683366B CN108683366B CN201810638839.6A CN201810638839A CN108683366B CN 108683366 B CN108683366 B CN 108683366B CN 201810638839 A CN201810638839 A CN 201810638839A CN 108683366 B CN108683366 B CN 108683366B
- Authority
- CN
- China
- Prior art keywords
- current
- speed
- double
- direct current
- reference voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 8
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 8
- 230000009471 action Effects 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 230000010354 integration Effects 0.000 claims description 4
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 7
- 230000009977 dual effect Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000001308 synthesis method Methods 0.000 description 1
Classifications
-
- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
- H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
- H02P7/05—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of electronic switching
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
- H02P7/295—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC of the kind having one thyristor or the like in series with the power supply and the motor
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
- Control Of Eletrric Generators (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a double-direct-current motor reverse series control system and a double-direct-current motor reverse series control method, wherein six power switching tubes form three bridge arms in a two-to-two series mode and are connected in parallel with the positive and negative electrodes of a direct-current power supply, the double-direct-current motors in reverse series connection are respectively connected in series with the three bridge arms, sequentially pass through a Hall speed measuring sensor, a current detecting sensor and a speed adjusting module and then are respectively connected with a reference voltage synthesizer through two stages of PI controllers, a three-phase inverter is respectively connected with the reference voltage synthesizer through the current adjusting module and the one stage of PI controller and is connected to a PWM pulse generating unit through the reference voltage synthesizer, and pulse control signals generated by the PWM pulse generating unit control the on-off of the. On the basis of a PI controller, a PWM pulse generation unit, a three-phase six-switch tube inverter and the like, the reference synthetic voltage is obtained in a reference voltage synthesis mode and is used as the input of the PWM pulse generation unit, and the motor can be better operated within a certain range.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a double-direct-current motor reverse series control system and method.
Background
the motor can realize stable operation with set torque and rotating speed, and is very important for the production of related industries such as papermaking and the like. Therefore, the motor can be stably operated, and related technical personnel have proposed that the torque and the rotating speed of the motor are controlled based on an automatic control principle or a feedback concept in a modern control principle, and a microprocessor is also used for generating a PWM signal so as to drive a motor chip to control the operation of the motor.
Disclosure of Invention
the technical problem to be solved by the present invention is to provide a system and a method for controlling a double-dc motor in reverse series connection, based on a PI controller, a PWM pulse generation unit, a three-phase six-switch tube inverter, etc., a specific reference voltage synthesis mode is used to obtain a reference synthesis voltage, and the reference synthesis voltage is used as an input of the PWM pulse generation unit, so that the motor can be operated within a certain range better.
The invention adopts the following technical scheme:
A double-direct-current motor reverse series control system comprises a double-direct-current motor, a three-phase inverter and a direct-current power supply which are reversely connected in series, wherein the three-phase inverter comprises six power switching tubes, the six power switching tubes form three bridge arms in a two-to-two series connection mode and are connected in parallel to the positive pole and the negative pole of the direct-current power supply, the double-direct-current motor which is reversely connected in series is respectively connected with the three bridge arms in series, the double-direct-current motor sequentially passes through a Hall speed sensor, a current detection sensor and a speed adjusting module and then is divided into two paths to be respectively connected with a reference voltage synthesizer through a two-stage PI controller, the reference voltage synthesizer is divided into three paths to be connected with the input end of the three-phase inverter through a PWM pulse generating unit, the output end of the three-phase inverter is respectively connected with the double-direct-current motor and a current adjusting module, the current adjusting module is divided.
Specifically, the three bridge arms are specifically: the first bridge arm is composed of a power switch tube T1、T4and a diode connected in parallel to the second bridge arm and composed of a power switch tube T3、T6And a diode connected in parallel to the third bridge arm and composed of a power switch tube T2、T5And a diode connected in parallel thereto.
Further, take the first bridge arm L1Power switch tube T in1And a power switch tube T4is taken as a node a, and a second bridge arm L is taken2Power switch tube T in3And a power switch tube T6The middle point of (a) is a node b, and a third bridge arm L is taken3Power switch tube T in2And a power switch tube T5The midpoint of the point A is a node C, the positive pole of one direct current motor of the double direct current motors is connected with the point A, the positive pole of the other direct current motor of the double direct current motors is connected with the point B, and the negative poles of the double direct current motors are connected with the point C.
A control method for the reverse serial connection of dual DC motors features that the speed omega obtained by Hall speed-measuring sensor1、ω2Obtaining the current I of the double direct current motors by the current detection sensor of the permanent magnet synchronous motor1、I2Obtaining a reference voltage U under the action of a two-stage PI controller1、U2(ii) a Reference voltage U1、U2The reference synthesized voltage V is obtained after synthesis by a reference voltage synthesizer1、V2、V3Connected with the PWM pulse generating unit, outputs pulse control signals to control the on-off of power switching tubes in three bridge arms in the three-phase inverter to drive the double direct current motors to run, simultaneously feeds the current on the branch back to two groups of steady-state currents, and changes the reference speedTo ensure the reverse operation of the dual dc motor.
Specifically, the method comprises the following steps:
S1, initializing the system, and obtaining the speed omega by the Hall speed measuring sensor1、ω2Feeding back to the speed regulation module, and obtaining the current I of the double direct current motors by the current detection sensor of the permanent magnet synchronous motor1、I2Feeding back to the current regulation module;
S2, referring to the speedAnd step S1 feeding back speed signal omega1、ω2Is obtained under the action of a speed comparatorError in velocity ew1、ew2Velocity error ew1、ew2Obtaining a reference current I under the action of a PI controller1 *、I2 *；
s3, referring the step S2 to the current I1 *、I2 *And step S1 feeding back current signal I1、I2Obtaining a current error e under the action of a current comparatora、ebError in current ea、ebObtaining a reference voltage U under the action of a PI controller1、U2；
S4, referring the step S3 to the voltage U1、U2Obtaining a reference synthesized voltage V under the action of a reference voltage synthesizer1、V2、V3；
S5, synthesizing the voltage V from the step S41、V2、V3And obtaining a pulse control signal under the action of the PWM pulse production unit, and further driving the motor to run by controlling the on-off of six switching tubes of the three-phase inverter.
further, in step S2, the current I is referenced1 *、I2 *The following were used:
Wherein, KPFor proportional gain in the speed regulation module, KIThe inverse of the integration time constant in the speed adjustment module.
Further, the speed error ew1、ew2The following were used:
Further, in step S3, the reference voltages U1 and U2 are as follows:
Wherein, Kp1For proportional gain in the current regulation block, k2The inverse of the integration time constant in the current regulation module.
further, the current error ea、ebThe following were used:
Further, a reference synthesized voltage V is obtained1、V2、V3The following were used:
Compared with the prior art, the invention has at least the following beneficial effects:
The invention relates to a double-direct-current motor reverse series control system, wherein six power switch tubes form three bridge arms in a two-to-two series mode and are connected in parallel with the positive and negative poles of a direct-current power supply, a double-direct-current motor is respectively connected in series with the three bridge arms for transmitting energy to a motor driving circuit, the double-direct-current motor is sequentially connected with a reference voltage synthesizer through a Hall speed sensor, a current detection sensor and a speed regulation module respectively through two stages of PI controllers, a three-phase inverter is respectively connected with the reference voltage synthesizer through a current regulation module and a one stage of PI controller and is connected to a PWM pulse generation unit through the reference voltage synthesizer, pulse control signals generated by the PWM pulse generation unit control the on-off of the six power switch tubes to drive the double-direct-current motor to operate, three-phase feedback current signals are obtained through calculation, three-phase currents with a phase difference of 120 degrees can be obtained, and the reference voltage synthesizer, the reference voltage synthesizer does not need a carrier wave, has high voltage synthesis speed, simple control method and small error, is more accurate in control and stronger in universality, and can achieve good control effect.
Furthermore, the three-phase six-switch inverter consists of three bridge arms L1、L2、L3And six power switchesClosing pipe T1、T2、T3、T4、T5、T6Wherein the first bridge arm L1By a switching tube T1-T4A second arm L2By a switch T3-T6Connected to form a third arm L3By a switch T2-T5And (4) connecting. Get the first bridge arm L1Power switch tube T in1And a power switch tube T4The midpoint of (A) is a node a, and a second bridge arm L is taken2Power switch tube T in3And a power switch tube T6The middle point of (a) is a node b, and a third bridge arm L is taken3Power switch tube T in2And a power switch tube T5The midpoint of (a) is a node (c), and the nodes (a), (b) and (c) are connected with two motors connected in series; three bridge arms L1、L2、L3After being connected in parallel, the DC power supply is connected with a common DC power supply. The pulse control signal generated by the PWM pulse generating unit controls the on-off of the switch tube, so that the positive and negative voltage in the armature winding of the three-phase motor can be obtained to drive the motor to run. The circuit structure of the inverter motor control system is simplified, and the running stability is improved.
The invention also discloses a double-direct-current motor reverse series control method, which is used for controlling the speed omega obtained by the Hall speed measuring sensor1、ω2Obtaining the current I of the double direct current motors by the current detection sensor of the permanent magnet synchronous motor1、I2Obtaining a voltage value U under the action of a two-stage PI controller1、U2(ii) a Will voltage value U1、U2According to a reference synthesized voltage V obtained after synthesis by a reference voltage synthesizer1、V2、V3Connected with the PWM pulse generating unit, outputs pulse control signals to control the on-off of power switching tubes in three bridge arms in the three-phase inverter to drive the double direct current motors to run by changing the reference speedThe reverse operation of the double direct current motors is ensured, the stability, the accuracy and the rapidity of the reverse operation of the motors are improved, andAnd the control mode of the reverse operation of the motor is simplified.
Further, the reference speedAnd a feedback speed signal omega1、ω2obtaining a speed error e under the action of a speed comparatorw1、ew2Velocity error ew1、ew2Obtaining a reference current I under the action of a PI controller1 *、I2 *The control method is simple, has good universality and obtains better current signals.
Further, reference voltage U1、U2and the synthetic voltage is obtained under the action of the reference voltage synthesizer, the synthetic voltage is obtained into a pulse signal under the action of the PWM pulse generating unit, and the pulse signal drives the motor to operate by controlling the on-off of the switch power switch tube. The reference voltage obtained in the mode not only can reduce the economic cost, but also can improve the accuracy of control.
Further, a reference synthesized voltage V is used1、V2、V3The control method is simple and easy to implement, does not need carrier waves, and has high voltage response speed and small error.
In summary, the present invention obtains the reference synthesized voltage by using a specific reference voltage synthesis method on the basis of the PI controller, the PWM pulse generation unit, the three-phase six-switch-tube inverter, and the like, and uses the reference synthesized voltage as the input of the PWM pulse generation unit, so as to better realize the operation of the motor within a certain range.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a circuit diagram of a dual DC motor reverse series control circuit of the present invention;
FIG. 2 is a schematic diagram of a dual DC motor series control system according to the present invention;
Fig. 3 is a flow chart of a dual dc motor series control algorithm of the present invention.
Detailed Description
Referring to fig. 2, in the dual dc motor reverse series control system according to the present invention, a pulse control signal is output in the PWM pulse generating unit with reference to the synthesized voltage, and the dc voltage is inverted to a voltage close to a sine wave by controlling the on/off of the power switching tube, so as to drive the operation of the motor.
The control system comprises two direct current motors M1 and M2 which are connected in series in an opposite direction, two PI controllers, a reference voltage synthesizer, a PWM pulse production unit, a three-phase six-switch inverter, a permanent magnet synchronous motor current detection sensor, a Hall speed measurement sensor and a direct current power supply.
The connection sequence is a first PI controller, a second PI controller, a reference voltage synthesizer, a PWM pulse production unit, a three-phase six-switch inverter and two motors which are connected in series reversely, and in addition, a Hall speed measurement sensor and a permanent magnet synchronous motor current detection sensor are respectively connected with a speed regulation module and a current regulation module.
The six power switching tubes form three bridge arms and are connected in parallel to the positive pole and the negative pole of a direct current power supply, the double direct current motors which are connected in series in reverse are respectively connected with the three bridge arms in series through corresponding coupling inductance elements and used for transmitting energy to a motor driving circuit, the double direct current motors sequentially pass through a Hall speed measuring sensor, a current detecting sensor and a speed adjusting module and then are divided into two paths and respectively connected with a reference voltage synthesizer through two stages of PI controllers, the reference voltage synthesizer is divided into three paths and is connected with the input end of a three-phase inverter through a PWM pulse generating unit, the output end of the three-phase inverter is respectively connected with the double direct current motors and a current adjusting module, the current adjusting module is divided into two paths and respectively connected with the reference voltage synthesizer through one stage of PI controllers, and pulse control signals generated by the PWM.
Referring to fig. 1, the three-phase six-switch inverter includes three legs L1、L2、L3And six power switch tubes T1、T2、T3、T4、T5、T6A first arm L1By a switching tube T1-T4A second arm L2By a switch T3-T6Connected to form a third arm L3By a switch T2-T5And (4) connecting. Get the first bridge arm L1Power switch tube T in1And a power switch tube T4The midpoint of (A) is a node a, and a second bridge arm L is taken2Power switch tube T in3and a power switch tube T6The middle point of (a) is a node b, and a third bridge arm L is taken3Power switch tube T in2And a power switch tube T5The middle point of (2) is a node c point, the nodes a, b and c are connected with two direct current motors connected in series, in the double direct current motors, the positive pole of a direct current motor M1 is connected with the point a, the positive pole of a direct current motor M2 is connected with the point b, and the negative poles of M1 and M2 are connected with the point c; three bridge arms L1、L2、L3After being connected in parallel, the three-phase motor is connected with a common direct-current power supply, and the pulse control signal generated by the PWM pulse generating unit controls the on-off of the switch tube, so that the positive and negative voltage in the armature winding of the three-phase motor can be obtained to drive the motor to run.
Six power switch tubes T1、T2、T3、T4、T5、T6The IGBTs are all adopted.
Obtaining a reference voltage value U by the speed obtained by a Hall speed measuring sensor and the current of the motor obtained by a permanent magnet synchronous motor current detecting sensor under the action of a two-stage PI controller1、U2(ii) a Reference voltage U1、U2And the three-phase inverter is synthesized according to a certain mode and then is connected with a PWM pulse generation unit, and pulse control signals are output to control the on-off of power switching tubes in three bridge arms of the three-phase inverter.
Referring to fig. 2, the control strategy is as follows: setting a reference input signal according to operating requirementsspeed omega measured by Hall speed measuring sensor1、ω2And a reference speedUnder the action of a speed regulating moduleTo a speed error ew1、ew2The speed error is obtained as a reference current I under the action of a PI controller1 *、I2 *The measured motor current I1、I2And a reference current I1 *、I2 *Obtaining a current error e through a current regulation modulea、ebError in current ea、ebObtaining a reference voltage U under the action of a PI controller1、U2The reference voltage U1、U2Three reference synthesized voltages V obtained under the action of voltage synthesizer1、V2、V3Three reference synthetic voltages V1、V2、V3The PWM duty ratio is obtained under the action of a PWM pulse production unit, a pulse control signal is output, the on-off of a power switch tube of the three-phase six-switch inverter is controlled, the current on a branch is fed back to two groups of steady-state currents, and the reference speed is changedTo ensure the motor to run stably in the reverse direction. The system forms a closed-loop control system through feedback, so that error signals can be fed back quickly, and the motor control system can be ensured to run for a long time.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 3, the method for controlling the double dc motors to be connected in series in reverse direction of the present invention includes the following steps:
s1, initializing the system, and obtaining the speed omega by the Hall speed measuring sensor1、ω2Feeding back to the speed regulation module, and obtaining the current I of the motor by the current detection sensor of the permanent magnet synchronous motor1、I2Fed back to the current regulation module.
s2, referring to the speedAnd step S1 feeding back speed signal omega1、ω2Speed error e under action of speed comparatorw1、ew2Velocity error ew1、ew2Obtaining a reference current I under the action of a PI controller1 *、I2 *. Wherein the speed error ew1、ew2And a reference current I1 *、I2 *Are as follows:
Wherein the reference speed isThe feedback speed signal is ω1、ω2。
Wherein the reference current is I1 *、I2 *Error in rotational speed is ew1、ew2。
S3, referring the step S2 to the current I1 *、I2 *and step S1 feeding back current signal I1、I2Obtaining a current error e under the action of a current comparatora、ebError in current ea、ebObtaining a reference voltage U under the action of a PI controller1、U2. Wherein the current error ea、ebAnd a reference voltage U1、U2The mathematical description of (a) is:
Wherein the reference current is I1 *、I2 *The actual current is I1、I2。
Wherein the reference voltage is U1、U2the current error is ea、eb。
S4, referring the step S3 to the voltage U1、U2obtaining a reference synthesized voltage V under the action of a reference voltage synthesizer1、V2、V3。
Wherein the reference voltage is U1、U2the reference resultant voltage is V1、V2、V3。
S5, synthesizing the voltage V from the step S41、V2、V3And obtaining a pulse control signal under the action of the PWM pulse production unit, and further driving the motor to run by controlling the on-off of six switching tubes of the three-phase inverter.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (6)
1. A control system for reverse series connection of double DC motors is characterized in thatThe device comprises a double direct current motor, a three-phase inverter and a direct current power supply which are connected in series reversely, wherein the three-phase inverter comprises six power switching tubes, the six power switching tubes form three bridge arms in a two-by-two series connection mode and are connected in parallel with the positive and negative poles of the direct current power supply, the double direct current motor connected in series reversely is respectively connected with the three bridge arms in series, the double direct current motor sequentially passes through a Hall speed sensor, a current detection sensor and a speed regulation module and then is divided into two paths to be respectively connected with a reference voltage synthesizer through a two-stage PI controller, the reference voltage synthesizer is divided into three paths to be connected with the input end of the three-phase inverter through a PWM pulse generation unit, the output end of the three-phase inverter is respectively connected with the double direct current motor and a current regulation module, the current regulation module is divided into two paths to be respectively connected with the reference voltage synthesizer through a, the three bridge arms are specifically: the first bridge arm is composed of a power switch tube T1、T4And a diode connected in parallel to the second bridge arm and composed of a power switch tube T3、T6And a diode connected in parallel to the third bridge arm and composed of a power switch tube T2、T5And a diode connected in parallel to the first bridge arm L1Power switch tube T in1And a power switch tube T4Is taken as a node a, and a second bridge arm L is taken2Power switch tube T in3And a power switch tube T6The middle point of (a) is a node b, and a third bridge arm L is taken3Power switch tube T in2and a power switch tube T5The midpoint of the point A is a node C, the positive pole of one direct current motor of the double direct current motors is connected with the point A, the positive pole of the other direct current motor of the double direct current motors is connected with the point B, and the negative poles of the double direct current motors are connected with the point C.
2. A control method using the system of claim 1, wherein the velocity ω obtained by the hall tachometer sensor is measured1、ω2Obtaining the current I of the double direct current motors by the current detection sensor of the permanent magnet synchronous motor1、I2Obtaining a reference voltage U under the action of a two-stage PI controller1、U2(ii) a Reference voltage U1、U2The reference synthesized voltage V is obtained after synthesis by a reference voltage synthesizer1、V2、V3Connected with the PWM pulse generating unit, outputs pulse control signals to control the on-off of power switching tubes in three bridge arms in the three-phase inverter to drive the double direct current motors to run, simultaneously feeds the current on the branch back to two groups of steady-state currents, and changes the reference speedThe method is used for ensuring the reverse operation of the double direct current motors and comprises the following specific steps:
S1, initializing the system, and obtaining the speed omega by the Hall speed measuring sensor1、ω2Feeding back to the speed regulation module, and obtaining the current I of the double direct current motors by the current detection sensor of the permanent magnet synchronous motor1、I2Feeding back to the current regulation module;
S2, referring to the speedAnd step S1 feeding back speed signal omega1、ω2Obtaining a speed error e under the action of a speed comparatorw1、ew2Velocity error ew1、ew2obtaining a reference current I under the action of a PI controller1 *、I2 *；
S3, referring the step S2 to the current I1 *、I2 *And step S1 feeding back current signal I1、I2Obtaining a current error e under the action of a current comparatora、ebError in current ea、ebObtaining a reference voltage U under the action of a PI controller1、U2；
S4, referring the step S3 to the voltage U1、U2Obtaining a reference synthesized voltage V under the action of a reference voltage synthesizer1、V2、V3To obtain a reference resultant voltage V1、V2、V3The following were used:
s5, synthesizing the voltage V from the step S41、V2、V3And a pulse control signal is obtained under the action of the PWM pulse generating unit, and the running of the motor is driven by controlling the on-off of six switching tubes of the three-phase inverter.
3. The control method according to claim 2, wherein in step S2, the current I is referenced1 *、I2 *The following were used:
Wherein, KPFor proportional gain in the speed regulation module, KIThe inverse of the integration time constant in the speed adjustment module.
4. Control method according to claim 3, characterized in that the speed error ew1、ew2The following were used:
5. The control method according to claim 2, wherein in step S3, the reference voltages U1, U2 are as follows:
Wherein, Kp1For proportional gain in the current regulation block, k2The inverse of the integration time constant in the current regulation module.
6. the control method according to claim 5, characterized in thatIn that the current error ea、ebThe following were used:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810638839.6A CN108683366B (en) | 2018-06-20 | 2018-06-20 | Double-direct-current motor reverse series control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810638839.6A CN108683366B (en) | 2018-06-20 | 2018-06-20 | Double-direct-current motor reverse series control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108683366A CN108683366A (en) | 2018-10-19 |
| CN108683366B true CN108683366B (en) | 2019-12-13 |
Family
ID=63811657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810638839.6A Expired - Fee Related CN108683366B (en) | 2018-06-20 | 2018-06-20 | Double-direct-current motor reverse series control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108683366B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111628679B (en) * | 2020-05-06 | 2022-01-18 | 西北工业大学 | Fault-tolerant system and control method for parallel motors |
| CN111464075B (en) * | 2020-05-06 | 2021-07-23 | 长安大学 | Double-direct-current motor parallel system and current hysteresis control method |
| CN111934583B (en) * | 2020-05-06 | 2022-06-21 | 长安大学 | Fault-tolerant control system and method for double-direct-current motor series system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1510823A (en) * | 2002-12-25 | 2004-07-07 | 株式会社日立制作所 | Power tranformer and controlling method thereof |
| CN101081599A (en) * | 2006-06-01 | 2007-12-05 | 林安艳 | Electric tricycle provided with power by generating electricity |
| CN101931352A (en) * | 2010-07-14 | 2010-12-29 | 中国人民解放军海军航空工程学院 | Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof |
| CN105610351A (en) * | 2014-10-27 | 2016-05-25 | 乐金电子研发中心(上海)有限公司 | Double-motor drive device |
-
2018
- 2018-06-20 CN CN201810638839.6A patent/CN108683366B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1510823A (en) * | 2002-12-25 | 2004-07-07 | 株式会社日立制作所 | Power tranformer and controlling method thereof |
| CN101081599A (en) * | 2006-06-01 | 2007-12-05 | 林安艳 | Electric tricycle provided with power by generating electricity |
| CN101931352A (en) * | 2010-07-14 | 2010-12-29 | 中国人民解放军海军航空工程学院 | Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof |
| CN105610351A (en) * | 2014-10-27 | 2016-05-25 | 乐金电子研发中心(上海)有限公司 | Double-motor drive device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108683366A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108683366B (en) | Double-direct-current motor reverse series control system and method | |
| CN102075128B (en) | Rotor magnetic shunt mixed excitation synchronous motor driving system and current control method thereof | |
| CN101789737B (en) | Method and device for inhibiting electromagnetic torque pulsation of brushless direct-current motor | |
| CN108683365B (en) | Multi-direct current motor reverse series control system and method | |
| CN108683367B (en) | Multi-direct current motor forward series control system and method | |
| CN110112964A (en) | A kind of brushless DC motor without position sensor commutation position correction system and method | |
| CN106533310B (en) | A kind of direct current biasing sinusoidal current electric machine controller | |
| CN109245660B (en) | Four-phase electro-magnetic doubly salient motor fault-tolerant driving system and dynamic model establishment method thereof | |
| CN108123650B (en) | Five-phase inverter double three-phase motor system driving circuit and direct torque control method | |
| WO2019141086A1 (en) | Five-phase inverter dual three-phase motor drive circuit and system vector control method | |
| CN108258945B (en) | Nine-switch inverter of double-permanent-magnet synchronous motor and control method thereof | |
| CN108667379B (en) | Direct torque control method for fault-tolerant system of two-phase permanent magnet synchronous motor | |
| CN101272114A (en) | Frequency conversion control device of DC motor | |
| CN108631673B (en) | Vector control method for fault-tolerant system of permanent magnet synchronous motor | |
| CN108206651B (en) | Nine-switch inverter double-motor driving system and control method thereof | |
| CN108880339B (en) | Three-direct-current motor reverse series control system and method | |
| CN101453182A (en) | Motor uni-current sensor controlling method and apparatus based on four switch inversion bridge | |
| CN108777558A (en) | A kind of brushless dual-feed motor feedforward current control system, feedforward current controller and its design method | |
| CN108809157B (en) | Three-direct-current motor forward series control system and method | |
| CN110649844A (en) | Brushless direct current motor vector control system and method based on alpha beta current controller | |
| CN108183644B (en) | Magnetic field orientation control method for double-motor four-bridge-arm inverter driving circuit | |
| CN111404426B (en) | Multi-direct-current motor parallel system and current control method | |
| CN111404425B (en) | Direct current motor parallel control system and current following control method | |
| CN112865654B (en) | Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor | |
| CN108183638B (en) | Three-phase nine-switch double-synchronous-motor time-sharing control inverter and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210115 Address after: 1-1-505-1, Xindu building, southwest of the intersection of Weijin road and wandezhuang street, Nankai District, Tianjin Patentee after: HUIJIAWANG (TIANJIN) TECHNOLOGY Co.,Ltd. Address before: 710064 No. 33, South Second Ring Road, Shaanxi, Xi'an Patentee before: CHANG'AN University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220507 Address after: 518000 1004, No. 2500106, JunXin Road, niuhu community, Guanlan street, Longhua District, Shenzhen, Guangdong Patentee after: SHENZHEN XINGYANGMING TECHNOLOGY Co.,Ltd. Address before: 1-1-505-1, Xindu building, southwest of the intersection of Weijin road and wandezhuang street, Nankai District, Tianjin Patentee before: HUIJIAWANG (TIANJIN) TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191213 |