CN108809157B - Three-direct-current motor forward series control system and method - Google Patents
Three-direct-current motor forward series control system and method Download PDFInfo
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- H02P5/685—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors electrically connected in series, i.e. carrying the same current
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Abstract
The invention discloses a forward series control system and method for three direct current motors, eight IGBT modules form four bridge arms in a two-to-two series connection mode and are connected in parallel with the positive and negative electrodes of a direct current power supply, the three direct current motors in the forward series connection mode are respectively connected in series with the four bridge arms, the three direct current motors sequentially pass through a speed sensor, a current sensor and a speed adjusting module and then are respectively connected with a reference voltage synthesizer through two stages of PI controllers, the reference voltage synthesizer is connected with a four-phase inverter through a PWM pulse generating unit, the four-phase inverter is respectively connected with the reference voltage synthesizer through the current adjusting module and the one stage of PI controller and is connected to the PWM pulse generating unit through the reference voltage synthesizer, and pulse control signals generated by the PWM pulse generating unit control the on-off of the eight IGBT modules to drive the three direct. The invention has the advantages of less used circuit components, simple structure, stable and reliable performance and popularization and use value.
Description
Technical Field
The invention belongs to the technical field of motor systems and control, and particularly relates to a three-direct-current motor forward series control system and a three-direct-current motor forward series control method.
Background
With the improvement of living standard and the development of modern production and office automation, household appliances, industrial robots and other equipment tend to be more and more efficient, miniaturized and highly intelligent, and as an important component of an execution element, a motor must have the characteristics of high precision, high speed, high efficiency and the like, and the application of a direct current motor is rapidly increased.
In a specific application, the direct current motor is required to realize four motion states of forward electric motion, reverse electric motion, forward regenerative braking and reverse regenerative braking, the rotating speed and the electromagnetic torque are in the same direction under the electric operation, and the rotating speed and the electromagnetic torque are in the reverse direction under the regenerative braking operation, which are generally called four-quadrant control of the direct current motor.
In the prior art, a four-quadrant control circuit of a direct current motor is complex in structure, many in functional modules and expensive in price, but the performance is not perfect, and how to design a driving circuit with simple structure and excellent performance is the direction of continuous research of technicians in the field.
Disclosure of Invention
The invention aims to solve the technical problem of providing a three-direct-current-motor forward series control system and a three-direct-current-motor forward series control method aiming at the defects in the prior art, so that four-quadrant control is performed on three direct-current motors connected in series in a forward direction, and a direct-current motor system is saved.
The invention adopts the following technical scheme:
a three-DC motor forward series control system comprises three-DC motors, a four-phase inverter and a DC power supply which are connected in series in the forward direction, wherein the four-phase inverter comprises eight IGBT modules, the eight IGBT modules form four bridge arms in a pairwise series connection mode and are connected in parallel with the positive pole and the negative pole of the DC power supply, the three-DC motors which are connected in series in the forward direction are respectively connected in series with the four bridge arms, the three-DC motors sequentially pass through a speed sensor, the current sensor and the speed regulation module are respectively connected with a reference voltage synthesizer through a two-stage PI controller, the reference voltage synthesizer is connected with the input end of a four-phase inverter through a PWM pulse generation unit, the output end of the four-phase inverter is respectively connected with the current regulation module and the three direct current motors, the current regulation module is connected with the reference voltage synthesizer through a one-stage PI controller, and pulse control signals generated by the PWM pulse generation unit control the on-off of the eight IGBT modules to drive the three direct current motors to operate.
Specifically, the IGBT module includes a bipolar transistor chip and a diode chip, and the four bridge arms specifically are: the first bridge arm is composed of bipolar transistor chips T1 and T4 and diode chips D1 and D4 connected in parallel, the second bridge arm is composed of bipolar transistor chips T3 and T6 and diode chips D3 and D6 connected in parallel, the third bridge arm is composed of bipolar transistor chips T5 and T2 and diode chips D5 and D2 connected in parallel, and the fourth bridge arm is composed of bipolar transistor chips T7 and T8 and diode chips D7 and D8 connected in parallel.
Further, the midpoint between the first bridge arm T1 and the T4 is a node a point, the midpoint between the second bridge arm T3 and the T6 is a node B point, the midpoint between the third bridge arm T5 and the T2 is a node C point, the midpoint between the fourth bridge arm T7 and the T8 is a node d point, the three direct current motors include a direct current motor a, a direct current motor B and a direct current motor C, the direct current motor a is coupled through a coupling inductance element, and then the positive port is connected with the node a point, and the negative port is connected with the node B point; after being coupled by a coupling inductance element, the direct current motor B is connected with a node B through an anode port and a node c through a cathode port; after being coupled by a coupling inductance element, the direct current motor C is connected with the node C through the positive port, and is connected with the node d through the negative port.
A forward series control method for three DC motors is characterized in that after a system is initialized, the rotating speeds, currents and voltages of three motors in a three-DC motor system are all improved by a PI (proportional integral) controller to obtain the steady-state voltages V of the three motors1、V2、V3Will V1、V2、V3Respectively sending into a reference voltage synthesizer to obtain four paths of output voltages U1、U2、U3、U4Four paths of output voltage are sent to a PWM pulse adjusting module for SPWM modulation, and the PWM duty ratio is controlled; the four-phase inverter drives the three direct current motors to work under the action of external direct current voltage, and simultaneously feeds the current on the branch back to the three groups of steady-state currents, so that the forward series control of the three direct current motors is realized.
Specifically, the method comprises the following steps:
s1, the system startsAnd respectively recording the rotating speeds of the three direct current motors as omega by driving a rotating speed counter by the three direct current motors through a sensor1、ω2、ω3；
S2, converting omega1、ω2、ω3With given speed of the motor in the system
After passing through the speed adjusting module, obtaining a rotating speed error ew1、ew2、ew3Then, the system steady state is regulated through a PI controller to obtain a reference current
At the same time as the actual current I1、I2、I3Obtaining a current error e after current regulationa、eb、ecAnd after the stable state is regulated by the PI controller again, three stable state voltages are generated and recorded as V respectively1、V2、V3；
S3, adjusting the steady-state voltage V after PI adjustment1、V2、V3Sending the three-path voltage into a reference voltage synthesizer to obtain four-path output voltage marked as U1、U2、U3、U4；
S4, converting U in the step S31、U2、U3、U4The four groups of output voltages are input into a PWM pulse regulation module for SPWM modulation, and the modulated pulses are input into a four-phase inverter;
s5, the four-phase inverter drives the three-DC motor to work under the action of external DC voltage, and simultaneously, the current I on the branch circuit is converted into the current I1、I2、I3Current I fed back to step S21、I2、I3。
Further, in step S2, the reference current limit value output in S1 is subtracted from the nominal circuit under the action of the first-order low-pass filter, and then differential gain and proportional gain are performed respectively, and a finite integrator is used for the integral gain module to generate a limiter, and three steady-state voltages are respectively marked as V1、V2、V3The following were used:
wherein, KpIs the proportional amplification factor, k, of the current regulator1Is the inverse of the current regulator integration time constant.
Further, the error e of the rotation speedw1、ew2、ew3The following were used:
reference current
The following were used:
wherein k isp1Is the proportional amplification factor, k, of a speed regulator2Is the reciprocal of the integral time constant of the speed regulator;
error of current ea、eb、ecThe following were used:
further, in step S3, the reference voltage calculation formula of the three-way voltage synthesizer is as follows:
further, in step S4, the output wave is modulated with a series of sawtooth waves, and the PWM duty is obtained from the natural intersection of the two.
Further, in step S5, when the rotation speed of the dc motor exceeds the given rotation speed, the motor is in a power generation state, the voltage of the dc bus increases, the rectification feedback portion starts to work, and the surplus energy is fed back to the power grid, and the motor goes down at the given speed, thereby implementing forward series four-quadrant control of the three-dc motor.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a three-DC motor forward series control system, eight IGBT modules form four branches in a two-by-two series connection mode and are connected in parallel with the positive and negative poles of a DC power supply, the three DC motors are respectively connected in series with the four branches, sequentially pass through a speed sensor, a current sensor and a speed adjusting module and then are respectively connected with a reference voltage synthesizer through a two-stage PI controller, the reference voltage synthesizer is connected with a four-phase inverter through a PWM pulse generating unit, the four-phase inverter is respectively connected with the reference voltage synthesizer through the current adjusting module and the one-stage PI controller and is connected with the PWM pulse generating unit through the reference voltage synthesizer, pulse control signals generated by the PWM pulse generating unit control the on-off of the eight IGBT modules to drive the three DC motors to operate, a plurality of DC motors can simultaneously carry out four-quadrant control, the system structure is simple and clear, the control is easy, and the total number of, the cost is saved, the economic benefit is improved, and the method has better practical value.
Furthermore, three direct current motors are respectively connected and arranged at the middle points of the four branches, and an equation set required by nodes and loops can be listed by applying kirchhoff current and voltage law, so that the current of each unknown branch can be solved. The direct current motors are connected with each other at the middle points of the four branches, so that time errors of current and voltage in circuit transmission are eliminated, and the current and voltage instantaneous values of the middle points of the branches can be calculated conveniently by using KCL and KVL.
The invention also discloses a forward series control method of the three direct current motors, the rotating speed, the current and the voltage of the three motors in the three direct current motor system are all improved by the PI controller, and the steady-state voltage V of the three motors is controlled by the PI controller1、V2、V3Respectively sending into a reference voltage synthesizer to obtain four paths of output voltages U1、U2、U3、U4Four paths of output voltage are sent to a PWM pulse adjusting module for SPWM modulation, and the PWM duty ratio is controlled; the four-phase inverter drives the three direct current motors to work under the action of external direct current voltage, meanwhile, current on the branch circuits is fed back to three groups of steady-state currents, forward series connection of the three direct current motors is controlled, the system calculates real-time rotating speed according to the rotating speed counter, the size relation between the real-time rotating speed and reference rotating speed is judged, and four-quadrant control of the motors is achieved. The series circuit also ensures that the errors of parameters such as current, voltage, rotating speed and the like in the circuit are small through the PI controller and the reference voltage synthesizer, and the system is stable.
Further, in step S2, each path of current and voltage is subjected to system steady state adjustment by the PI controller, the PI controller controls a deviation signal of the system through a proportional correction link, and once the deviation is formed, the controller immediately generates a control action to reduce the deviation; and the integration link is mainly used for eliminating the static error and improving the error degree of the system. After the current and the voltage of each branch in the system are regulated by the PI controller, partial errors can be eliminated, and the steady-state performance of the control system is improved.
Furthermore, after the voltage of each branch is synthesized by the reference voltage synthesizer, the voltage of n branches is divided into the reference voltage of n +1 branches, the reference voltage is very stable, and the natural intersection point of the output waveform of the reference voltage and the sawtooth wave can be conveniently calculated during PWM regulation.
Furthermore, when the PWM duty ratio is adjusted, a sine wave and a triangular wave are generally used for modulation to find a natural intersection point, but when the sine wave frequency changes, the entire intersection point needs to be recalculated, which results in a very complicated calculation step and is not convenient for real-time control of the system. When the sawtooth wave and the output waveform are adopted for modulation, because the sawtooth wave is very stable, the intersection point of the sawtooth wave and the output waveform can be accurately obtained, the calculation is also very easy, and accurate SPWM modulation can be realized.
Furthermore, the four-quadrant control of the motor is divided into four states of forward rotation electric driving, feedback braking, reverse rotation electric driving and reverse connection braking. After the motor starts to work, the system takes the rotating speed of the motor as a judgment condition, and when the actual rotating speed is lower than the given rotating speed, the motor is in an electric state; when the actual rotating speed is higher than the given rotating speed, the motor is in a power generation state. The four-quadrant control of the multi-direct current motor can be realized according to the two criteria. The motors run independently without mutual influence, and the system stability is good.
In conclusion, the invention has the advantages of less used circuit components, simple structure, stable and reliable performance and popularization and use value.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a circuit diagram of a three-DC motor forward series control circuit according to the present invention;
FIG. 2 is a three DC motor series control system of the present invention;
fig. 3 is a flow chart of the three dc motors of the present invention.
Detailed Description
Referring to fig. 1, according to the three-dc-motor forward series control system of the present invention, three dc motors are connected in forward series, the voltages of the three dc motors are regulated in a steady state, the voltages are synthesized in a reference voltage synthesizer, and the output voltage waveforms are subjected to PWM pulse regulation to obtain a PWM duty ratio, and the operating voltage of the dc motor and the dc power supply are compared to each other, so as to implement four-quadrant control of the three dc motors.
The three-phase direct current motor A, B, C sequentially passes through a speed sensor, a current sensor and a speed adjusting module through corresponding coupling inductance elements and then is respectively connected with a reference voltage synthesizer through a two-stage PI controller, the reference voltage synthesizer is connected with the input end of a four-phase inverter through a PWM pulse generating unit, the output end of the four-phase inverter is respectively connected with a current adjusting module and the three direct current motors, the current adjusting module is connected with the reference voltage synthesizer through a one-stage PI controller, the reference voltage synthesizer is connected to the PWM pulse generation unit, and pulse control signals generated by the PWM pulse generation unit control the on-off of the eight IGBT modules to drive the three direct current motors to operate.
The first bridge arm is composed of bipolar transistor chips T1 and T4 and diode chips D1 and D4 connected in parallel, the second bridge arm is composed of bipolar transistor chips T3 and T6 and diode chips D3 and D6 connected in parallel, the third bridge arm is composed of a bipolar transistor chip T5, the fourth bridge arm is composed of bipolar transistor chips T7 and T8 and diode chips D7 and D8 which are connected in parallel, the midpoint of the bipolar transistor chip T1 and the bipolar transistor chip T4 of the first bridge arm is a node a point, the midpoint of the bipolar transistor chip T3 and the bipolar transistor chip T6 of the second bridge arm is a node b point, the midpoint of the bipolar transistor chip T5 and the bipolar transistor chip T2 of the third bridge arm is a node c point, and the midpoint of the bipolar transistor chip T7 and the bipolar transistor chip T8 of the fourth bridge arm is a node D point.
Combining 8 IGBT modules and a direct current power supply module into a chopper module, wherein after the chopper module is coupled through a coupling inductance element, the positive electrode of a direct current motor A is connected with a node a, and the negative electrode of the direct current motor A is connected with a node b; the positive pole of the direct current motor B is connected with the node B, and the negative pole of the direct current motor B is connected with the node c; the positive pole of the direct current motor C is connected with the node C, the negative pole of the direct current motor C is connected with the node d, and the F + and F-ports of the 3 direct current motors are connected with the excitation power supply of the motor and are respectively connected with the positive pole and the negative pole.
Referring to fig. 2, after the system is initialized, the rotating speeds, currents and voltages of three motors in the system are all improved by the PI controller, and finally, the steady-state voltages of the three motors are respectively sent to the reference voltage synthesizer to obtain four output voltages, and the four output voltages are sent to the PWM pulse adjusting module for SPWM modulation to control the PWM duty ratio; the four-phase inverter drives the three direct current motors to work under the action of external direct current voltage, and simultaneously feeds the current on the branch circuits back to the three groups of steady-state currents to complete the whole control loop.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a forward series control method for three direct current motors, which comprises the following steps:
s1, initializing the system, driving a revolution counter by the three direct current motors through a sensor to record the revolution of the three direct current motors as a number one motor revolution speed omega1No. two motor rotation speed omega2Motor speed omega3；
The speed slope reaches the nominal speed under the action of a first-order low-pass filter, then differential gain and proportional gain are respectively carried out on the nominal speed, limited integration is carried out on an integral gain module, and finally a reference current limit value is output.
S2、ω1、ω2、ω3Given rotating speed omega of first motor in system1*Given rotation speed omega of motor II2*Given rotation speed omega of No. three motor3*Respectively passing through a speed adjusting module to obtain a first motor rotating speed error ew1No. two motor rotation speed error ew2No. three motor rotation speed error ew3Then, the stable state of the system is regulated through a PI controller to obtain a first motor reference current I1*Reference current I of motor II2*Reference current I of motor No. three3*At the same actual current I as1Second actual current I2Third actual current I3Obtaining a first motor current error e after current regulationaNo. two motor current error ebNo. three motor current error ecGo to once moreAfter the PI controller regulates the steady state, three voltages are generated and are respectively recorded as a first motor voltage V1Voltage V of motor II2Third electrode voltage V3；
The current needs to be modulated by a current regulator, a reference current limit value output in S1 is subtracted from a nominal circuit under the action of a first-order low-pass filter, differential gain and proportional gain are respectively carried out on the reference current limit value, and a finite integrator is adopted for an integral gain module to generate an amplitude limiter.
The calculation formula of the rotating speed error is as follows:
the calculation formula of the reference current is as follows:
the current error is calculated as follows:
the calculation formula of the reference voltage is as follows:
s3, mixing V1、V2、V3The three-path voltage is sent into a reference voltage synthesizer, and four-path output voltage is obtained and recorded as a first-path output voltage U1The second output voltage U2The third path of output voltage U3And a fourth output voltage U4；
The reference voltage calculation formula of the three-way voltage synthesizer is as follows:
wherein, V1、V2、V3Respectively the voltage value, U, of three motors before reference voltage synthesis after PI regulation1、U2、U3、U4Four sets of voltage values after reference voltage synthesis.
S4, converting U in S31、U2、U3、U4The four groups of output voltages are input into a PWM pulse regulation module for SPWM modulation, and the modulated pulses are input into a four-phase inverter;
s5, the four-phase inverter drives the three-DC motor to work under the action of external DC voltage, and simultaneously feeds back the currents I1, I2 and I3 on the branch to the current I of the step S21、I2、I3。
When the whole control system starts to work, once the rotating speed of the direct current motor exceeds a given rotating speed, the motor is in a power generation state, the voltage of a direct current bus rises, the rectification feedback part starts to work, redundant energy starts to be fed back to a power grid, the motor descends at the given speed, and forward series four-quadrant control of the three direct current motors is achieved.
When pwm of steady voltage is regulated, a sinusoidal pulse width modulation technique (SPWM technique) is generally adopted to modulate a plurality of pulses in each sinusoidal period with natural or regular width, so that a pulse sequence with a phase angle and area equivalent to sinusoidal function values is sequentially modulated to form sinusoidal current output with equal amplitude and unequal width.
Wherein, the ratio of the fundamental wave (sine modulation wave) per week to the total number of pulses contained in the modulation output is the carrier ratio. According to the basic principle of SPWM control, the switching of a power switch device is controlled at the natural intersection point moment of a sine wave and a triangular wave, and the method for generating the SPWM waveform is called as a natural sampling method. The sine wave has a different value at different phase angles, and therefore the pulse width resulting from the intersection with the triangular wave is also different. When the frequency or amplitude of the sine wave changes, the width of each pulse also changes accordingly. To accurately generate the SPWM waveform, the intersection of the sine wave and the triangular wave should be accurately calculated. However, the method is difficult to calculate and solve and is not suitable for microcomputer real-time control.
The method modulates the output wave and a row of sawtooth waves, observes the natural intersection point of the output wave and the row of sawtooth waves, and obtains the PWM duty ratio. The PWM regulation method can accurately obtain the intersection point of the output waveform and the sawtooth wave, and can realize accurate SPWM modulation.
When the generated voltage of the motor is greater than the voltage of the direct-current power supply, the PWM duty ratio can be adjusted by adopting the three-direct-current motor forward series control mode, so that the generated voltage meets the requirement of a feed network, and the four-quadrant control of the three-direct-current motor is realized.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (4)
1. A control method of a three-direct current motor forward series control system is characterized in that the three-direct current motor forward series control system comprises three direct current motors, a four-phase inverter and a direct current power supply which are connected in series in a forward direction, the four-phase inverter comprises eight IGBT modules, the eight IGBT modules form four bridge arms in a two-to-two series connection mode and are connected in parallel with the positive pole and the negative pole of the direct current power supply, the three direct current motors which are connected in series in the forward direction are respectively connected in series with the four bridge arms, the three direct current motors sequentially pass through a speed sensor, a current sensor and a speed adjusting module and then are respectively connected with a reference voltage synthesizer through a two-stage PI controller, the reference voltage synthesizer is connected with the input end of the four-phase inverter through a PWM pulse generating unit, the output end of the four-phase inverter is respectively connected with the current adjusting module and the three direct current motors, the current adjusting module, the pulse control signals generated by the PWM pulse generating unit control the on-off of the eight IGBT modules to drive the three direct current motors to operate;
the IGBT module comprises a bipolar transistor chip and a diode chip, and the four bridge arms specifically comprise: the first bridge arm consists of bipolar transistor chips T1 and T4 and diode chips D1 and D4 connected in parallel, the second bridge arm consists of bipolar transistor chips T3 and T6 and diode chips D3 and D6 connected in parallel, the third bridge arm consists of bipolar transistor chips T5 and T2 and diode chips D5 and D2 connected in parallel, and the fourth bridge arm consists of bipolar transistor chips T7 and T8 and diode chips D7 and D8 connected in parallel;
the middle points of the first bridge arm T1 and the T4 are a node a point, the middle points of the second bridge arm T3 and the T6 are a node B point, the middle points of the third bridge arm T5 and the T2 are a node C point, the middle points of the fourth bridge arm T7 and the T8 are a node d point, the three direct current motors comprise a direct current motor A, a direct current motor B and a direct current motor C, the positive pole of the direct current motor A is connected with the node a point, and the negative pole of the direct current motor A is connected with the node B point; the positive pole of the direct current motor B is connected with the node B, and the negative pole of the direct current motor B is connected with the node c; after the system is initialized, the rotating speeds and currents of three motors in the three direct current motor system are improved by the PI controller to obtain the steady-state voltages V of the three motors1、V2、V3Will V1、V2、V3Respectively sending into a reference voltage synthesizer to obtain four paths of output voltages U1、U2、U3、U4Four paths of output voltage are sent to a PWM pulse adjusting module for SPWM modulation, and the PWM duty ratio is controlled; the four-phase inverter drives the three direct current motors to work under the action of external direct current voltage, and meanwhile, the actual current on the branch circuit is fed back and adjusted with the reference current to obtain a current error, so that the forward series control of the three direct current motors is realized, and the method comprises the following steps:
s1, initializing the system, driving a revolution counter by the three direct current motors through a sensor to record the revolution speeds of the three direct current motors as omega respectively1、ω2、ω3；
S2, converting omega1、ω2、ω3With given speed of the motor in the system
After passing through the speed adjusting module, obtaining a rotating speed error eω1、eω2、eω3Then the system steady state is regulated through a PI controller,obtaining a reference current
At the same time as the actual current I1、I2、I3Obtaining a current error e after current regulationa、eb、ecAnd after the stable state is regulated by the PI controller again, three stable state voltages are generated and recorded as V respectively1、V2、V3Subtracting the actual value of the reference current calculated by the PI controller from the actual value of the circuit under the action of the first-order low-pass filter, respectively performing integral gain and proportional gain on the reference current, generating an amplitude limiter by adopting a finite integrator to an integral gain module, and respectively recording three steady-state voltages as V1、V2、V3The following were used:
wherein, KpIs the proportional amplification factor, k, of the current regulator1Is the inverse of the current regulator integration time constant;
s3, adjusting the steady-state voltage V after PI adjustment1、V2、V3Sending the three-path voltage into a reference voltage synthesizer to obtain four-path output voltage marked as U1、U2、U3、U4The reference voltage calculation formula of the three-way voltage synthesizer is as follows:
s4, converting U in the step S31、U2、U3、U4The four paths of output voltages are input into a PWM pulse regulation module for SPWM modulation, and the modulated pulses are input into a four-phase inverter;
s5, the four-phase inverter drives the three-direct-current motor to work under the action of external direct-current voltage, and meanwhile, the actual current I on the branch circuit is converted into direct current I1、I2、I3Actual current I fed back to step S21、I2、I3。
2. The control method according to claim 1, wherein in step S2, the rotational speed error eω1、eω2、eω3The following were used:
reference current
The following were used:
wherein k isp1Is the proportional amplification factor, k, of a speed regulator2Is the reciprocal of the integral time constant of the speed regulator;
error of current ea、eb、ecThe following were used:
3. the control method according to claim 1, wherein in step S4, the output wave is modulated with a train of sawtooth waves, and the PWM duty ratio is obtained from a natural intersection of the two.
4. The control method of claim 1, wherein in step S5, when the rotation speed of the dc motor exceeds a given rotation speed, the motor is in a power generation state, the dc bus voltage rises, the rectification feedback part starts to work, and the excess energy is fed back to the power grid, and the motor operates at the given speed, thereby implementing forward series four-quadrant control of the three-dc motor.
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| CN102158152A (en) * | 2011-04-06 | 2011-08-17 | 广东戈兰玛汽车系统有限公司 | Multiple-motor control circuit with link arm bridge |
| CN103199774A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Device and method for drive control of servo direct current motor |
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| CN101931352A (en) * | 2010-07-14 | 2010-12-29 | 中国人民解放军海军航空工程学院 | Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof |
| CN104320034B (en) * | 2014-10-30 | 2017-04-12 | 福州大学 | Permanent magnet brushless direct current motor low-speed and zero-speed rotor position observing method |
| CN107017804A (en) * | 2017-02-28 | 2017-08-04 | 海航生态科技集团有限公司 | The control system and method for series direct current motor |
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| CN102158152A (en) * | 2011-04-06 | 2011-08-17 | 广东戈兰玛汽车系统有限公司 | Multiple-motor control circuit with link arm bridge |
| CN103199774A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Device and method for drive control of servo direct current motor |
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