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 PDF

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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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winding
control
feedforward
power
current
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程明
许利通
魏新迟
文宏辉
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Southeast University
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22Current control, e.g. using a current control loop
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/005Arrangements for controlling doubly fed motors
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28Arrangements for controlling current

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

本发明公开了一种无刷双馈电机前馈电流控制系统、前馈电流控制器及其设计方法,控制系统包括电网、无刷双馈电机、第一变换器、第二变换器、磁链计算模块、角度计算模块、角速度计算模块、光电编码盘、前馈电流控制器、第三变换器、第四变换器、SVPWM脉冲发生器、控制绕组侧功率变换器以及直流侧;本发明控制系统中前馈电流控制器控制结构简单、紧凑,控制精度高,具有快速的电流动态响应;该系统在充分考虑控制绕组完整电流回路特性基础上,加入前馈补偿,极大地提高了控制绕组定子电流的控制效果,可实现更好的稳定性以及更快的动态性能;该控制系统稳定性高,能够有效扩大无刷双馈电机稳定运行范围,在不同的运行速度下保持良好的性能。

The invention discloses a feedforward current control system of a brushless double-fed motor, a feedforward current controller and a design method thereof. The control system includes a power grid, a brushless double-fed motor, a first converter, a second converter, and a flux linkage Calculation module, angle calculation module, angular velocity calculation module, photoelectric encoder disc, feedforward current controller, third converter, fourth converter, SVPWM pulse generator, control winding side power converter and DC side; the control system of the present invention The medium feedforward current controller has a simple and compact control structure, high control precision, and fast current dynamic response; this system adds feedforward compensation on the basis of fully considering the complete current loop characteristics of the control winding, which greatly improves the stator current of the control winding. The control effect can achieve better stability and faster dynamic performance; the control system has high stability and can effectively expand the stable operation range of the brushless doubly-fed motor, and maintain good performance at different operating speeds.

Description

一种无刷双馈电机前馈电流控制系统、前馈电流控制器及其 设计方法A brushless doubly-fed motor feed-forward current control system, feed-forward current controller and its design method

技术领域technical field

本发明涉及无刷双馈电机控制系统,特别是涉及一种无刷双馈电机前馈电流控制系统、前馈电流控制器及其设计方法。The invention relates to a brushless doubly-fed motor control system, in particular to a brushless doubly-fed motor feed-forward current control system, a feed-forward current controller and a design method thereof.

背景技术Background technique

随着电机制造技术的发展,一种性能更加优良的交流电机——无刷双馈电机在船舶发电、变速恒频发电系统、调速系统等领域起到了越来越重要的作用。无刷双馈电机可实现异步运行、同步运行以及双馈运行。无刷双馈电机性能稳定、结构简单,同时控制所需的变频器容量小,成本低,与广泛使用的双馈电机相比,没有电刷和滑环,可靠性更高。但是仍存在着控制难度大、转子损耗大等问题,还需要对无刷双馈电机的控制性能等方面作出进一步的研究。With the development of motor manufacturing technology, an AC motor with better performance - brushless doubly-fed motor has played an increasingly important role in the fields of ship power generation, variable speed and constant frequency power generation systems, and speed control systems. Brushless double-fed motors can realize asynchronous operation, synchronous operation and double-fed operation. Brushless double-fed motor has stable performance and simple structure. At the same time, the inverter required for control has a small capacity and low cost. Compared with the widely used double-fed motor, it has no brushes and slip rings and has higher reliability. However, there are still problems such as high control difficulty and large rotor loss, and further research on the control performance of brushless doubly-fed motors is still needed.

无刷双馈电机的控制方法包括标量控制、矢量控制、直接转矩控制等。标量控制是对功率绕组和控制绕组的定子电压和频率进行直接控制,进而改变电机运行状态,由于只需要对电压和频率进行控制,控制算法相对简单,但其抗干扰能力差;矢量控制主要通过电流环对无刷双馈电机进行控制,现有的研究尚未考虑控制系统稳定性及动态性的分析;直接转矩控制需要测量电机的端电压、电流以及转速用以估计电机的磁链和转矩,进而实现对电机控制,现有的控制方法缺乏对控制绕组电流回路特性的研究,控制系统的稳定性和动态性不佳。The control methods of brushless doubly-fed motors include scalar control, vector control, direct torque control, etc. Scalar control is to directly control the stator voltage and frequency of the power winding and control winding, and then change the running state of the motor. Since only the voltage and frequency need to be controlled, the control algorithm is relatively simple, but its anti-interference ability is poor; vector control mainly through The current loop controls the brushless double-fed motor, and the existing research has not considered the analysis of the stability and dynamics of the control system; the direct torque control needs to measure the terminal voltage, current and speed of the motor to estimate the flux linkage and rotation speed of the motor. Torque, and then realize the control of the motor, the existing control method lacks the research on the characteristics of the current loop of the control winding, and the stability and dynamics of the control system are not good.

发明内容Contents of the invention

发明目的:为解决现有技术的问题,本发明提出了一种无刷双馈电机前馈电流控制系统、前馈电流控制器及其设计方法。Purpose of the invention: In order to solve the problems of the prior art, the present invention proposes a brushless doubly-fed motor feed-forward current control system, a feed-forward current controller and a design method thereof.

技术方案:本发明提供了一种无刷双馈电机前馈电流控制系统,该控制系统包括电网、无刷双馈电机、第一变换器、第二变换器、磁链计算模块、角度计算模块、角速度计算模块、光电编码盘、前馈电流控制器、第三变换器、第四变换器、SVPWM脉冲发生器、控制绕组侧功率变换器以及直流侧;Technical solution: The present invention provides a feed-forward current control system for a brushless doubly-fed motor, the control system includes a power grid, a brushless doubly-fed motor, a first converter, a second converter, a flux calculation module, and an angle calculation module , angular velocity calculation module, photoelectric encoder disk, feedforward current controller, third converter, fourth converter, SVPWM pulse generator, control winding side power converter and DC side;

其中,无刷双馈电机的功率绕组和控制绕组分别连接到电网和功率变换器上,功率变换器另一端连接到直流侧;第一变换器的输入连接无刷双馈电机的功率绕组,输出连接前馈电流控制器;第二变换器的输入连接无刷双馈电机的功率绕组,输出连接磁链计算模块;磁链计算模块的一个输出连接前馈电流控制器,另一个输出一路连接第一变换器,另一路连接角度计算模块,第三路通过微分器连接角速度计算模块;角速度计算模块的输出连接前馈电流控制器;光电编码盘安装在无刷双馈电机转子上,光电编码盘的输出一路通过微分器连接角速度计算模块,另一路连接角度计算模块,角度计算模块的输出分别与第三变换器和第四变换器的一个输入相连;第三变换器的另一个输入与无刷双馈电机的控制绕组连接,其输出与前馈电流控制器连接;前馈电流控制器的输出与第四变换器连接,第四变换器的输出与SVPWM脉冲发生器的输入相连,SVPWM脉冲发生器的输出与功率变换器的输入相连。Among them, the power winding and control winding of the brushless doubly-fed motor are respectively connected to the power grid and the power converter, and the other end of the power converter is connected to the DC side; the input of the first converter is connected to the power winding of the brushless doubly-fed motor, and the output Connect the feed-forward current controller; the input of the second converter is connected to the power winding of the brushless doubly-fed motor, and the output is connected to the flux calculation module; one output of the flux calculation module is connected to the feed-forward current controller, and the other output is connected to the first One converter, the other is connected to the angle calculation module, and the third is connected to the angular velocity calculation module through a differentiator; the output of the angular velocity calculation module is connected to the feedforward current controller; the photoelectric encoder disc is installed on the brushless doubly-fed motor rotor, and the photoelectric encoder disc One output of the output is connected to the angular velocity calculation module through the differentiator, and the other is connected to the angle calculation module. The output of the angle calculation module is respectively connected to one input of the third converter and the fourth converter; the other input of the third converter is connected to the brushless The control winding of the double-fed motor is connected, and its output is connected with the feedforward current controller; the output of the feedforward current controller is connected with the fourth converter, and the output of the fourth converter is connected with the input of the SVPWM pulse generator, and the SVPWM pulse is generated The output of the converter is connected to the input of the power converter.

优选的,所述前馈电流控制器包括第一比较单元、比例积分控制器、第一前馈补偿项、第二前馈补偿项、第三前馈补偿项、第二比较单元和第三比较单元,其中,第一比较单元的输入为控制绕组参考电流矢量ics *和实际电流矢量ics,第一比较单元的输出与比例积分控制器的输入相连,比例积分控制器的输出与第二比较单元的一个输入相连,第三前馈补偿项作为第二比较单元的另一个输入,第二比较单元的输出与第三比较单元的一个输入相连,第一前馈补偿项和第二前馈补偿项作为第三比较单元的另外两个输入项,第三比较单元的输出为控制绕组参考电压矢量ucs *,功率绕组实际电流矢量ips作为第一前馈补偿项的输入,控制绕组实际电流矢量ics作为第二前馈补偿项的输入。Preferably, the feedforward current controller includes a first comparison unit, a proportional-integral controller, a first feedforward compensation item, a second feedforward compensation item, a third feedforward compensation item, a second comparison unit and a third comparison unit unit, wherein the input of the first comparison unit is the control winding reference current vector i cs * and the actual current vector i cs , the output of the first comparison unit is connected with the input of the proportional-integral controller, and the output of the proportional-integral controller is connected with the second One input of the comparison unit is connected, the third feedforward compensation item is used as another input of the second comparison unit, the output of the second comparison unit is connected with an input of the third comparison unit, the first feedforward compensation item and the second feedforward compensation The compensation item is used as the other two input items of the third comparison unit, the output of the third comparison unit is the reference voltage vector u cs * of the control winding, the actual current vector i ps of the power winding is taken as the input of the first feed-forward compensation item, and the actual current vector of the control winding is The current vector i cs is used as the input of the second feed-forward compensation term.

优选的,所述磁链计算模块采集功率绕组定子电压在两相静止坐标系的数值upαs和upβs,并使用upαs和upβs计算功率绕组定子电压的相角θu及幅值|us|:Preferably, the flux linkage calculation module collects the values u pαs and up pβs of the power winding stator voltage in the two-phase stationary coordinate system, and uses up pαs and up pβs to calculate the phase angle θ u and the amplitude |u of the power winding stator voltage s |:

根据功率绕组定子电压和磁链的关系,计算功率绕组磁链的相角θp和幅值ψpAccording to the relationship between the stator voltage of the power winding and the flux linkage, the phase angle θ p and the amplitude ψ p of the power winding flux linkage are calculated:

其中,ωp为功率绕组电量的角速度。Among them, ω p is the angular velocity of the electric quantity of power winding.

优选的,所述角度计算模块由光电编码盘以及磁链计算模块获得的转子位置角θm和功率绕组磁链相角θp,计算得到控制绕组电量的角度θc,它们之间关系为:Preferably, the angle calculation module calculates the angle θ c of the control winding electricity from the rotor position angle θ m obtained by the photoelectric encoder disk and the flux calculation module and the phase angle θ p of the power winding flux, and the relationship between them is:

θc=θp-(pp+pcmθ c = θ p -(p p +p c ) θ m ;

其中,pp和pc分别为功率电机和控制电机的极对数。Among them, p p and p c are the pole pairs of the power motor and the control motor respectively.

优选的,所述角速度计算模块将光电编码盘以及磁链计算模块获得的转子位置角θm和功率绕组磁链相角θp进行微分,计算得到转子角速度ωm、功率绕组电量的角速度ωpPreferably, the angular velocity calculation module differentiates the rotor position angle θ m and the power winding flux linkage phase angle θ p obtained by the photoelectric encoder disc and the flux linkage calculation module, and calculates the rotor angular velocity ω m and the angular velocity ω p of the power winding electric quantity :

然后根据控制绕组电量角速度ωc与ωm、ωp的关系,计算出ωc的大小,它们之间关系为:Then, according to the relationship between the angular velocity ω c of the control winding electric quantity and ω m and ω p , the size of ω c is calculated, and the relationship between them is:

ωc=ωp-(pp+pcmω cp -(p p +p cm ;

其中,pp和pc分别为功率电机和控制电机的极对数。Among them, p p and p c are the pole pairs of the power motor and the control motor respectively.

优选的,所述SVPWM脉冲发生器使用空间矢量脉宽调制技术生成三相PWM波。Preferably, the SVPWM pulse generator uses space vector pulse width modulation technology to generate three-phase PWM waves.

优选的,所述控制绕组侧功率变换器采用三相全桥逆变电路。Preferably, the control winding side power converter adopts a three-phase full-bridge inverter circuit.

本发明还提供了一种前馈电流控制器,包括第一比较单元、比例积分控制器、第一前馈补偿项、第二前馈补偿项、第三前馈补偿项、第二比较单元和第三比较单元,其中,第一比较单元的输入为控制绕组参考电流矢量ics *和实际电流矢量ics,第一比较单元的输出与比例积分控制器的输入相连,比例积分控制器的输出与第二比较单元的一个输入相连,第三前馈补偿项作为第二比较单元的另一个输入,第二比较单元的输出与第三比较单元的一个输入相连,第一前馈补偿项和第二前馈补偿项作为第三比较单元的另外两个输入项,第三比较单元的输出为控制绕组参考电压矢量ucs *,功率绕组实际电流矢量ips作为第一前馈补偿项的输入,控制绕组实际电流矢量ics作为第二前馈补偿项的输入。The present invention also provides a feedforward current controller, including a first comparison unit, a proportional-integral controller, a first feedforward compensation item, a second feedforward compensation item, a third feedforward compensation item, a second comparison unit and The third comparison unit, wherein the input of the first comparison unit is the control winding reference current vector i cs * and the actual current vector i cs , the output of the first comparison unit is connected with the input of the proportional-integral controller, and the output of the proportional-integral controller It is connected with one input of the second comparison unit, the third feedforward compensation item is used as another input of the second comparison unit, the output of the second comparison unit is connected with an input of the third comparison unit, the first feedforward compensation item and the second The second feed-forward compensation item is used as the other two input items of the third comparison unit, the output of the third comparison unit is the reference voltage vector u cs * of the control winding, and the actual current vector i ps of the power winding is used as the input of the first feed-forward compensation item, The actual current vector i cs of the control winding is used as the input of the second feed-forward compensation term.

优选的,所述第一前馈补偿项为其包含一阶惯性环节,其中,k2=Lmc/Lmp,Lmc、Lmp、Lsp分别为控制绕组的互感、功率绕组的互感、功率绕组的自感,τ为一阶惯性环节的时间常数,ωc为控制绕组电量角速度,ips为功率绕组实际电流矢量,其dq轴电流分量为ipds和ipqsPreferably, the first feed-forward compensation item is It includes the first-order inertia link, where k 2 =L mc /L mp , L mc , L mp , and L sp are the mutual inductance of the control winding, the mutual inductance of the power winding, and the self-inductance of the power winding, respectively, and τ is the first-order inertia link The time constant of , ω c is the electric angular velocity of the control winding, ips is the actual current vector of the power winding, and its dq axis current components are i pds and i pqs ;

所述第二前馈补偿项为电感前馈项jωcLscics,Lsc为控制绕组的自感,ics为控制绕组实际电流矢量,其dq轴电流分量为icds和icqsThe second feedforward compensation item is the inductance feedforward item jω c L sc i cs , L sc is the self-inductance of the control winding, i cs is the actual current vector of the control winding, and its dq axis current components are i cds and i cqs ;

所述第三前馈补偿项为磁通前馈项jωck2ψp,ψp为功率绕组磁链幅值。The third feedforward compensation item is the flux feedforward item jω c k 2 ψ p , and ψ p is the magnitude of the power winding flux linkage.

本发明还提供了一种设计上述前馈电流控制器的方法,该方法包括以下步骤:The present invention also provides a method of designing the above-mentioned feedforward current controller, the method comprising the following steps:

(1)构建控制绕组电流回路的完整模型,其完整模型公式为:(1) Construct a complete model of the control winding current loop, and its complete model formula is:

(Rsc+sLsc)ics(s)=ucs(s)-k2(s+jωc)Lspips(s)-jωcLscics(s)+k2(s+jωcp(s);(R sc +sL sc )i cs (s)=u cs (s)-k 2 (s+jω c )L sp i ps (s)-jω c L sc i cs (s)+k 2 (s+ jω cp (s);

其中,Rsc为控制绕组的电阻,Lsc为控制绕组的自感,ucs为控制绕组实际电压矢量,其dq轴分量为ucds和ucqs;k2=Lmc/Lmp,Lmc、Lmp、Lsp分别为控制绕组的互感、功率绕组的互感、功率绕组的自感,ωc为控制绕组电量角速度;ips为功率绕组实际电流矢量,其dq轴分量为ipds和ipqs;ics为控制绕组实际电流矢量,其dq轴分量为icds和icqs;ψp为功率绕组磁链幅值;Among them, R sc is the resistance of the control winding, L sc is the self-inductance of the control winding, u cs is the actual voltage vector of the control winding, and its dq axis components are u cds and u cqs ; k 2 =L mc /L mp , L mc , L mp , L sp are the mutual inductance of the control winding, the mutual inductance of the power winding, and the self-inductance of the power winding respectively; ω c is the electric angular velocity of the control winding; ip ps is the actual current vector of the power winding, and its dq axis components are i pds and i pqs ; ics is the actual current vector of the control winding, and its dq axis components are i cds and i cqs ; ψ p is the flux linkage amplitude of the power winding;

(2)建立功率绕组实际电流矢量ips和控制绕组实际电流矢量ics之间的耦合关系,其耦合关系式为:(2) Establish the coupling relationship between the actual current vector i ps of the power winding and the actual current vector i cs of the control winding, the coupling relationship is:

其中,k=LmpLmc/(LspLr′),k1=Lr/Lr′,Lr为转子电感,Lr′=Lr-Lmp 2/Lsp为转子暂态电感;且Among them, k=L mp L mc /(L sp L r ′), k 1 =L r /L r ′, L r is the rotor inductance, L r ′=L r -L mp 2 /L sp is the transient state of the rotor inductance; and

其中,ωm为转子转速,Tr'为转子的暂态时间常数,Tr'=Lr′/Rr,Lr′=Lr-Lmp 2/Lsp为转子暂态电感,Rr为转子电阻;Among them, ω m is the rotor speed, T r 'is the transient time constant of the rotor, T r '=L r ′/R r , L r ′=L r -L mp 2 /L sp is the transient inductance of the rotor, R r is the rotor resistance;

(3)基于步骤(1)中的模型和步骤(2)中的耦合关系,构建控制绕组电流回路的结构,其中,一阶惯性环节GRL(s)=1/(Rsc+sLsc)是控制绕组电流回路的核心,电流回路有两个ics反馈支路,分别表示为支路I和支路II,其中支路I为ips和ics两个电流之间的耦合路径,控制绕组实际电流矢量ics通过两个串联链路反馈到控制绕组实际电压矢量ucs,分别由k(1+Gr(s))和k2Lsp(s+jωc)表示;支路II为jωcLsc(3) Based on the model in step (1) and the coupling relationship in step (2), construct the structure of the control winding current loop, where the first-order inertia link G RL (s)=1/(R sc +sL sc ) It is the core of the current loop of the control winding. The current loop has two i cs feedback branches, respectively denoted as branch I and branch II, where branch I is the coupling path between the two currents of i ps and i cs , and the control The actual current vector i cs of the winding is fed back to the actual voltage vector u cs of the control winding through two series links, represented by k(1+G r (s)) and k 2 L sp (s+jω c ) respectively; Branch II is jω c L sc ;

(4)根据步骤(3)中的控制绕组电流回路的结构,设计前馈电流控制器的补偿项(4) According to the structure of the control winding current loop in step (3), design the compensation item of the feedforward current controller

用作前馈项,等效地切除支路I,令作为第一前馈补偿项,其中,k2=Lmc/Lmp,Lmc、Lmp、Lsp分别为控制绕组的互感、功率绕组的互感、功率绕组的自感,τ为一阶惯性环节的时间常数,ωc为控制绕组电量角速度,ips为功率绕组实际电流矢量,其dq轴电流分量为ipds和ipqs;第二前馈补偿项为电感前馈项jωcLscics,其中Lsc为控制绕组的自感,ics为控制绕组实际电流矢量,其dq轴电流分量为icds和icqs;第三前馈补偿项为磁通前馈项jωck2ψp,其中ψp为功率绕组磁链幅值。Will As a feed-forward term, the branch I is equivalently cut off, so that As the first feed-forward compensation item, where, k 2 =L mc /L mp , L mc , L mp , L sp are the mutual inductance of the control winding, the mutual inductance of the power winding, and the self-inductance of the power winding respectively, and τ is the first-order inertia The time constant of the link, ω c is the angular velocity of the control winding electricity, ips is the actual current vector of the power winding, and its dq axis current components are i pds and i pqs ; the second feedforward compensation item is the inductance feedforward jω c L sc i cs , where L sc is the self-inductance of the control winding, ic is the actual current vector of the control winding, and its dq-axis current components are i cds and i cqs ; the third feed-forward compensation item is the flux feed-forward item jω c k 2 ψ p , where ψ p is the magnitude of the power winding flux linkage.

有益效果:与现有技术相比,本发明控制系统中前馈电流控制器控制结构简单、紧凑,控制精度高,具有快速的电流动态响应;本发明提供的控制系统在充分考虑控制绕组完整电流回路特性基础上,加入前馈补偿,极大地提高了控制绕组定子电流的控制效果,可实现更好的稳定性以及更快的动态性能;同时,本发明控制系统稳定性高,能够有效扩大无刷双馈电机稳定运行范围,在不同的运行速度下保持良好的性能。Beneficial effects: Compared with the prior art, the control structure of the feedforward current controller in the control system of the present invention is simple and compact, with high control precision and fast current dynamic response; the control system provided by the present invention fully considers the complete current of the control winding On the basis of loop characteristics, feedforward compensation is added, which greatly improves the control effect of controlling the stator current of the winding, and can achieve better stability and faster dynamic performance; at the same time, the control system of the present invention has high stability and can effectively expand infinite The brush double-fed motor has a stable operating range and maintains good performance at different operating speeds.

附图说明Description of drawings

图1是本发明控制系统结构示意图;Fig. 1 is a structural representation of the control system of the present invention;

图2是控制绕组电流回路结构示意图;Figure 2 is a schematic diagram of the control winding current loop structure;

图3是前馈电流控制器结构结构示意图;Fig. 3 is a structural schematic diagram of a feedforward current controller;

图4是无刷双馈电机运行在400r/min状态下实验波形图;Figure 4 is the experimental waveform diagram of the brushless doubly-fed motor running at 400r/min;

图5是无刷双馈电机运行在600r/min状态下实验波形图;Figure 5 is the experimental waveform diagram of the brushless doubly-fed motor running at 600r/min;

图6是无刷双馈电机运行在666r/min状态下实验波形图。Figure 6 is the experimental waveform diagram of the brushless doubly-fed motor running at 666r/min.

具体实施方式Detailed ways

下面结合附图和具体实施例对本发明的技术方案进行详细说明。The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

如图1所示,一种无刷双馈电机前馈电流控制系统,其结构包括电网1、无刷双馈电机2、第一变换器3、第二变换器4、磁链计算模块5、角度计算模块6、角速度计算模块7、光电编码盘8、前馈电流控制器9、第三变换器14、第四变换器10、SVPWM脉冲发生器11、控制绕组侧功率变换器12以及直流侧13,无刷双馈电机的功率绕组和控制绕组分别连接到电网1和功率变换器12上,功率变换器另一端连接到直流侧13;第一变换器的输入连接电网和无刷双馈电机的功率绕组,输出连接前馈电流控制器;第二变换器的输入连接电网和无刷双馈电机的功率绕组,输出连接磁链计算模块,磁链计算模块的一个输出连接前馈电流控制器,另一个输出一路连接第一变换器,另一路连接角度计算模块,第三路通过微分器连接角速度计算模块,角速度计算模块的输出连接前馈电流控制器;光电编码盘安装在无刷双馈电机转子上,用来测量无刷双馈电机的转子位置角θm,光电编码盘的输出一路通过微分器连接角速度计算模块,另一路连接角度计算模块,角度计算模块的输出分别与第三变换器14和第四变换器10的一个输入相连;第三变换器的另一个输入与无刷双馈电机的控制绕组连接,其输出与前馈电流控制器连接;前馈电流控制器的输出与第四变换器连接,第四变换器的输出与SVPWM脉冲发生器的输入相连,SVPWM脉冲发生器的输出与功率变换器的输入相连。As shown in Figure 1, a feed-forward current control system for a brushless doubly-fed motor, its structure includes a grid 1, a brushless doubly-fed motor 2, a first converter 3, a second converter 4, a flux calculation module 5, Angle calculation module 6, angular velocity calculation module 7, photoelectric encoder disk 8, feedforward current controller 9, third converter 14, fourth converter 10, SVPWM pulse generator 11, control winding side power converter 12 and DC side 13. The power winding and control winding of the brushless double-fed motor are respectively connected to the grid 1 and the power converter 12, and the other end of the power converter is connected to the DC side 13; the input of the first converter is connected to the grid and the brushless double-fed motor The output of the power winding is connected to the feed-forward current controller; the input of the second converter is connected to the grid and the power winding of the brushless doubly-fed motor, the output is connected to the flux calculation module, and one output of the flux calculation module is connected to the feed-forward current controller , the other output is connected to the first converter, the other is connected to the angle calculation module, the third is connected to the angular velocity calculation module through the differentiator, and the output of the angular velocity calculation module is connected to the feedforward current controller; the photoelectric encoder is installed on the brushless double-fed On the motor rotor, it is used to measure the rotor position angle θ m of the brushless doubly-fed motor. The output of the photoelectric encoder is connected to the angular velocity calculation module through a differentiator, and the other is connected to the angle calculation module. The output of the angle calculation module is respectively connected to the third transformation The input of the converter 14 is connected with the fourth converter 10; the other input of the third converter is connected with the control winding of the brushless doubly-fed machine, and its output is connected with the feed-forward current controller; the output of the feed-forward current controller is connected with the The fourth converter is connected, the output of the fourth converter is connected with the input of the SVPWM pulse generator, and the output of the SVPWM pulse generator is connected with the input of the power converter.

其中,第一变换器为3s/2r变换器,将电量从三相静止坐标系变换到两相旋转坐标系;第二变换器为3s/2s变换器,将电量从三相静止坐标系变换到两相静止坐标系;第三变换器为3s/2r变换器,将电量从三相静止坐标系变换到两相旋转坐标系;第四变换器为2r/2s变换器,将电量从两相旋转坐标系变换到两项静止坐标系。Among them, the first converter is a 3s/2r converter, which transforms the power from the three-phase stationary coordinate system to the two-phase rotating coordinate system; the second converter is a 3s/2s converter, which transforms the power from the three-phase stationary coordinate system to the two-phase rotating coordinate system. Two-phase stationary coordinate system; the third converter is a 3s/2r converter, which transforms the power from the three-phase stationary coordinate system to a two-phase rotating coordinate system; the fourth converter is a 2r/2s converter, which converts the power from two-phase rotation The coordinate system is transformed to a two-term stationary coordinate system.

本发明所述的控制系统首先将电网采集的三相电压信号upas、upbs、upcs通过第二变换器转换为两相静止坐标系下的upαs、upβs,使用磁链计算模块计算得出功率绕组磁链的相角θp和幅值ψp;采集三相电流信号ipas、ipbs、ipcs通过第一变换器转换为两相旋转坐标系下的ipds、ipqs;结合转子位置角θm和功率绕组磁链相角θp,使用角度计算模块,获得控制绕组电量的角度θc;分别将转子位置角θm和功率绕组磁链相角θp进行微分,计算得到转子角速度ωm、功率绕组电量的角速度ωp,结合角速度计算模块,计算得到控制绕组电量角速度ωc。然后将控制绕组dq轴参考电流icds *、icqs *和实际电流ipds、ipqs,以及其他变量ψp、θc、ωc等输入前馈电流控制器获得受控对象的控制电压ucds *、ucqs *。之后ucds *、ucqs *经过第四变换器转换为两相静止坐标系控制电压ucαs *、ucβs *。结合ucαs *、ucβs *,使用SVPWM脉冲发生器得到功率变换器的控制脉冲,将其输入至控制绕组侧功率变换器得到控制绕组的控制电压,最终实现对无刷双馈电机的有效控制。The control system of the present invention first converts the three-phase voltage signals u pas , u pbs , and u pcs collected by the power grid into up pαs and up pβs in the two-phase static coordinate system through the second converter, and uses the flux linkage calculation module to calculate Obtain the phase angle θ p and amplitude ψ p of the flux linkage of the power winding; collect the three-phase current signals i pas , i pbs , and i pcs and convert them into i pds and i pqs in the two-phase rotating coordinate system through the first converter; Combining the rotor position angle θ m and the power winding flux phase angle θ p , use the angle calculation module to obtain the angle θ c of the control winding electric quantity; differentiate the rotor position angle θ m and the power winding flux phase angle θ p respectively, and calculate The rotor angular velocity ω m and the angular velocity ω p of the power winding electric quantity are obtained, and combined with the angular velocity calculation module, the angular velocity ω c of the control winding electric quantity is calculated. Then input the dq-axis reference current i cds * , i cqs * and actual current i pds , i pqs , and other variables ψ p , θ c , ω c etc. into the feedforward current controller to obtain the control voltage u of the controlled object cds * , u cqs * . After that, u cds * and u cqs * are transformed into two-phase stationary coordinate system control voltages u cαs * and u cβs * through the fourth converter . Combining u cαs * and u cβs * , use SVPWM pulse generator to get the control pulse of the power converter, input it to the power converter on the control winding side to get the control voltage of the control winding, and finally realize the effective control of the brushless doubly-fed motor .

本发明提出了前馈电流控制器的设计方法,包括以下步骤:The present invention proposes the design method of feedforward current controller, comprises the following steps:

(1)构建控制绕组电流回路的完整模型,其完整模型可以表示为:(1) Construct a complete model of the control winding current loop, and its complete model can be expressed as:

(Rsc+sLsc)ics(s)=ucs(s)-k2(s+jωc)Lspips(s)-jωcLscics(s)+k2(s+jωcp(s) (1);(R sc +sL sc )i cs (s)=u cs (s)-k 2 (s+jω c )L sp i ps (s)-jω c L sc i cs (s)+k 2 (s+ jω cp (s) (1);

其中,Rsc为控制绕组的电阻,Lsc为控制绕组的自感,ucs为控制绕组实际电压矢量,其dq轴分量为ucds和ucqs,k2=Lmc/Lmp,Lmc、Lmp、Lsp分别为控制绕组的互感、功率绕组的互感、功率绕组的自感,ωc为控制绕组电量角速度,ips为功率绕组实际电流矢量,其dq轴分量为ipds和ipqs,ics为控制绕组实际电流矢量,其dq轴分量为icds和icqs,ψp为功率绕组磁链幅值。Among them, R sc is the resistance of the control winding, L sc is the self-inductance of the control winding, u cs is the actual voltage vector of the control winding, and its dq axis components are u cds and u cqs , k 2 =L mc /L mp , L mc , L mp , and L sp are the mutual inductance of the control winding, the mutual inductance of the power winding, and the self-inductance of the power winding respectively; ω c is the electrical angular velocity of the control winding; ip ps is the actual current vector of the power winding, and its dq axis components are i pds and i pqs , i cs is the actual current vector of the control winding, its dq axis components are i cds and i cqs , and ψ p is the magnitude of the power winding flux linkage.

(2)建立功率绕组实际电流矢量ips和控制绕组实际电流矢量ics之间的耦合关系,其耦合关系为:(2) Establish the coupling relationship between the actual current vector i ps of the power winding and the actual current vector i cs of the control winding, the coupling relationship is:

其中,k=LmpLmc/(LspLr′),k1=Lr/Lr′,Lr为转子电感,Lr′=Lr-Lmp 2/Lsp为转子暂态电感。且Among them, k=L mp L mc /(L sp L r ′), k 1 =L r /L r ′, L r is the rotor inductance, L r ′=L r -L mp 2 /L sp is the transient state of the rotor inductance. and

其中,ωm为转子转速,Tr'为转子的暂态时间常数,Tr'=Lr′/Rr,Lr′=Lr-Lmp 2/Lsp为转子暂态电感,Rr为转子电阻。Among them, ω m is the rotor speed, T r 'is the transient time constant of the rotor, T r '=L r ′/R r , L r ′=L r -L mp 2 /L sp is the transient inductance of the rotor, R r is the rotor resistance.

(3)基于步骤(1)中的模型和步骤(2)中的耦合关系,构建控制绕组电流回路的结构,如图2所示。图2中,一阶惯性环节GRL(s)=1/(Rsc+sLsc)是控制绕组电流回路的核心,电流回路有两个ics反馈支路,分别表示为支路I和支路II。支路I表示两个电气端口(ips和ics)电流之间的耦合路径。其中,控制绕组实际电流矢量ics通过两个串联链路反馈到控制绕组实际电压矢量ucs,分别由k(1+Gr(s))和k2Lsp(s+jωc)表示;支路II为jωcLsc(3) Based on the model in step (1) and the coupling relationship in step (2), construct the structure of the control winding current loop, as shown in Figure 2. In Fig. 2, the first-order inertial link G RL (s)=1/(R sc +sL sc ) is the core of the control winding current loop, and the current loop has two i cs feedback branches, respectively denoted as branch I and branch Road II. Branch I represents the coupling path between the currents of the two electrical ports (i ps and i cs ). Among them, the actual current vector i cs of the control winding is fed back to the actual voltage vector u cs of the control winding through two series links, represented by k(1+G r (s)) and k 2 L sp (s+jω c ) respectively; Branch II is jω c L sc .

(4)根据步骤(3)中的控制绕组电流回路的结构,设计前馈电流控制器的补偿项(4) According to the structure of the control winding current loop in step (3), design the compensation item of the feedforward current controller

如图2中的支路I所示,控制绕组电流矢量ics通过两个串联链路反馈到控制绕组实际电压矢量ucs,分别由k(1+Gr(s))和k2Lsp(s+jωc)表示。由于分支I较复杂,因此将整个分支添加为前馈项目不合适,但是,上述两个链路通过功率绕组实际电流矢量ips耦合,而ips很容易测量。将用作前馈项,则可以等效地切除支路I,令作为第一前馈补偿项,其中,k2=Lmc/Lmp,Lmc、Lmp、Lsp分别为控制绕组的互感、功率绕组的互感、功率绕组的自感,τ为一阶惯性环节的时间常数,ωc为控制绕组电量角速度,ips为功率绕组实际电流矢量,其dq轴电流分量为ipds和ipqs;同时为了优化控制效果,为前馈电流控制器加入第二前馈补偿项和第三前馈补偿项,第二前馈补偿项为电感前馈项jωcLscics,其中Lsc为控制绕组的自感,ics为控制绕组实际电流矢量,其dq轴电流分量为icds和icqs;第三前馈补偿项为磁通前馈项jωck2ψp,其中ψp为功率绕组磁链幅值。As shown in the branch I in Fig. 2, the control winding current vector i cs is fed back to the control winding actual voltage vector u cs through two series links, respectively by k(1+G r (s)) and k 2 L sp (s+jω c ) means. Since branch I is more complex, it is not appropriate to add the whole branch as a feed-forward item, however, the above two links are coupled through the actual current vector i of the power winding , which is easy to measure. Will As a feed-forward term, the branch I can be cut off equivalently, so that As the first feed-forward compensation item, where, k 2 =L mc /L mp , L mc , L mp , L sp are the mutual inductance of the control winding, the mutual inductance of the power winding, and the self-inductance of the power winding respectively, and τ is the first-order inertia The time constant of the link, ω c is the angular velocity of the electric quantity of the control winding, ips is the actual current vector of the power winding, and its dq-axis current components are i pds and i pqs ; at the same time, in order to optimize the control effect, a second front feed-forward current controller is added The feed-forward compensation item and the third feed-forward compensation item, the second feed-forward compensation item is the inductance feed-forward item jω c L sc i cs , where L sc is the self-inductance of the control winding, ic is the actual current vector of the control winding, and its dq The shaft current components are i cds and icqs ; the third feedforward compensation item is the flux feedforward item jω c k 2 ψ p , where ψ p is the magnitude of the power winding flux linkage.

综上所述,根据上述设计方法设计出的前馈电流控制器的框图如图3所示,其结构包括第一比较单元21、比例积分控制器22、第一前馈补偿项23、第二前馈补偿项24、第三前馈补偿项25、第二比较单元26和第三比较单元27,其中,第一比较单元的输入为控制绕组参考电流矢量ics *(ics *的dq轴分量为icds *和icqs *)和实际电流矢量ics(ics的dq轴分量为icds和icqs),第一比较单元的输出与比例积分控制器的输入相连,比例积分控制器的输出与第二比较单元的一个输入相连,第三前馈补偿项作为第二比较单元的另一个输入,第二比较单元的输出与第三比较单元的一个输入相连,第一前馈补偿项和第二前馈补偿项作为第三比较单元的另外两个输入项,第三比较单元的输出为控制绕组参考电压矢量ucs *(ucs *的dq轴分量为ucds *和ucqs *),功率绕组实际电流矢量ips(ips的dq轴分量为ipds和ipqs)作为第一前馈补偿项的输入,控制绕组实际电流矢量ics作为第二前馈补偿项的输入。In summary, the block diagram of the feedforward current controller designed according to the above design method is shown in Figure 3, and its structure includes a first comparison unit 21, a proportional-integral controller 22, a first feedforward compensation item 23, a second Feedforward compensation item 24, the third feedforward compensation item 25, the second comparison unit 26 and the third comparison unit 27, wherein the input of the first comparison unit is the dq axis of the control winding reference current vector i cs * (i cs * The components are i cds * and i cqs * ) and the actual current vector i cs (the dq axis components of i cs are i cds and i cqs ), the output of the first comparison unit is connected with the input of the proportional-integral controller, and the proportional-integral controller The output of the second comparison unit is connected to an input of the second comparison unit, the third feedforward compensation item is used as another input of the second comparison unit, the output of the second comparison unit is connected to an input of the third comparison unit, and the first feedforward compensation item and the second feed-forward compensation item as the other two input items of the third comparison unit, the output of the third comparison unit is the control winding reference voltage vector u cs * (the dq axis components of u cs * are u cds * and u cqs * ), the actual current vector i ps of the power winding (the dq axis components of i ps are i pds and i pqs ) is used as the input of the first feedforward compensation item, and the actual current vector i cs of the control winding is used as the input of the second feedforward compensation item.

第一比较单元21用于获取控制绕组dq轴参考电流矢量ics *和实际电流矢量ics之差。The first comparison unit 21 is used to obtain the difference between the dq axis reference current vector i cs * and the actual current vector i cs of the control winding.

比例积分控制器22用于获取受控对象的控制信号,比例积分控制器的PI参数设置为kp=gLsc和ki=gRsc,其中,g为PI控制器的增益。The proportional-integral controller 22 is used to obtain the control signal of the controlled object, and the PI parameters of the proportional-integral controller are set as k p =gL sc and ki =gR sc , where g is the gain of the PI controller.

第一前馈补偿项23为:其包含一阶惯性环节,其中,k2=Lmc/Lmp,Lmc、Lmp、Lsp分别为控制绕组的互感、功率绕组的互感、功率绕组的自感,τ为一阶惯性环节的时间常数,ωc为控制绕组电量角速度,ips为功率绕组实际电流矢量,其dq轴电流分量为ipds和ipqsThe first feedforward compensation item 23 is: It includes the first-order inertia link, where k 2 =L mc /L mp , L mc , L mp , and L sp are the mutual inductance of the control winding, the mutual inductance of the power winding, and the self-inductance of the power winding, respectively, and τ is the first-order inertia link The time constant of , ω c is the electric angular velocity of the control winding, ips is the actual current vector of the power winding, and its dq axis current components are i pds and i pqs ;

第二前馈补偿项24为电感前馈项jωcLscics,Lsc为控制绕组的自感,ics为控制绕组实际电流矢量,其dq轴电流分量为icds和icqsThe second feed-forward compensation item 24 is the inductance feed-forward item jω c L sc i cs , L sc is the self-inductance of the control winding, i cs is the actual current vector of the control winding, and its dq axis current components are i cds and i cqs .

第三前馈补偿项25为磁通前馈项jωck2ψp,ψp为功率绕组磁链幅值。The third feed-forward compensation item 25 is the flux feed-forward item jω c k 2 ψ p , and ψ p is the flux linkage amplitude of the power winding.

图1中,磁链计算模块首先采集功率绕组定子电压在两相静止坐标系的数值upαs、upβs,使用upαs、upβs计算功率绕组定子电压的相角θu及幅值|us|:In Figure 1, the flux linkage calculation module first collects the values u pαs and u pβs of the stator voltage of the power winding in the two-phase stationary coordinate system, and uses u pαs and u pβs to calculate the phase angle θ u and the amplitude |u s of the stator voltage of the power winding |:

根据功率绕组定子电压和磁链的关系,计算功率绕组磁链的相角θp和幅值ψpAccording to the relationship between the stator voltage of the power winding and the flux linkage, the phase angle θ p and the amplitude ψ p of the power winding flux linkage are calculated:

角度计算模块,由光电编码盘以及磁链计算模块获得的转子位置角θm和功率绕组磁链相角θp,计算得到控制绕组电量的角度θc,它们之间关系为Angle calculation module, from the rotor position angle θ m and the power winding flux phase angle θ p obtained by the photoelectric encoder disk and the flux calculation module, the angle θ c of the control winding electric quantity is calculated, and the relationship between them is

θc=θp-(pp+pcm (8);θ c = θ p -(p p +p c ) θ m (8);

其中,pp和pc分别为功率电机和控制电机的极对数。Among them, p p and p c are the pole pairs of the power motor and the control motor respectively.

角速度计算模块,先将光电编码盘以及磁链计算模块获得的转子位置角θm和功率绕组磁链相角θp进行微分,计算得到转子角速度ωm、功率绕组电量的角速度ωpThe angular velocity calculation module first differentiates the rotor position angle θ m and the power winding flux phase angle θ p obtained by the photoelectric encoder disk and the flux linkage calculation module, and calculates the rotor angular velocity ω m and the angular velocity ω p of the power winding electricity:

然后根据控制绕组电量角速度ωc与ωm、ωp的关系,计算出ωc的大小,它们之间关系为:Then, according to the relationship between the angular velocity ω c of the control winding electric quantity and ω m and ω p , the size of ω c is calculated, and the relationship between them is:

ωc=ωp-(pp+pcm (10);ω cp -(p p +p cm (10);

其中,pp和pc分别为功率电机和控制电机的极对数。Among them, p p and p c are the pole pairs of the power motor and the control motor respectively.

SVPWM脉冲发生器使用空间矢量脉宽调制技术生成三相PWM波,进而控制控制绕组侧功率变换器,实现对无刷双馈发电机的控制。The SVPWM pulse generator uses space vector pulse width modulation technology to generate three-phase PWM waves, and then controls the power converter on the control winding side to realize the control of the brushless doubly-fed generator.

控制绕组侧功率变换器采用三相全桥逆变电路,其输出波形谐波小,有利于对无刷双馈电机的控制。The power converter on the control winding side adopts a three-phase full-bridge inverter circuit, and its output waveform has small harmonics, which is beneficial to the control of the brushless doubly-fed motor.

采用本实施例所述的一种无刷双馈电机前馈电流控制系统的实验波形如图4–图6所示。在前馈电流控制器中施加阶跃变化的控制绕组dq轴参考电流icds *、icqs *,图4为无刷双馈电机运行在400r/min状态下控制绕组电流在dq坐标系下(icds、icqs)以及三相静止坐标系下(icas、icbs)的波形图,电流频率为10Hz;图5为无刷双馈电机运行在600r/min状态下控制绕组电流在dq坐标系下(icds、icqs)以及三相静止坐标系下(icas、icbs)的波形图,电流频率为-10Hz(反相序);图6为无刷双馈电机运行在666r/min状态下控制绕组电流在dq坐标系下(icds、icqs)以及三相静止坐标系下(icas、icbs)的波形图,电流频率为-16.6Hz(反相序)。The experimental waveforms of a brushless doubly-fed motor feed-forward current control system described in this embodiment are shown in FIGS. 4-6 . In the feed-forward current controller, the control winding dq axis reference current i cds * , i cqs * with step change is applied. Figure 4 shows the control winding current in the dq coordinate system when the brushless doubly-fed motor is running at 400r/min ( i cds , i cqs ) and the three-phase static coordinate system (i cas , i cbs ) waveforms, the current frequency is 10Hz; Fig. 5 shows the dq coordinates of the control winding current when the brushless doubly-fed motor is running at 600r/min System (i cds , i cqs ) and three-phase stationary coordinate system (i cas , i cbs ), the current frequency is -10Hz (anti-phase sequence); Figure 6 shows the brushless doubly-fed motor running at 666r/ Waveform diagrams of the control winding current in the dq coordinate system (i cds , i cqs ) and the three-phase stationary coordinate system (i cas , i cbs ) in the min state, and the current frequency is -16.6Hz (anti-phase sequence).

从图中可以看出,不同转速下前馈电流控制器的电流上升时间都很短,控制器可在阶跃变化时以较小的振荡实现较快的响应,这表明采用本实施例所述的一种无刷双馈电机前馈电流控制系统在不同的运行速度下均具有很好的稳定性和动态性;无刷双馈电机同步速为500r/min,在转速高于600r/min(120%同步速)时,传统电流控制器鲁棒性差,甚至出现失稳,而前馈电流控制器在转速升高至666r/min(133%同步速)时仍能保持良好的控制性能,稳定运行范围由同步速的120%扩大到133%,这表明前馈电流控制系统能够有效扩大无刷双馈电机稳定运行范围。It can be seen from the figure that the current rise time of the feed-forward current controller at different speeds is very short, and the controller can achieve a faster response with a smaller oscillation during the step change, which shows that the A brushless double-fed motor feed-forward current control system has good stability and dynamics at different operating speeds; the synchronous speed of the brushless double-fed motor is 500r/min, and when the speed is higher than 600r/min ( 120% synchronous speed), the traditional current controller has poor robustness, and even appears unstable, while the feed-forward current controller can still maintain good control performance when the speed increases to 666r/min (133% synchronous speed), stable The operating range is expanded from 120% to 133% of the synchronous speed, which shows that the feed-forward current control system can effectively expand the stable operating range of the brushless doubly-fed motor.

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:
θcp-(pp+pcm
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:
ωcp-(pp+pcm
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+jωcp(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.
CN201810538847.3A 2018-05-30 2018-05-30 A kind of brushless dual-feed motor feedforward current control system, feedforward current controller and its design method Pending CN108777558A (en)

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