CN108983099A - A kind of permanent magnet synchronous motor load simulation system and its control method - Google Patents
A kind of permanent magnet synchronous motor load simulation system and its control method Download PDFInfo
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- CN108983099A CN108983099A CN201810969241.5A CN201810969241A CN108983099A CN 108983099 A CN108983099 A CN 108983099A CN 201810969241 A CN201810969241 A CN 201810969241A CN 108983099 A CN108983099 A CN 108983099A
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Abstract
The invention discloses a kind of permanent magnet synchronous motor load simulation system and its control method, system includes load simulation permanent magnet synchronous motor and load simulation motor-drive circuit and data acquisition control system；Load simulation permanent magnet synchronous motor is connect with the output end of load simulation motor-drive circuit, and the output shaft of tested motor passes through the output axis connection of shaft coupling and load simulation permanent magnet synchronous motor；Data acquisition control system includes microcontroller, and the input of microcontroller is terminated with three-phase current sample circuit, three-phase voltage sample circuit, velocity sensor and torque sensor, the output end connection of load simulation motor-drive circuit and microcontroller；Its control method is comprising steps of the acquisition of one, data and transmission, two, data prediction, and three, using SVPWM Direct Torque Control mode load simulation permanent magnet synchronous motor is controlled.The present invention can accurately simulate the load under different operating conditions, and method and step is simple, and it is convenient to realize, convenient for promoting the use of.
Description
Technical field
The invention belongs to Motor Measuring System technical fields, and in particular to a kind of permanent magnet synchronous motor load simulation system and
Its control method.
Background technique
Higher and higher to the performance requirement of motor with scientific and technological continuous progress, the zero load for not requiring nothing more than test motor is dynamic
State property energy, it is often more important that test the load dynamic property of motor, it is therefore desirable to a kind of load simulation system is studied, in laboratory
The load of complexity, multiplicity that environment Imitating motor is undertaken in practical applications.The purpose of load test is determining motor
The parameters such as torque, efficiency, power factor, revolving speed, stator current guarantee for the test of motor characteristic in the case of different loads
Motor is still able to maintain under the suitable occasion of difference and runs well, and high production efficiency.
Existing existing load simulation system can be divided into mechanical, fluid pressure type, magnetic-powder-type, electrodynamic type etc..It is mechanical negative
Carrying simulation system is the simulation system first appeared, carries out springform to load according to basic principles such as the effect reciprocities of power
Quasi-, although structure is simple, use cost is low, can not achieve continuous analog, can not simulate complicated torque；In the seventies
Just, Japanese scholars devise fluid pressure type load simulation system earliest, and simulation precision is high, but system is more complex；Wang Li et al.
" modeling of magnetic powder brake and distinguish research " has been delivered on the periodical " electric automatization " of the 05th phase of volume 32 in 2010, has been mentioned
Magnetic powders brake formula simulation system is gone out, but this system can not achieve forward and reverse Fast simulation, therefore can only test motor stabilizing
Performance is not used to motor dynamics performance test；Electrodynamic type load simulation system have small in size, control flexibly, structure it is simple,
The advantages that all kinds of mechanical loads can be simulated.
Permanent magnet synchronous motor (permanent magnet synchronous motor) is not required to because rotor uses permanent magnet
Idle exciting current is wanted, and is lost in stable operation without rotor resistance, efficiency improves, and has saved the energy in this way, has reduced into
This, and because dynamic response is fast, controls the advantages such as precision is high, runs smoothly, become the first choice of load simulation system.Wang Dechen et al.
" the Direct Torque Control of motor four quadrant running has been delivered on the periodical " Jilin University's journal " of the 01st phase of volume 44 in 2014
Dynamically load ", according to the operating status of tested motor, the given torque of computational load simulation system, can only mimotope energy it is negative
It carries, and amplitude limiting processing is not done to speed, system is easy to appear driving phenomenon.Model outstanding person was in University Of Chongqing's master's degree opinion in 2007
System unstable state is analyzed in literary " the dynamometer machine dynamically load research based on Direct Torque Control ", but there is no propose
Concrete measure.
According to load attribute energy active dragging motor rotate, still cannot active dragging motor rotation, be divided into two major classes.The
One kind be cannot the rotation of active dragging motor, belonging to this kind of loads has resistance load, fan-type load, constant power load；
Second class be can active dragging motor, belonging to this kind of loads has potential energy loading high.
Existing mechanical, fluid pressure type, magnetic-powder-type load simulation system cannot test the load dynamic property of motor, and forever
Magnetic-synchro motor load simulation system can only accurately simulate first kind load, and without control permanent magnet synchronous motor load simulation
The speed of system is easy to appear driving phenomenon.Direct Torque Control is the frequency control that vector control technology grows up later
Technology, torque response are fast.Traditional Hysteresis control torque pulsation is larger, can reduce torque pulsation using SVPWM technology.In conjunction with
Electric current id=0 control thought, electric current are all used to generate torque, so that torque output efficiency is maximum.In order to meet motor
State property energy test requirements document, electromechanical testing platform must test the dynamic performance testing of motor under different loads, thus study one
Kind can simulate the load simulation system of the various loads undertaken in practical application, and having in motor performance test field can study
Property.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of structure letter
List, realization is convenient, can accurately simulate the load under different operating conditions, practical permanent magnet synchronous motor load simulation system.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of permanent magnet synchronous motor load simulation system
System, for providing load for tested motor, it is characterised in that: including load simulation permanent magnet synchronous motor and for driving load mould
The load simulation motor-drive circuit and data acquisition control system of quasi- permanent magnet synchronous motor；The load simulation permanent magnetism is same
Step motor is connect with the output end of load simulation motor-drive circuit, and the output shaft of the tested motor passes through shaft coupling and load
Simulate the output axis connection of permanent magnet synchronous motor；The data acquisition control system includes microcontroller, the microcontroller
Input is terminated with the three-phase current sample circuit sampled for the three-phase current to load simulation permanent magnet synchronous motor, is used for
Three-phase voltage sample circuit that the three-phase voltage of load simulation permanent magnet synchronous motor is sampled, for load simulation permanent magnetism
The velocity sensor that the speed of synchronous motor is detected and the torque for load simulation permanent magnet synchronous motor detect
Torque sensor, the output end of the load simulation motor-drive circuit and microcontroller connects.
A kind of above-mentioned permanent magnet synchronous motor load simulation system, it is characterised in that: the load simulation motor driven electricity
Road is three-phase fully-controlled bridge inverter circuit.
Above-mentioned a kind of permanent magnet synchronous motor load simulation system, it is characterised in that: the microcontroller is DSP number letter
Number processor.
That the present invention also provides a kind of method and steps is simple, it is convenient to realize, can accurately simulate load under different operating conditions,
Torque response is fast, torque pulsation is small, simulation precision is high, practical, using effect is good, permanent magnet synchronous electric convenient for popularization and use
The control method of machine load simulation system, which is characterized in that method includes the following steps:
Step 1: data acquisition and transmission: A phase electricity of the three-phase current sample circuit to load simulation permanent magnet synchronous motor
Stream, B phase current and C phase current are acquired and export collected signal to microcontroller, three-phase voltage sample circuit pair
A phase voltage, B phase voltage and the C phase voltage of load simulation permanent magnet synchronous motor be acquired and by collected signal export to
Microcontroller, the signal that velocity sensor is detected and be will test to the speed of load simulation permanent magnet synchronous motor export to
Microcontroller, the signal that torque sensor is detected and be will test to the torque of load simulation permanent magnet synchronous motor export to
Microcontroller；
Step 2: data prediction, detailed process are as follows:
Step 201, the microcontroller are electric to the A phase of load simulation permanent magnet synchronous motor using the method for Clarke transformation
Flow ia, B phase current ibWith C phase current icClarke transformation is carried out, obtains stator current in the component i of α axisαWith stator current in β
The component i of axisβ；The microcontroller uses the method for Clarke transformation to the A phase voltage u of load simulation permanent magnet synchronous motora、B
Phase voltage ubWith C phase voltage ucCarry out Clarke transformation, obtain stator voltage α axis component u α and stator voltage β axis point
Measure uβ；
Step 202, the microcontroller are according to formula Te'=1.5Pn(ψαiβ-ψβiα) torque calculation value T is calculatede′；
Wherein, PnFor the rated power to fictitious load, ψ α is component and ψ of the stator magnetic linkage in α axisα=∫ (uα-Rs·iα) dt, ψβFor
Component and ψ of the stator magnetic linkage in β axisβ=∫ (uβ-Rs·iβ) dt, RsFor stator resistance, t is the time；
Step 203, the microcontroller are according to formulaIt calculates
To torque reference value Te *, wherein TOFor the given value of constant torque, a, b, c are velocity coeffficient, d 60Pn/ 2 π, n are load
The rated speed of permanent magnet synchronous motor is simulated, sign (n) is given function and sign (n>=0)=- 1, sign (n<0)=1；J is
The rotary inertia of mechanical load and transmission shaft, J1For the rotary inertia of load simulation permanent magnet synchronous motor, I is 2 π/60；
Step 3: being controlled using SVPWM Direct Torque Control mode load simulation permanent magnet synchronous motor, specific mistake
Journey are as follows:
The calculating of step 301, load torque angle changing value, detailed process are as follows:
Step 3011, the microcontroller are according to formula Δ T=Te *-TeThe torque that torque sensor detects is calculated
TeWith torque reference value Te *Difference DELTA T；
The speed signal that step 3012, the microcontroller are detected according to velocity sensor is to load simulation permanent-magnet synchronous
Motor carries out speed limiting control, output torque regulated value Tere1；
Step 3013, the microcontroller are according to formula Δ T '=Δ T-Tere1Torque regulated value Δ T ' is calculated；
Step 3014, the microcontroller are using pi regulator and according to formulaIt is calculated
Load torque angle changing value Δ δ；Wherein, kpFor the proportionality coefficient that PI is adjusted, kiFor the integral coefficient that PI is adjusted, s indicates integral；
The calculating of step 302, stator flux regulation target vector, detailed process are as follows: the microcontroller is according to formulaStator flux regulation target vector is calculated | ψs(k+1)|*,
In, k indicates the k moment, and k+1 indicates k+1 moment, ψfFor rotor flux, LsqIt is motor stator inductance in the component of q axis, p is motor
Number of pole-pairs；
The calculating of step 303, voltage vector, detailed process are as follows:
Step 3031, the microcontroller are according to formula Usα(k+1)=[| ψs(k+1)|*cos(θ+Δδ)-ψskcosθ]/Ts+
RsiαThe voltage vector component U in α axis is calculatedsα(k+1)；
Step 3032, the microcontroller are according to formula Usβ(k+1)=[| ψs(k+1)|*sin(θ+Δδ)-ψsksinθ]/Ts+
RsiβThe voltage vector component U in β axis is calculatedsβ(k+1)；
Wherein, θ be angle of torsion andTsFor the control period of voltage vector, ψskFor the stator at k moment
Magnetic linkage and
Step 304, microcontroller, which export voltage vector, gives load simulation motor-drive circuit, passes through load simulation motor
Driving circuit drives load simulation permanent magnet synchronous motor.
Above-mentioned method, it is characterised in that: the speed that microcontroller described in step 3012 is detected according to velocity sensor
It spends signal and speed limiting control, output torque regulated value T is carried out to load simulation permanent magnet synchronous motorere1Method particularly includes:
When the revolving speed for the load simulation permanent magnet synchronous motor that velocity sensor detects | n0| it is less than speed limiting value | n*| when, (| n0|-|
n*|) < 0, speed cut-off negative-feedback does not work, output torque regulated value Tere1=0, load simulation permanent magnet synchronous motor at this time
Speed is servo-actuated tested motor variation；When the revolving speed for the load simulation permanent magnet synchronous motor that velocity sensor detects | n0| it is greater than
Speed limiting value | n*| when, (| n0|-|n*|) > 0, speed cut-off negative-feedback starts working, output torque regulated value Tere1=K1
(|n0|-|n*|), K1For speed limiting coefficient.
Above-mentioned method, it is characterised in that: further include step 30131 between step 3013 and step 3014: the micro-control
Device processed judges torque reference value Te *Whether the speed signal direction detected with velocity sensor is identical, as torque reference value Te *
When identical as speed signal direction, multiplier is arrived in output 1；As torque reference value Te *When not identical as speed signal direction, output 0
To multiplier；After multiplier amplifies K times, torque regulated value Δ T ' is updated with torque regulated value Δ T ' work difference.
Compared with the prior art, the present invention has the following advantages:
1, the present invention is directed to load simulation system, proposes a kind of permanent magnet synchronous motor load simulation system and its simulation side
Method proposes different control methods, can accurately simulate different operating conditions by the loadtype undertaken in analysis actual production
Under load, potential energy loading high can either be simulated, and resistance load can be simulated, method and step is simple, and it is convenient to realize.
2, the present invention has used speed cut-off negative-feedback to carry out clipping control to speed permanent-magnet synchronous load simulation system,
Driving phenomenon is avoided, the reliability and stability of permanent-magnet synchronous load simulation system work are effectively increased.
3, torque response of the present invention is fast, torque pulsation is small, simulation precision is high, and system control effect is good.
4, of the invention practical, using effect is good, convenient for promoting the use of.
In conclusion system structure of the invention is simple, method and step is simple, and it is convenient to realize, can accurately simulate difference
Load under operating condition, torque response is fast, torque pulsation is small, simulation precision is high, practical, and using effect is good, makes convenient for promoting
With.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the schematic block circuit diagram of permanent magnet synchronous motor load simulation system of the present invention.
Fig. 2 is the method flow block diagram of the control method of permanent magnet synchronous motor load simulation system of the present invention.
Fig. 3 is the schematic diagram that the present invention implements the control method of permanent magnet synchronous motor load simulation system in 2.
Fig. 4 is the schematic diagram that the present invention implements the control method of permanent magnet synchronous motor load simulation system in 3.
Fig. 5 is the permanent magnet synchronous motor load simulation system of simulation building of the present invention and the connection figure of system under test (SUT).
Fig. 6 is the resistance load torque response curve that present invention emulation obtains.
Fig. 7 is the resistance loading speed curve graph that present invention emulation obtains.
Fig. 8 is the potential energy loading high torque response curve graph that present invention emulation obtains.
Fig. 9 is the potential energy loading high speed curve diagram that present invention emulation obtains.
Description of symbols:
1-load simulation permanent magnet synchronous motor；2-load simulation motor-drive circuits；
3-1-microcontroller；3-2-three-phase current sample circuit；
3-3-three-phase voltage sample circuit；3-4-velocity sensor；
3-5-torque sensor；4-tested motors；
5-tested motor driving circuits；6-systems under test (SUT).
Specific embodiment
1 pair of permanent magnet synchronous motor load simulation system of the invention is described by the following examples, passes through embodiment 2
The control method of permanent magnet synchronous motor load simulation system of the invention is described when being potential energy loading high to fictitious load, leads to
Cross embodiment 3 to the control method of permanent magnet synchronous motor load simulation system of the invention when fictitious load is resistance load into
Row description.
Embodiment 1
As shown in Figure 1, permanent magnet synchronous motor load simulation system of the invention is wrapped for providing load for tested motor 4
Include load simulation permanent magnet synchronous motor 1 and the load simulation motor-drive circuit for driving load simulation permanent magnet synchronous motor 1
2 and data acquisition control system；The output of the load simulation permanent magnet synchronous motor 1 and load simulation motor-drive circuit 2
End connection, the output shaft of the tested motor 4 pass through the output axis connection of shaft coupling and load simulation permanent magnet synchronous motor 1；Institute
Stating data acquisition control system includes microcontroller 3-1, the input of the microcontroller 3-1 be terminated with for load simulation forever
Three-phase current sample circuit 3-2 that the three-phase current of magnetic-synchro motor 1 is sampled, for load simulation permanent magnet synchronous motor
Three-phase voltage sample circuit 3-3 that 1 three-phase voltage is sampled, for the speed to load simulation permanent magnet synchronous motor 1 into
The velocity sensor 3-4 of row detection and the torque sensor detected for the torque to load simulation permanent magnet synchronous motor 1
3-5, the load simulation motor-drive circuit 2 are connect with the output end of microcontroller 3-1.
When it is implemented, the tested motor 4 is driven by tested motor driving circuit 5.The tested motor 4 and tested electricity
Drive circuit 5 forms system under test (SUT) 6.
In the present embodiment, the load simulation motor-drive circuit 2 is three-phase fully-controlled bridge inverter circuit.
In the present embodiment, the microcontroller 3-1 is DSP digital signal processor.
Embodiment 2
The present embodiment waits for that fictitious load is potential energy loading high, this kind of load energy dragging motor reversion.Simulate this kind of loaded
Cheng Zhong, when the torque that load simulation permanent magnet synchronous motor 1 exports is greater than 4 output torque of tested motor, tested motor 4 cannot
Load simulation permanent magnet synchronous motor 1 is driven to have rotated, the speed of load simulation permanent magnet synchronous motor 1 is gradually reduced, until being 0,
Load simulation permanent magnet synchronous motor 1 starts to drive tested 4 motor reversals at this time.
As shown in Figures 2 and 3, the control method of permanent magnet synchronous motor load simulation system of the invention, including following step
It is rapid:
Step 1: data acquisition and transmission: A phase of the three-phase current sample circuit 3-2 to load simulation permanent magnet synchronous motor 1
Electric current, B phase current and C phase current, which are acquired and export collected signal, gives microcontroller 3-1, three-phase voltage sampling electricity
Road 3-3 is acquired the A phase voltage, B phase voltage and C phase voltage of load simulation permanent magnet synchronous motor 1 and by collected letter
Microcontroller 3-1 is given in number output, and velocity sensor 3-4 carries out detection to the speed of load simulation permanent magnet synchronous motor 1 and will inspection
The signal measured, which exports, gives microcontroller 3-1, and torque sensor 3-5 examines the torque of load simulation permanent magnet synchronous motor 1
It surveys and the signal that will test exports and gives microcontroller 3-1；
Step 2: data prediction, detailed process are as follows:
Step 201, the microcontroller 3-1 use the method for Clarke transformation to the A of load simulation permanent magnet synchronous motor 1
Phase current ia, B phase current ibWith C phase current icClarke transformation is carried out, obtains stator current in the component i of α axisαWith stator electricity
Flow the component i in β axisβ；The microcontroller 3-1 uses the method for Clarke transformation to the A of load simulation permanent magnet synchronous motor 1
Phase voltage ua, B phase voltage ubWith C phase voltage ucClarke transformation is carried out, obtains stator voltage in the component u of α axisαWith stator electricity
It is pressed in the component u of β axisβ；
Step 202, the microcontroller 3-1 are according to formula Te'=1.5Pn(ψαiβ-ψβiα) torque calculation value is calculated
Te′；Wherein, PnFor the rated power to fictitious load, ψαFor stator magnetic linkage α axis component and ψα=∫ (uα-Rs·iα) dt, ψβ
For stator magnetic linkage β axis component and ψβ=∫ (uβ-Rs·iβ) dt, RsFor stator resistance, t is the time；
Step 203, the microcontroller 3-1 are according to formulaIt calculates
Obtain torque reference value Te *, wherein TOFor the given value of constant torque, a, b, c are velocity coeffficient, d 60Pn/ 2 π, n are negative
Carry simulation permanent magnet synchronous motor 1 rated speed (unit r/min), sign (n) be given function and sign (n >=0)=- 1,
Sign (n < 0)=1；J is the rotary inertia of mechanical load and transmission shaft, J1It is used for the rotation of load simulation permanent magnet synchronous motor 1
Amount, I are 2 π/60；
Step 3: being controlled using SVPWM Direct Torque Control mode load simulation permanent magnet synchronous motor 1, specifically
Process are as follows:
The calculating of step 301, load torque angle changing value, detailed process are as follows:
Step 3011, the microcontroller 3-1 are according to formula Δ T=Te *-TeTorque sensor 3-5 is calculated to detect
Torque TeWith torque reference value Te *Difference DELTA T；
The speed signal that step 3012, the microcontroller 3-1 are detected according to velocity sensor 3-4 to load simulation forever
Magnetic-synchro motor 1 carries out speed limiting control, output torque regulated value Tere1；
In the present embodiment, speed signal that microcontroller 3-1 described in step 3012 is detected according to velocity sensor 3-4
Speed limiting control, output torque regulated value T are carried out to load simulation permanent magnet synchronous motor 1ere1Method particularly includes: work as speed
The revolving speed for the load simulation permanent magnet synchronous motor 1 that sensor 3-4 is detected | n0| it is less than speed limiting value | n*| when, (| n0|-|n*
|) < 0, speed cut-off negative-feedback does not work, output torque regulated value Tere1=0, load simulation permanent magnet synchronous motor 1 at this time
Speed is that servo-actuated tested motor 4 changes；When the revolving speed for the load simulation permanent magnet synchronous motor 1 that velocity sensor 3-4 is detected | n0
| it is greater than speed limiting value | n*| when, (| n0|-|n*|) > 0, speed cut-off negative-feedback starts working, output torque regulated value
Tere1=K1(|n0|-|n*|), K1For speed limiting coefficient.
Step 3013, the microcontroller 3-1 are according to formula Δ T '=Δ T-Tere1Torque regulated value Δ T ' is calculated；
Step 30131: the microcontroller 3-1 judges torque reference value Te *The speed detected with velocity sensor 3-4
Whether sense is identical, as torque reference value Te *When identical as speed signal direction, multiplier is arrived in output 1；Work as torque reference
Value Te *When not identical as speed signal direction, multiplier is arrived in output 0；After multiplier amplifies K times, with torque regulated value Δ T '
Make difference to be updated torque regulated value Δ T '.
Step 3014, the microcontroller 3-1 are using pi regulator and according to formulaIt calculates
To load torque angle changing value Δ δ；Wherein, kpFor the proportionality coefficient that PI is adjusted, kiFor the integral coefficient that PI is adjusted, s indicates product
Point；
The calculating of step 302, stator flux regulation target vector, detailed process are as follows: the microcontroller 3-1 is according to formulaStator flux regulation target vector is calculated | ψs(k+1)|*,
In, k indicates the k moment, and k+1 indicates k+1 moment, ψfFor rotor flux, LsqIt is motor stator inductance in the component of q axis, p is motor
Number of pole-pairs；
The calculating of step 303, voltage vector, detailed process are as follows:
Step 3031, the microcontroller 3-1 are according to formula Usα(k+1)=[| ψs(k+1)|*cos(θ+Δδ)-ψskcosθ]/Ts
+RsiαThe voltage vector component U in α axis is calculatedsα(k+1)；
Step 3032, the microcontroller 3-1 are according to formula Usβ(k+1)=[| ψs(k+1)|*sin(θ+Δδ)-ψsksinθ]/Ts
+RsiβThe voltage vector component U in β axis is calculatedsβ(k+1)；
Wherein, θ be angle of torsion andTsFor voltage vector the control period (i.e. every TsOutput one
Voltage vector controls signal), ψskFor the k moment stator magnetic linkage and
Step 304, microcontroller 3-1 export voltage vector to load simulation motor-drive circuit 2, pass through load simulation
Motor-drive circuit 2 drives load simulation permanent magnet synchronous motor 1.
Embodiment 3
The present embodiment waits for fictitious load as resistance load, and this kind of load is unable to dragging motor reversion.Simulate this kind of load
In the process, when the torque that load simulation permanent magnet synchronous motor 1 exports is greater than tested motor 4, load simulation permanent magnet synchronous motor 1 is not
Tested motor 4 can be driven to invert.Direction and torque reference value T when the revolving speed of load simulation permanent magnet synchronous motor 1e *Direction phase
Meanwhile the torque that load simulation permanent magnet synchronous motor 1 exports is greater than 4 output torque of tested motor, needs by carrying out to torque
It adjusts, control load simulation permanent magnet synchronous motor 1 does not drive tested motor 4 to invert, to simulate resistance load.
As shown in Figure 2 and Figure 4, the control method of permanent magnet synchronous motor load simulation system of the invention, including following step
It is rapid:
Step 1: data acquisition and transmission: A phase of the three-phase current sample circuit 3-2 to load simulation permanent magnet synchronous motor 1
Electric current, B phase current and C phase current, which are acquired and export collected signal, gives microcontroller 3-1, three-phase voltage sampling electricity
Road 3-3 is acquired the A phase voltage, B phase voltage and C phase voltage of load simulation permanent magnet synchronous motor 1 and by collected letter
Microcontroller 3-1 is given in number output, and velocity sensor 3-4 carries out detection to the speed of load simulation permanent magnet synchronous motor 1 and will inspection
The signal measured, which exports, gives microcontroller 3-1, and torque sensor 3-5 examines the torque of load simulation permanent magnet synchronous motor 1
It surveys and the signal that will test exports and gives microcontroller 3-1；
Step 2: data prediction, detailed process are as follows:
Step 201, the microcontroller 3-1 use the method for Clarke transformation to the A of load simulation permanent magnet synchronous motor 1
Phase current ia, B phase current ibWith C phase current icClarke transformation is carried out, obtains stator current in the component i of α axisαWith stator electricity
Flow the component i in β axisβ；The microcontroller 3-1 uses the method for Clarke transformation to the A of load simulation permanent magnet synchronous motor 1
Phase voltage ua, B phase voltage ubWith C phase voltage ucClarke transformation is carried out, obtains stator voltage in the component u of α axisαWith stator electricity
It is pressed in the component u of β axisβ；
Step 202, the microcontroller 3-1 are according to formula Te'=1.5Pn(ψαiβ-ψβiα) torque calculation value is calculated
Te′；Wherein, PnFor the rated power to fictitious load, ψαFor stator magnetic linkage α axis component and ψα=∫ (uα-Rs·iα) dt, ψβ
For stator magnetic linkage β axis component and ψβ=∫ (uβ-Rs·iβ) dt, RsFor stator resistance, t is the time；
Step 203, the microcontroller 3-1 are according to formulaMeter
Calculation obtains torque reference value Te *, wherein TOFor the given value of constant torque, a, b, c are velocity coeffficient, d 60Pn/ 2 π, n are
The rated speed (unit r/min) of load simulation permanent magnet synchronous motor 1, sign (n) be given function and sign (n >=0)=-
1, sign (n < 0)=1；J is the rotary inertia of mechanical load and transmission shaft, J1For the rotation of load simulation permanent magnet synchronous motor 1
Inertia, I are 2 π/60；
Step 3: being controlled using SVPWM Direct Torque Control mode load simulation permanent magnet synchronous motor 1, specifically
Process are as follows:
The calculating of step 301, load torque angle changing value, detailed process are as follows:
Step 3011, the microcontroller 3-1 are according to formula Δ T=Te *-TeTorque sensor 3-5 is calculated to detect
Torque TeWith torque reference value Te *Difference DELTA T；
The speed signal that step 3012, the microcontroller 3-1 are detected according to velocity sensor 3-4 to load simulation forever
Magnetic-synchro motor 1 carries out speed limiting control, output torque regulated value Tere1；
In the present embodiment, speed signal that microcontroller 3-1 described in step 3012 is detected according to velocity sensor 3-4
Speed limiting control, output torque regulated value T are carried out to load simulation permanent magnet synchronous motor 1ere1Method particularly includes: work as speed
The revolving speed for the load simulation permanent magnet synchronous motor 1 that sensor 3-4 is detected | n0| it is less than speed limiting value | n*| when, (| n0|-|n*
|) < 0, speed cut-off negative-feedback does not work, output torque regulated value Tere1=0, load simulation permanent magnet synchronous motor 1 at this time
Speed is that servo-actuated tested motor 4 changes；When the revolving speed for the load simulation permanent magnet synchronous motor 1 that velocity sensor 3-4 is detected | n0
| it is greater than speed limiting value | n*| when, (| n0|-|n*|) > 0, speed cut-off negative-feedback starts working, output torque regulated value
Tere1=K1(|n0|-|n*|), K1For speed limiting coefficient.
Step 3013, the microcontroller 3-1 are according to formula Δ T '=Δ T-Tere1Torque regulated value Δ T ' is calculated；
Step 3014, the microcontroller 3-1 are using pi regulator and according to formulaIt calculates
To load torque angle changing value Δ δ；Wherein, kpFor the proportionality coefficient that PI is adjusted, kiFor the integral coefficient that PI is adjusted, s indicates product
Point；
The calculating of step 302, stator flux regulation target vector, detailed process are as follows: the microcontroller 3-1 is according to formulaStator flux regulation target vector is calculated | ψs(k+1)|*,
In, k indicates the k moment, and k+1 indicates k+1 moment, ψfFor rotor flux, LsqIt is motor stator inductance in the component of q axis, p is motor
Number of pole-pairs；
The calculating of step 303, voltage vector, detailed process are as follows:
Step 3031, the microcontroller 3-1 are according to formula Usα(k+1)=[| ψs(k+1)|*cos(θ+Δδ)-ψskcosθ]/Ts
+RsiαThe voltage vector component U in α axis is calculatedsα(k+1)；
Step 3032, the microcontroller 3-1 are according to formula Usβ(k+1)=[| ψs(k+1)|*sin(θ+Δδ)-ψsksinθ]/Ts
+RsiβThe voltage vector component U in β axis is calculatedsβ(k+1)；
Wherein, θ be angle of torsion andTsFor voltage vector the control period (i.e. every TsOutput one
Voltage vector controls signal), ψskFor the k moment stator magnetic linkage and
Step 304, microcontroller 3-1 export voltage vector to load simulation motor-drive circuit 2, pass through load simulation
Motor-drive circuit 2 drives load simulation permanent magnet synchronous motor 1.
PMSM in Fig. 3 and Fig. 4 indicates load simulation permanent magnet synchronous motor 1.
It is negative using permanent magnet synchronous motor of the MATLAB software to invention in order to verify the technical effect that the present invention can generate
It carries simulation system and its control method has carried out simulating, verifying.The model parameter of load simulation permanent magnet synchronous motor 1 such as 1 institute of table
Show.
The model parameter table of 1 load simulation permanent magnet synchronous motor of table
Tested motor 4 also uses permanent magnet synchronous motor, 1 parameter phase of the parameter of electric machine and load simulation permanent magnet synchronous motor
Together.
The permanent magnet synchronous motor load simulation system of simulation building and the connection figure of system under test (SUT) are as shown in figure 5, in figure, quilt
The speed output of measured motor 4 and the speed of load simulation permanent magnet synchronous motor 1 are inputted and are connected, meanwhile, load simulation permanent-magnet synchronous
The electromagnetism output torque T of motor 1 is input to tested motor 4 and the electromagnetism output torque T of load simulation permanent magnet synchronous motor 1 is applied
It is added to the load input torque T of tested motor 4m.Wherein, KωLoad simulation permanent-magnet synchronous is transmitted to for the speed of tested motor 4
The proportionality coefficient of motor 1, KTThe ratio of tested motor 4 is transmitted to for the electromagnetism output torque of load simulation permanent magnet synchronous motor 1
Coefficient.At this point, the mechanical input of permanent magnet synchronous motor load simulation system is revolving speed control, speed is controlled by tested motor 4,
Torque reference value Te *Tracking tested motor 4 needs and changes at any time, so that the output for changing load simulation permanent magnet synchronous motor 1 turns
Square.
If the constant output torque of tested motor 4 is 20Nm, permanent magnet synchronous motor load simulation system simulates reality respectively
Apply the resistance load in the potential energy loading high and embodiment 3 in example 2.Simulate parameter when potential energy loading high are as follows: TO=10-
30Nm, a=1, b=c=d=0；Simulate parameter when resistance load are as follows: TO=10-30Nm, a=0, b=1, c=d
=0.Obtained resistance load torque response curve is emulated as shown in fig. 6, the resistance loading speed curve that emulation obtains
Figure is as shown in fig. 7, emulate obtained potential energy loading high torque response curve graph as shown in figure 8, the potential energy loading high that emulation obtains
Speed curve diagram is as shown in Figure 9.
From Fig. 6 and Fig. 8, it can be seen that permanent magnet synchronous motor load simulation system of the invention is realized to load characteristic
Accurate tracking, output torque and given instruction are almost the same, and torque pulsation is smaller.It follows that permanent magnet synchronous electric of the invention
The control method of machine load simulation system can effectively control load simulation permanent magnet synchronous motor 1 to given torque carry out dynamic with
Track, response speed are very fast.
From Fig. 6 and Fig. 7, it can be seen that when simulation resistance loads, when the torque that load simulation permanent magnet synchronous motor 1 exports
When greater than tested motor 4, output torque is gradually reduced to equal with 4 output torque of tested motor, and speed is reduced to 0, maximum speed
800r/min is spent, clipping control action is relatively good.From Fig. 8 and Fig. 9, it can be seen that load simulation is forever when simulating potential energy loading high
Magnetic-synchro motor 1 can counter motion, speed control is in the positive and negative 800r/min of clipping range.It follows that it is of the invention forever
Magnetic-synchro motor load simulation system is combined with its control method, can not only simulate resistance load, also being capable of mimotope
It can property load.
In addition, from Fig. 7 and Fig. 9, it can be seen that non-overshoot when permanent magnet synchronous motor load simulation system of the invention work,
Rise time is less than 0.01s, and fast response time, for torque output error less than 1%, simulation precision is high, permanent-magnet synchronous of the invention
The system control effect of the control method of motor load simulation system is preferable.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (6)
1. a kind of permanent magnet synchronous motor load simulation system, for providing load for tested motor (4), it is characterised in that: including
Load simulation permanent magnet synchronous motor (1) and load simulation motor driven electricity for driving load simulation permanent magnet synchronous motor (1)
Road (2) and data acquisition control system；The load simulation permanent magnet synchronous motor (1) and load simulation motor-drive circuit
(2) output end connection, the output shaft of the tested motor (4) pass through shaft coupling and load simulation permanent magnet synchronous motor (1)
Export axis connection；The data acquisition control system includes microcontroller (3-1), the input termination of the microcontroller (3-1)
There is the three-phase current sample circuit (3-2) sampled for the three-phase current to load simulation permanent magnet synchronous motor (1), be used for
Three-phase voltage sample circuit (3-3) that the three-phase voltage of load simulation permanent magnet synchronous motor (1) is sampled, for load
The velocity sensor (3-4) and be used for load simulation permanent magnet synchronous electric that the speed of simulation permanent magnet synchronous motor (1) is detected
The torque sensor (3-5) that the torque of machine (1) is detected, the load simulation motor-drive circuit (2) and microcontroller (3-
1) output end connection.
2. a kind of permanent magnet synchronous motor load simulation system described in accordance with the claim 1, it is characterised in that: the load simulation
Motor-drive circuit (2) is three-phase fully-controlled bridge inverter circuit.
3. a kind of permanent magnet synchronous motor load simulation system described in accordance with the claim 1, it is characterised in that: the microcontroller
(3-1) is DSP digital signal processor.
4. a kind of method controlled permanent magnet synchronous motor load simulation system as described in claim 1, which is characterized in that
Method includes the following steps:
Step 1: data acquisition and transmission: A phase of the three-phase current sample circuit (3-2) to load simulation permanent magnet synchronous motor (1)
Electric current, B phase current and C phase current are acquired and export collected signal and give microcontroller (3-1), three-phase voltage sampling
Circuit (3-3) is acquired the A phase voltage, B phase voltage and C phase voltage of load simulation permanent magnet synchronous motor (1) and will acquisition
To signal export and give microcontroller (3-1), velocity sensor (3-4) to the speed of load simulation permanent magnet synchronous motor (1) into
The capable signal that detects and will test, which exports, to be given microcontroller (3-1), and torque sensor (3-5) is to load simulation permanent magnet synchronous electric
The torque of machine (1) is detected and the signal that will test exports and gives microcontroller (3-1)；
Step 2: data prediction, detailed process are as follows:
Step 201, the microcontroller (3-1) use the method for Clarke transformation to the A of load simulation permanent magnet synchronous motor (1)
Phase current ia, B phase current ibWith C phase current icClarke transformation is carried out, obtains stator current in the component i of α axisαWith stator electricity
Flow the component i in β axisβ；The microcontroller (3-1) is using the method for Clarke transformation to load simulation permanent magnet synchronous motor
(1) A phase voltage ua, B phase voltage ubWith C phase voltage ucCarry out Clarke transformation, obtain stator voltage α axis component u α and
Component u of the stator voltage in β axisβ；
Step 202, the microcontroller (3-1) are according to formula Te'=1.5Pn(ψαiβ-ψβiα) torque calculation value T is calculatede′；
Wherein, PnFor the rated power to fictitious load, ψαFor stator magnetic linkage α axis component and ψα=∫ (uα-Rs·iα) dt, ψβFor
Component and ψ of the stator magnetic linkage in β axisβ=∫ (uβ-Rs·iβ) dt, RsFor stator resistance, t is the time；
Step 203, the microcontroller (3-1) are according to formulaIt calculates
Obtain torque reference value Te *, wherein TOFor the given value of constant torque, a, b, c are velocity coeffficient, d 60Pn/ 2 π, n are negative
Carry the rated speed of simulation permanent magnet synchronous motor (1), sign (n) be given function and sign (n>=0)=- 1, sign (n<0)=
1；J is the rotary inertia of mechanical load and transmission shaft, J1For the rotary inertia of load simulation permanent magnet synchronous motor (1), I be 2 π/
60；
Step 3: being controlled using SVPWM Direct Torque Control mode load simulation permanent magnet synchronous motor (1), specific mistake
Journey are as follows:
The calculating of step 301, load torque angle changing value, detailed process are as follows:
Step 3011, the microcontroller (3-1) are according to formula Δ T=Te *-TeTorque sensor (3-5) is calculated to detect
Torque TeWith torque reference value Te *Difference DELTA T；
The speed signal that step 3012, the microcontroller (3-1) are detected according to velocity sensor (3-4) to load simulation forever
Magnetic-synchro motor (1) carries out speed limiting control, output torque regulated value Tere1；
Step 3013, the microcontroller (3-1) are according to formula Δ T '=Δ T-Tere1Torque regulated value Δ T ' is calculated；
Step 3014, the microcontroller (3-1) are using pi regulator and according to formulaIt is calculated
Load torque angle changing value Δ δ；Wherein, kpFor the proportionality coefficient that PI is adjusted, kiFor the integral coefficient that PI is adjusted, s indicates integral；
The calculating of step 302, stator flux regulation target vector, detailed process are as follows: the microcontroller (3-1) is according to formulaStator flux regulation target vector is calculated | ψs(k+1)|*,
In, k indicates the k moment, and k+1 indicates k+1 moment, ψfFor rotor flux, LsqIt is motor stator inductance in the component of q axis, p is motor
Number of pole-pairs；
The calculating of step 303, voltage vector, detailed process are as follows:
Step 3031, the microcontroller (3-1) are according to formula Usα(k+1)=[| ψs(k+1)|*cos(θ+Δδ)-ψskcosθ]/Ts+
RsiαThe voltage vector component U in α axis is calculatedsα(k+1)；
Step 3032, the microcontroller (3-1) are according to formula Usβ(k+1)=[| ψs(k+1)|*sin(θ+Δδ)-ψsksinθ]/Ts+
RsiβThe voltage vector component U in β axis is calculatedsβ(k+1)；
Wherein, θ be angle of torsion andTsFor the control period of voltage vector, ψskFor the stator magnetic linkage at k moment
And
Step 304, microcontroller (3-1), which export voltage vector, gives load simulation motor-drive circuit (2), passes through load simulation
Motor-drive circuit (2) drives load simulation permanent magnet synchronous motor (1).
5. according to the method for claim 4, it is characterised in that: microcontroller described in step 3012 (3-1) is according to speed
The speed signal that sensor (3-4) detects carries out speed limiting control, output torque to load simulation permanent magnet synchronous motor (1)
Regulated value Tere1Method particularly includes: when the revolving speed for the load simulation permanent magnet synchronous motor (1) that velocity sensor (3-4) detects
|n0| it is less than speed limiting value | n*| when, (| n0|-|n*|) < 0, speed cut-off negative-feedback does not work, output torque regulated value
Tere1=0, the speed of load simulation permanent magnet synchronous motor (1) is servo-actuated tested motor (4) variation at this time；Work as velocity sensor
The revolving speed for the load simulation permanent magnet synchronous motor (1) that (3-4) is detected | n0| it is greater than speed limiting value | n*| when, (| n0|-|n*|)
> 0, speed cut-off negative-feedback starts working, output torque regulated value Tere1=K1(|n0|-|n*|), K1For speed limiting coefficient.
6. according to method described in claim 4 or 5, it is characterised in that: further include step between step 3013 and step 3014
30131: the microcontroller (3-1) judges torque reference value Te *The speed signal direction detected with velocity sensor (3-4)
It is whether identical, as torque reference value Te *When identical as speed signal direction, multiplier is arrived in output 1；As torque reference value Te *With speed
When degree sense is not identical, multiplier is arrived in output 0；By multiplier amplify K times after, with torque regulated value Δ T ' work difference to turn
Square regulated value Δ T ' is updated.
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| CN117110871A (en) * | 2023-10-13 | 2023-11-24 | 北京中航科电测控技术股份有限公司 | Test bench for high-power density permanent magnet motor |
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