CN108777558A - A kind of brushless dual-feed motor feedforward current control system, feedforward current controller and its design method - Google Patents
A kind of brushless dual-feed motor feedforward current control system, feedforward current controller and its design method Download PDFInfo
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- CN108777558A CN108777558A CN201810538847.3A CN201810538847A CN108777558A CN 108777558 A CN108777558 A CN 108777558A CN 201810538847 A CN201810538847 A CN 201810538847A CN 108777558 A CN108777558 A CN 108777558A
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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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/005—Arrangements for controlling doubly fed motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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Abstract
The invention discloses a kind of brushless dual-feed motor feedforward current control system, feedforward current controller and its design method, control system includes power grid, brushless dual-feed motor, the first converter, the second converter, flux linkage calculation module, angle calculation module, angular speed computing module, photoelectric coded disk, feedforward current controller, third converter, the 4th converter, SVPWM impulse generators, control winding side power inverter and DC side；Feedforward current controller control structure is simple, compact in control system of the present invention, and control accuracy is high, has quick electric current dynamic response；Feedforward compensation is added on the basis of fully considering control winding full current loop characteristic in the system, greatly improves the control effect of control winding stator current, it can be achieved that better stability and faster dynamic property；The stability of control system is high, can effectively expand brushless dual-feed motor stable operation range, good performance is kept under the different speeds of service.
Description
Technical field
The present invention relates to brushless dual-feed motor control systems, are controlled more particularly to a kind of brushless dual-feed motor feedforward current
System, feedforward current controller and its design method.
Background technology
With the development of motor manufacturing technology, a kind of alternating current generator that performance is more excellent --- brushless dual-feed motor is in ship
The fields such as oceangoing ship power generation, variable speed constant frequency generator system, governing system play increasingly important role.Brushless dual-feed motor can be real
Existing asynchronous operation, synchronous operation and double-fed operation.Brushless dual-feed motor performance is stable, simple in structure, while needed for control
Frequency inverter capacity is small, at low cost, compared with widely used double feedback electric engine, without brush and slip ring, reliability higher.But still
There is control difficulties it is big, rotor loss is big the problems such as, it is also necessary to the control performance etc. of brushless dual-feed motor make into
The research of one step.
The control method of brushless dual-feed motor includes scalar control, vector controlled, Direct Torque Control etc..Scalar controls
The stator voltage and frequency of power winding and control winding are directly controlled, and then change motor operating state, due to only
It needs to control voltage and frequency, control algolithm is relatively easy, but its poor anti jamming capability；Vector controlled mainly passes through electricity
Stream ring controls brushless dual-feed motor, and existing research not yet considers the analysis of stability of control system and dynamic；Directly
It connects direct torque and needs terminal voltage, electric current and the rotating speed of measurement motor to estimate magnetic linkage and the torque of motor, and then realize
Motor is controlled, existing control method lacks the research to control winding current loop characteristic, the stability of control system and
Dynamic is bad.
Invention content
Goal of the invention：To solve problem of the prior art, the present invention proposes a kind of brushless dual-feed motor feedforward current control
System, feedforward current controller and its design method processed.
Technical solution：The present invention provides a kind of brushless dual-feed motor feedforward current control system, which includes
Power grid, brushless dual-feed motor, the first converter, the second converter, flux linkage calculation module, angle calculation module, angular speed calculate
Module, photoelectric coded disk, feedforward current controller, third converter, the 4th converter, SVPWM impulse generators, control winding
Side power inverter and DC side；
Wherein, the power winding of brushless dual-feed motor and control winding are connected respectively on power grid and power inverter, work(
The rate converter other end is connected to DC side；The power winding of the input connection brushless dual-feed motor of first converter, output connect
Connect feedforward current controller；The power winding of the input connection brushless dual-feed motor of second converter, output connection flux linkage calculation
Module；One output connection feedforward current controller of flux linkage calculation module, another output connect the first converter all the way, separately
Angle calculation module is connected all the way, and third road passes through differentiator joint angle speed calculation module；The output of angular speed computing module
Connect feedforward current controller；Photoelectric coded disk is mounted on brushless double-fed machine rotor, the output a-road-through of photoelectric coded disk
Cross differentiator joint angle speed calculation module, another way connects angle calculation module, and the output of angle calculation module is respectively with the
One input of three converters and the 4th converter is connected；The control of another input and brushless dual-feed motor of third converter
Winding connects, and output is connect with feedforward current controller；The output of feedforward current controller is connect with the 4th converter, and the 4th
The output of converter is connected with the input of SVPWM impulse generators, the output of SVPWM impulse generators and power inverter it is defeated
Enter connected.
Preferably, the feedforward current controller includes the first comparing unit, pi controller, the first feedforward compensation
Item, the second feedforward compensation term, third feedforward compensation term, the second comparing unit and third comparing unit, wherein the first comparing unit
Input winding reference current vector i in order to controlcs *With actual current vector ics, the output of the first comparing unit and proportional integration
The input of controller is connected, and the output of pi controller is connected with an input of the second comparing unit, and third feedforward is mended
Repay another input of item as the second comparing unit, the output of the second comparing unit and a input phase of third comparing unit
Even, other two input item of the first feedforward compensation term and the second feedforward compensation term as third comparing unit, third are more single
The output winding reference voltage vector u in order to control of membercs *, power winding actual current vector ipsAs the first feedforward compensation term
Input, control winding actual current vector icsInput as the second feedforward compensation term.
Preferably, numerical value u of the flux linkage calculation module acquisition power wound stator voltage in two-phase stationary coordinate systempαs
And upβs, and use upαsAnd upβsCalculate the phase angle theta of power wound stator voltageuAnd amplitude | us|：
According to the relationship of power wound stator voltage and magnetic linkage, the phase angle theta of power winding magnetic linkage is calculatedpWith amplitude ψp：
Wherein, ωpFor the angular speed of power winding electricity.
Preferably, the rotor position angle θ that the angle calculation module is obtained by photoelectric coded disk and flux linkage calculation modulem
With power winding magnetic linkage phase angle thetap, the angle, θ of control winding electricity is calculatedc, relationship is between them：
θc=θp-(pp+pc)θm；
Wherein, ppAnd pcThe respectively number of pole-pairs of power motor and control motor.
Preferably, the rotor position angle that the angular speed computing module obtains photoelectric coded disk and flux linkage calculation module
θmWith power winding magnetic linkage phase angle thetapDifferential is carried out, rotor velocity ω is calculatedm, power winding electricity angular velocity omegap：
Then according to control winding electricity angular velocity omegacWith ωm、ωpRelationship, calculate ωcSize, between them
Relationship is：
ωc=ωp-(pp+pc)ωm；
Wherein, ppAnd pcThe respectively number of pole-pairs of power motor and control motor.
Preferably, the SVPWM impulse generators use space Vector Pulse Width Modulation technology generates three-phase PWM wave.
Preferably, control winding side power inverter uses three-phase full-bridge inverting circuit.
The present invention also provides a kind of feedforward current controllers, including the first comparing unit, pi controller, first
Feedforward compensation term, the second feedforward compensation term, third feedforward compensation term, the second comparing unit and third comparing unit, wherein first
The input of comparing unit winding reference current vector i in order to controlcs *With actual current vector ics, the output of the first comparing unit with
The input of pi controller is connected, and the output of pi controller is connected with an input of the second comparing unit, the
Another input of three feedforward compensation terms as the second comparing unit, the output of the second comparing unit and the one of third comparing unit
A input is connected, other two input item of the first feedforward compensation term and the second feedforward compensation term as third comparing unit, the
The output of three comparing units winding reference voltage vector u in order to controlcs *, power winding actual current vector ipsAs the first feedforward
The input of compensation term, control winding actual current vector icsInput as the second feedforward compensation term.
Preferably, first feedforward compensation term isIt includes first order inertial loop,
Wherein, k2=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, the mutual inductance of power winding, power winding self-induction, τ
For the time constant of first order inertial loop, ωcWinding electricity angular speed in order to control, ipsFor power winding actual current vector,
Dq shaft current components are ipdsAnd ipqs；
Second feedforward compensation term is inductance feedforward term j ωcLscics, LscThe self-induction of winding in order to control, icsIn order to control around
Group actual current vector, dq shaft current components are icdsAnd icqs；
The third feedforward compensation term is magnetic flux feedforward term j ωck2ψp, ψpFor power winding magnetic linkage amplitude.
The present invention also provides a kind of methods of the above-mentioned feedforward current controller of design, and this approach includes the following steps：
(1) complete model of control winding current loop is built, complete model formula is：
(Rsc+sLsc)ics(s)=ucs(s)-k2(s+jωc)Lspips(s)-jωcLscics(s)+k2(s+jωc)ψp(s)；
Wherein, RscThe resistance of winding in order to control, LscThe self-induction of winding in order to control, ucsWinding virtual voltage vector in order to control,
Its dq axis component is ucdsAnd ucqs；k2=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, the mutual inductance of power winding,
The self-induction of power winding, ωcWinding electricity angular speed in order to control；ipsFor power winding actual current vector, dq axis components are
ipdsAnd ipqs；icsWinding actual current vector in order to control, dq axis components are icdsAnd icqs；ψpFor power winding magnetic linkage amplitude；
(2) power winding actual current vector i is establishedpsWith control winding actual current vector icsBetween coupled relation,
Its coupled relation formula is：
Wherein, k=LmpLmc/(LspLr'), k1=Lr/Lr', LrFor inductor rotor, Lr'=Lr-Lmp 2/LspFor rotor transient state
Inductance；And
Wherein, ωmFor rotor speed, Tr' be rotor time constant, Tr'=Lr′/Rr, Lr'=Lr-Lmp 2/LspFor
Rotor transient inductance, RrFor rotor resistance；
(3) coupled relation being based in the model and step (2) in step (1), builds the knot of control winding current loop
Structure, wherein first order inertial loop GRL(s)=1/ (Rsc+sLsc) be control winding current loop core, there are two current loops
icsFeedback branch, is expressed as branch I and branch II, and wherein branch I is ipsAnd icsCoupling path between two electric currents,
Control winding actual current vector icsControl winding virtual voltage vector u is fed back to by two link in tandemscs, respectively by k (1
+GrAnd k (s))2Lsp(s+jωc) indicate；Branch II is j ωcLsc；
(4) according to the structure of the control winding current loop in step (3), the compensation term of feedforward current controller is designed
It willAs feedforward term, branch I is equally cut off, is enabled
As the first feedforward compensation term, wherein k2=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, power winding it is mutual
Feel, the self-induction of power winding, τ is the time constant of first order inertial loop, ωcWinding electricity angular speed in order to control, ipsFor power
Winding actual current vector, dq shaft current components are ipdsAnd ipqs；Second feedforward compensation term is inductance feedforward term j ωcLscics,
Wherein LscThe self-induction of winding in order to control, icsWinding actual current vector in order to control, dq shaft current components are icdsAnd icqs；The
Three feedforward compensation terms are magnetic flux feedforward term j ωck2ψp, wherein ψpFor power winding magnetic linkage amplitude.
Advantageous effect：Compared with prior art, feedforward current controller control structure is simple, tight in control system of the present invention
It gathers, control accuracy is high, has quick electric current dynamic response；Control system provided by the invention is fully considering that control winding is complete
On the basis of whole current loop characteristic, feedforward compensation is added, greatly improves the control effect of control winding stator current, it can be real
Now better stability and faster dynamic property；Meanwhile stability of control system of the present invention is high, can effectively expand brushless
Double feedback electric engine stable operation range, keeps good performance under the different speeds of service.
Description of the drawings
Fig. 1 is control system architecture schematic diagram of the present invention；
Fig. 2 is control winding current loop structure schematic diagram；
Fig. 3 is feedforward current controller architecture structural schematic diagram；
Fig. 4 is that brushless dual-feed motor operates in experimental waveform figure under 400r/min states；
Fig. 5 is that brushless dual-feed motor operates in experimental waveform figure under 600r/min states；
Fig. 6 is that brushless dual-feed motor operates in experimental waveform figure under 666r/min states.
Specific implementation mode
Technical scheme of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of brushless dual-feed motor feedforward current control system, structure includes power grid 1, brushless double-fed
Machine 2, the first converter 3, the second converter 4, flux linkage calculation module 5, angle calculation module 6, angular speed computing module 7, photoelectricity
Coding disk 8, feedforward current controller 9, third converter 14, the 4th converter 10, SVPWM impulse generators 11, control winding
Side power inverter 12 and DC side 13, the power winding and control winding of brushless dual-feed motor are connected respectively to 1 He of power grid
On power inverter 12, the power inverter other end is connected to DC side 13；The input connection power grid and brushless of first converter
The power winding of double feedback electric engine, output connection feedforward current controller；The input connection power grid and brushless double feed of second converter
The power winding of motor, output connection flux linkage calculation module, an output connection feedforward current controller of flux linkage calculation module,
Another output connects the first converter all the way, and another way connects angle calculation module, and third road passes through differentiator joint angle speed
Computing module is spent, the output of angular speed computing module connects feedforward current controller；Photoelectric coded disk is mounted on brushless double-fed
On machine rotor, for measuring the rotor position angle θ of brushless dual-feed motorm, the output of photoelectric coded disk connected by differentiator all the way
Connect angular speed computing module, another way connects angle calculation module, the output of angle calculation module respectively with third converter 14
It is connected with an input of the 4th converter 10；Another input of third converter and the control winding of brushless dual-feed motor connect
It connects, output is connect with feedforward current controller；The output of feedforward current controller is connect with the 4th converter, the 4th converter
Output be connected with the input of SVPWM impulse generators, the output of SVPWM impulse generators and the input phase of power inverter
Even.
Wherein, the first converter is 3s/2r converters, and electricity is transformed to two cordic phase rotators from three-phase static coordinate system
System；Second converter is 3s/2s converters, and electricity is transformed to two-phase stationary coordinate system from three-phase static coordinate system；Third becomes
Parallel operation is 3s/2r converters, and electricity is transformed to two-phase rotating coordinate system from three-phase static coordinate system；4th converter is 2r/
Electricity is transformed to two rest frames by 2s converters from two-phase rotating coordinate system.
The three-phase voltage signal u that control system of the present invention first acquires power gridpas、upbs、upcsBecome by second
Parallel operation is converted to the u under two-phase stationary coordinate systempαs、upβs, the phase of power winding magnetic linkage is calculated using flux linkage calculation module
Angle θpWith amplitude ψp；Acquire three-phase current signal ipas、ipbs、ipcsIt is converted under two-phase rotating coordinate system by the first converter
ipds、ipqs；In conjunction with rotor position angle θmWith power winding magnetic linkage phase angle thetap, using angle calculation module, obtain control winding electricity
Angle, θc；Respectively by rotor position angle θmWith power winding magnetic linkage phase angle thetapDifferential is carried out, rotor velocity ω is calculatedm、
The angular velocity omega of power winding electricityp, in conjunction with angular speed computing module, control winding electricity angular velocity omega is calculatedc.Then
By control winding dq axis reference currents icds *、icqs *With actual current ipds、ipqsAnd its dependent variable ψp、θc、ωcBefore input
Feed the control voltage u that stream controller obtains controll plantcds *、ucqs *.U latercds *、ucqs *It is converted to by the 4th converter
Two-phase stationary coordinate system controls voltage ucαs *、ucβs *.In conjunction with ucαs *、ucβs *, power conversion is obtained using SVPWM impulse generators
The control pulse of device is input to control winding side power inverter and obtains the control voltage of control winding, final realization pair
Effective control of brushless dual-feed motor.
The present invention proposes the design method of feedforward current controller, includes the following steps：
(1) complete model of control winding current loop is built, complete model can be expressed as：
(Rsc+sLsc)ics(s)=ucs(s)-k2(s+jωc)Lspips(s)-jωcLscics(s)+k2(s+jωc)ψp(s) (1)；
Wherein, RscThe resistance of winding in order to control, LscThe self-induction of winding in order to control, ucsWinding virtual voltage vector in order to control,
Its dq axis component is ucdsAnd ucqs, k2=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, the mutual inductance of power winding,
The self-induction of power winding, ωcWinding electricity angular speed in order to control, ipsFor power winding actual current vector, dq axis components are
ipdsAnd ipqs, icsWinding actual current vector in order to control, dq axis components are icdsAnd icqs, ψpFor power winding magnetic linkage amplitude.
(2) power winding actual current vector i is establishedpsWith control winding actual current vector icsBetween coupled relation,
Its coupled relation is：
Wherein, k=LmpLmc/(LspLr'), k1=Lr/Lr', LrFor inductor rotor, Lr'=Lr-Lmp 2/LspFor rotor transient state
Inductance.And
Wherein, ωmFor rotor speed, Tr' be rotor time constant, Tr'=Lr′/Rr, Lr'=Lr-Lmp 2/LspFor
Rotor transient inductance, RrFor rotor resistance.
(3) coupled relation being based in the model and step (2) in step (1), builds the knot of control winding current loop
Structure, as shown in Figure 2.In Fig. 2, first order inertial loop GRL(s)=1/ (Rsc+sLsc) be control winding current loop core, electricity
Flowing back to road, there are two icsFeedback branch is expressed as branch I and branch II.Branch I indicates two electrical port (ipsAnd ics)
Coupling path between electric current.Wherein, control winding actual current vector icsControl winding is fed back to by two link in tandems
Virtual voltage vector ucs, respectively by k (1+GrAnd k (s))2Lsp(s+jωc) indicate；Branch II is j ωcLsc。
(4) according to the structure of the control winding current loop in step (3), the compensation term of feedforward current controller is designed
As shown in the branch I in Fig. 2, control winding current phasor icsControl winding reality is fed back to by two link in tandems
Border voltage vector ucs, respectively by k (1+GrAnd k (s))2Lsp(s+jωc) indicate.Since branch I is more complex, by entire branch
It is unable to close the eyes suitable to be added to feedforward term, still, above-mentioned two link passes through power winding actual current vector ipsCoupling, and ipsHold very much
Easily measure.It willAs feedforward term, then branch I can be equally cut off, enabled
As the first feedforward compensation term, wherein k2=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, power winding it is mutual
Feel, the self-induction of power winding, τ is the time constant of first order inertial loop, ωcWinding electricity angular speed in order to control, ipsFor power
Winding actual current vector, dq shaft current components are ipdsAnd ipqs；Simultaneously for optimal control effect, controlled for feedforward current
The second feedforward compensation term and third feedforward compensation term is added in device, and the second feedforward compensation term is inductance feedforward term j ωcLscics, wherein
LscThe self-induction of winding in order to control, icsWinding actual current vector in order to control, dq shaft current components are icdsAnd icqs；Before third
Feedback compensation term is magnetic flux feedforward term j ωck2ψp, wherein ψpFor power winding magnetic linkage amplitude.
In conclusion the block diagram for the feedforward current controller designed according to above-mentioned design method is as shown in figure 3, its structure
Before the first comparing unit 21, pi controller 22, the first feedforward compensation term 23, the second feedforward compensation term 24, third
Present compensation term 25, the second comparing unit 26 and third comparing unit 27, wherein winding is joined in order to control for the input of the first comparing unit
Examine current phasor ics *(ics *Dq axis components be icds *And icqs *) and actual current vector ics(icsDq axis components be icdsWith
icqs), the output of the first comparing unit is connected with the input of pi controller, the output of pi controller and second
One input of comparing unit is connected, another input of third feedforward compensation term as the second comparing unit, second is relatively more single
The output of member is connected with an input of third comparing unit, and the first feedforward compensation term and the second feedforward compensation term are as third ratio
Compared with other two input item of unit, the output of third comparing unit winding reference voltage vector u in order to controlcs *(ucs *Dq axis
Component is ucds *And ucqs *), power winding actual current vector ips(ipsDq axis components be ipdsAnd ipqs) as the first feedforward
The input of compensation term, control winding actual current vector icsInput as the second feedforward compensation term.
First comparing unit 21 is for obtaining control winding dq axis reference current vectors ics *With actual current vector icsIt
Difference.
Pi controller 22 is used to obtain the control signal of controll plant, the PI parameter settings of pi controller
For kp=gLscAnd ki=gRsc, wherein g is the gain of PI controllers.
First feedforward compensation term 23 is：It includes first order inertial loops, wherein k2
=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, the mutual inductance of power winding, power winding self-induction, τ is single order
The time constant of inertial element, ωcWinding electricity angular speed in order to control, ipsFor power winding actual current vector, dq axis electricity
Flow component is ipdsAnd ipqs；
Second feedforward compensation term 24 is inductance feedforward term j ωcLscics, LscThe self-induction of winding in order to control, icsWinding in order to control
Actual current vector, dq shaft current components are icdsAnd icqs。
Third feedforward compensation term 25 is magnetic flux feedforward term j ωck2ψp, ψpFor power winding magnetic linkage amplitude.
In Fig. 1, flux linkage calculation module acquire first power wound stator voltage two-phase stationary coordinate system numerical value upαs、
upβs, use upαs、upβsCalculate the phase angle theta of power wound stator voltageuAnd amplitude | us|：
According to the relationship of power wound stator voltage and magnetic linkage, the phase angle theta of power winding magnetic linkage is calculatedpWith amplitude ψp：
Angle calculation module, the rotor position angle θ obtained by photoelectric coded disk and flux linkage calculation modulemWith power winding
Magnetic linkage phase angle thetap, the angle, θ of control winding electricity is calculatedc, relationship is between them
θc=θp-(pp+pc)θm(8)；
Wherein, ppAnd pcThe respectively number of pole-pairs of power motor and control motor.
Angular speed computing module, the rotor position angle θ for first obtaining photoelectric coded disk and flux linkage calculation modulemAnd power
Winding magnetic linkage phase angle thetapDifferential is carried out, rotor velocity ω is calculatedm, power winding electricity angular velocity omegap：
Then according to control winding electricity angular velocity omegacWith ωm、ωpRelationship, calculate ωcSize, between them
Relationship is：
ωc=ωp-(pp+pc)ωm(10)；
Wherein, ppAnd pcThe respectively number of pole-pairs of power motor and control motor.
SVPWM impulse generator use space Vector Pulse Width Modulation technologies generate three-phase PWM wave, and then control control winding
Side power inverter realizes the control to brushless double feed generator.
Control winding side power inverter uses three-phase full-bridge inverting circuit, and output waveform harmonic wave is small, is conducive to nothing
The control of brush double feedback electric engine.
Using a kind of experimental waveform such as Fig. 4-Fig. 6 of brushless dual-feed motor feedforward current control system described in the present embodiment
It is shown.Apply the control winding dq axis reference currents i of Spline smoothing in feedforward current controllercds *、icqs *, Fig. 4 is brushless double
Generating aid operates in control winding electric current (i under dq coordinate systems under 400r/min statescds、icqs) and three-phase static coordinate system
Under (icas、icbs) oscillogram, power frequency 10Hz；Fig. 5 is operated under 600r/min states for brushless dual-feed motor and is controlled
Winding current (i under dq coordinate systemscds、icqs) and three-phase static coordinate system under (icas、icbs) oscillogram, power frequency
For -10Hz (negative-phase sequence)；Fig. 6 is that brushless dual-feed motor operates under 666r/min states control winding electric current under dq coordinate systems
(icds、icqs) and three-phase static coordinate system under (icas、icbs) oscillogram, power frequency be -16.6Hz (negative-phase sequence).
It can be seen from the figure that the current rise time of feedforward current controller is all very short under different rotating speeds, controller can
Faster response is realized with smaller oscillation in Spline smoothing, this shows brushless double-fed using one kind described in the present embodiment
Machine feedforward current control system all has good stability and dynamic under the different speeds of service；Brushless dual-feed motor is same
Leg speed is 500r/min, when rotating speed is higher than 600r/min (120% synchronous speed), conventional current controller poor robustness, even
There is unstability, and feedforward current controller remains to keep good control when rotating speed is increased to 666r/min (133% synchronous speed)
Performance processed, stable operation range are expanded to 133% by the 120% of synchronous speed, this shows that feedforward current control system can be effective
Expand brushless dual-feed motor stable operation range.
Claims (10)
1. a kind of brushless dual-feed motor feedforward current control system, it is characterised in that：The control system includes power grid (1), brushless
Double feedback electric engine (2), the first converter (3), the second converter (4), flux linkage calculation module (5), angle calculation module (6), angle speed
Spend computing module (7), photoelectric coded disk (8), feedforward current controller (9), third converter, the 4th converter (10), SVPWM
Impulse generator (11), control winding side power inverter (12) and DC side (13)；
Wherein, the power winding of brushless dual-feed motor and control winding are connected respectively on power grid and power inverter, and power becomes
The parallel operation other end is connected to DC side；The power winding of the input connection brushless dual-feed motor of first converter, before output connection
Feed stream controller；The power winding of the input connection brushless dual-feed motor of second converter, output connection flux linkage calculation module；
One output connection feedforward current controller of flux linkage calculation module, another output connect the first converter, another way all the way
Angle calculation module is connected, third road passes through differentiator joint angle speed calculation module；The output of angular speed computing module connects
Feedforward current controller；Photoelectric coded disk is mounted on brushless double-fed machine rotor, and the output of photoelectric coded disk is all the way by micro-
Device joint angle speed calculation module, another way is divided to connect angle calculation module, the output of angle calculation module becomes with third respectively
One input of parallel operation and the 4th converter is connected；The control winding of another input and brushless dual-feed motor of third converter
Connection, output are connect with feedforward current controller；The output of feedforward current controller is connect with the 4th converter, the 4th transformation
The output of device is connected with the input of SVPWM impulse generators, the output of SVPWM impulse generators and the input phase of power inverter
Even.
2. a kind of brushless dual-feed motor feedforward current control system according to claim 1, it is characterised in that：The feedforward
Current controller includes the first comparing unit (21), pi controller (22), the first feedforward compensation term (23), the second feedforward
Compensation term (24), third feedforward compensation term (25), the second comparing unit (26) and third comparing unit (27), wherein the first ratio
Compared with the input winding reference current vector i in order to control of unitcs *With actual current vector ics, the output of the first comparing unit with than
The input of example integral controller is connected, and the output of pi controller is connected with an input of the second comparing unit, third
Feedforward compensation term as the second comparing unit another input, the output of the second comparing unit with one of third comparing unit
Input is connected, other two input item of the first feedforward compensation term and the second feedforward compensation term as third comparing unit, third
The output of comparing unit winding reference voltage vector u in order to controlcs *, power winding actual current vector ipsIt is mended as the first feedforward
Repay the input of item, control winding actual current vector icsInput as the second feedforward compensation term.
3. a kind of brushless dual-feed motor feedforward current control system according to claim 1, it is characterised in that：The magnetic linkage
Numerical value u of the computing module acquisition power wound stator voltage in two-phase stationary coordinate systempαsAnd upβs, and use upαsAnd upβsIt calculates
The phase angle theta of power wound stator voltageuAnd amplitude | us|：
According to the relationship of power wound stator voltage and magnetic linkage, the phase angle theta of power winding magnetic linkage is calculatedpWith amplitude ψp：
Wherein, ωpFor the angular speed of power winding electricity.
4. a kind of brushless dual-feed motor feedforward current control system according to claim 1, it is characterised in that：The angle
The rotor position angle θ that computing module is obtained by photoelectric coded disk and flux linkage calculation modulemWith power winding magnetic linkage phase angle thetap, meter
Calculation obtains the angle, θ of control winding electricityc, relationship is between them：
θc=θp-(pp+pc)θm；
Wherein, ppAnd pcThe respectively number of pole-pairs of power motor and control motor.
5. a kind of brushless dual-feed motor feedforward current control system according to claim 1, it is characterised in that：The angle speed
Spend the rotor position angle θ that computing module obtains photoelectric coded disk and flux linkage calculation modulemWith power winding magnetic linkage phase angle thetapInto
Rotor velocity ω is calculated in row differentialm, power winding electricity angular velocity omegap：
Then according to control winding electricity angular velocity omegacWith ωm、ωpRelationship, calculate ωcSize, relationship between them
For：
ωc=ωp-(pp+pc)ωm；
Wherein, ppAnd pcThe respectively number of pole-pairs of power motor and control motor.
6. a kind of brushless dual-feed motor feedforward current control system according to claim 1, it is characterised in that：It is described
SVPWM impulse generator use space Vector Pulse Width Modulation technologies generate three-phase PWM wave.
7. a kind of brushless dual-feed motor feedforward current control system according to claim 1, it is characterised in that：The control
Winding side power inverter uses three-phase full-bridge inverting circuit.
8. a kind of feedforward current controller, it is characterised in that：Including the first comparing unit (21), pi controller (22),
First feedforward compensation term (23), the second feedforward compensation term (24), third feedforward compensation term (25), the second comparing unit (26) and
Three comparing units (27), wherein the input of the first comparing unit winding reference current vector i in order to controlcs *With actual current vector
ics, the output of the first comparing unit is connected with the input of pi controller, the output of pi controller and the second ratio
An input compared with unit is connected, another input of third feedforward compensation term as the second comparing unit, the second comparing unit
Output be connected with an input of third comparing unit, the first feedforward compensation term and the second feedforward compensation term compare as third
Other two input item of unit, the output of third comparing unit winding reference voltage vector u in order to controlcs *, power winding reality
Current phasor ipsAs the input of the first feedforward compensation term, control winding actual current vector icsAs the second feedforward compensation term
Input.
9. a kind of feedforward current controller according to claim 8, it is characterised in that：First feedforward compensation term isIt includes first order inertial loops, wherein k2=Lmc/Lmp, Lmc、Lmp、LspRespectively in order to control
The mutual inductance of winding, the mutual inductance of power winding, power winding self-induction, τ be first order inertial loop time constant, ωcIn order to control
Winding electricity angular speed, ipsFor power winding actual current vector, dq shaft current components are ipdsAnd ipqs；
Second feedforward compensation term is inductance feedforward term j ωcLscics, LscThe self-induction of winding in order to control, icsWinding is real in order to control
Border current phasor, dq shaft current components are icdsAnd icqs；
The third feedforward compensation term is magnetic flux feedforward term j ωck2ψp, ψpFor power winding magnetic linkage amplitude.
10. a kind of method of any one of design claim 1-9 feedforward current controllers, which is characterized in that this method packet
Include following steps：
(1) complete model of control winding current loop is built, complete model formula is：
(Rsc+sLsc)ics(s)=ucs(s)-k2(s+jωc)Lspips(s)-jωcLscics(s)+k2(s+jωc)ψp(s)；
Wherein, RscThe resistance of winding in order to control, LscThe self-induction of winding in order to control, ucsWinding virtual voltage vector in order to control, dq
Axis component is ucdsAnd ucqs；k2=Lmc/Lmp, Lmc、Lmp、LspThe respectively mutual inductance of control winding, the mutual inductance of power winding, power
The self-induction of winding, ωcWinding electricity angular speed in order to control；ipsFor power winding actual current vector, dq axis components are ipdsWith
ipqs；icsWinding actual current vector in order to control, dq axis components are icdsAnd icqs；ψpFor power winding magnetic linkage amplitude；
(2) power winding actual current vector i is establishedpsWith control winding actual current vector icsBetween coupled relation, coupling
Closing relational expression is：
Wherein, k=LmpLmc/(LspLr'), k1=Lr/Lr', LrFor inductor rotor, Lr'=Lr-Lmp 2/LspFor rotor transient inductance；
And
Wherein, ωmFor rotor speed, Tr' be rotor time constant, Tr'=L 'r/Rr, L 'r=Lr-Lmp 2/LspFor rotor
Transient inductance, RrFor rotor resistance；
(3) coupled relation being based in the model and step (2) in step (1), builds the structure of control winding current loop,
In, first order inertial loop GRL(s)=1/ (Rsc+sLsc) be control winding current loop core, current loop is there are two icsInstead
Branch is presented, branch I and branch II are expressed as, wherein branch I is ipsAnd icsCoupling path between two electric currents, control
Winding actual current vector icsControl winding virtual voltage vector u is fed back to by two link in tandemscs, respectively by k (1+Gr
And k (s))2Lsp(s+jωc) indicate；Branch II is j ωcLsc；
(4) according to the structure of the control winding current loop in step (3), the compensation term of design feedforward current controller willAs feedforward term, branch I is equally cut off, is enabledAs first
Feedforward compensation term, wherein k2=Lmc/Lmp, Lmc、Lmp、LspRespectively the mutual inductance of control winding, the mutual inductance of power winding, power around
The self-induction of group, τ are the time constant of first order inertial loop, ωcWinding electricity angular speed in order to control, ipsFor the practical electricity of power winding
Flow vector, dq shaft current components are ipdsAnd ipqs；Second feedforward compensation term is inductance feedforward term j ωcLscics, wherein LscFor
The self-induction of control winding, icsWinding actual current vector in order to control, dq shaft current components are icdsAnd icqs；Third feedforward compensation
Item is magnetic flux feedforward term j ωck2ψp, wherein ψpFor power winding magnetic linkage amplitude.
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