CN108983099B - Control method of load simulation system of permanent magnet synchronous motor - Google Patents
Control method of load simulation system of permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a load simulation system of a permanent magnet synchronous motor and a control method thereof, wherein the system comprises a load simulation permanent magnet synchronous motor, a load simulation motor driving circuit and a data acquisition control system; the load simulation permanent magnet synchronous motor is connected with the output end of the load simulation motor driving circuit, and the output shaft of the tested motor is connected with the output shaft of the load simulation permanent magnet synchronous motor through a coupler; the data acquisition control system comprises a microcontroller, wherein the input end of the microcontroller is connected with a three-phase current sampling circuit, a three-phase voltage sampling circuit, a speed sensor and a torque sensor, and a load simulation motor driving circuit is connected with the output end of the microcontroller; the control method comprises the following steps: the method comprises the steps of firstly, data acquisition and transmission, secondly, data preprocessing, and thirdly, controlling the load simulation permanent magnet synchronous motor by adopting an SVPWM direct torque control mode. The method can accurately simulate the loads under different working conditions, and is simple in steps, convenient to implement and convenient to popularize and use.
Description
Technical Field
The invention belongs to the technical field of motor test systems, and particularly relates to a control method of a load simulation system of a permanent magnet synchronous motor.
Background
With the continuous progress of science and technology, the performance requirements on the motor are higher and higher, and the no-load dynamic performance of the motor is required to be tested, and more importantly, the load dynamic performance of the motor is required to be tested, so that a load simulation system needs to be researched to simulate the complex and various loads borne by the motor in practical application in a laboratory environment. The purpose of the load experiment is to determine the torque, efficiency, power factor, rotating speed, stator current and other parameters of the motor, and to test the characteristics of the motor under different load conditions, the motor can still keep good operation under different suitable occasions, and the production efficiency is high.
Existing load simulation systems can be classified into mechanical, hydraulic, magnetic powder, electric, and the like. The mechanical load simulation system is a simulation system which appears for the first time, carries out elastic simulation on the load according to the basic principles of force action interactivity and the like, has simple structure and low use cost, but cannot realize continuous simulation and simulate complex moment; in the early 70 s, a japanese scholars designed a hydraulic load simulation system at the earliest time, and the simulation precision of the hydraulic load simulation system is high, but the system is complex; wangli et al published magnetic powder brake modeling and identification research in journal Electrical Automation, vol.05, 2010, 32, and proposed a magnetic powder brake type simulation system, but the system cannot realize forward and reverse rapid simulation, so that the system can only test the stability of a motor and cannot be used for testing the dynamic performance of the motor; the electrodynamic type load simulation system has the advantages of small volume, flexible control, simple structure, capability of simulating various mechanical loads and the like.
Because the permanent magnet is used by the rotor of the permanent magnet synchronous motor, the permanent magnet synchronous motor does not need reactive exciting current, has no rotor resistance loss in stable operation, improves the efficiency, saves energy sources, reduces the cost, and becomes the first choice of a load simulation system due to the advantages of quick dynamic response, high control precision, stable operation and the like. Wangde Cheng et al published direct torque control dynamic loading of four-quadrant operation of a motor in journal Jilin university school newspaper of vol.01, volume 44, 2014, and calculated a given torque of a load simulation system according to the operation state of a tested motor, wherein only a potential energy load can be simulated, amplitude limiting processing is not performed on the speed, and the system is easy to fly. Fangjie analyzed the system instability status in the university of chongqing university book dynamometer dynamic loading research based on direct torque control, but no specific measures were proposed.
The motor can be actively dragged to rotate or can not be actively dragged to rotate according to the load attribute, and the motor can be divided into two categories. The first type is that the motor can not be actively driven to rotate, and the loads belonging to the first type comprise reactive loads, fan loads and constant-power loads; the second type is a motor which can be actively dragged, and belongs to the load with potential energy.
The existing mechanical, hydraulic and magnetic powder type load simulation systems cannot test the load dynamic performance of the motor, while the permanent magnet synchronous motor load simulation system can only accurately simulate the first type of load, the speed of the permanent magnet synchronous motor load simulation system is not controlled, and the phenomenon of runaway is easy to occur. The direct torque control is a variable frequency speed regulation technology developed after a vector control technology, and the torque response is fast. The traditional hysteresis control has large torque ripple, and the torque ripple can be reduced by using an SVPWM (space vector pulse width modulation) technology. Combined with current idThe control idea of 0, the current is all used to generate torque, maximizing torque output efficiency. In order to meet the requirements of the motor dynamic performance test, the motor test platform must test the dynamic performance test of the motor under different loads, so that a load simulation system capable of simulating various loads born in practical application is researched, and the system has research capability in the field of the motor performance test.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a load simulation system of a permanent magnet synchronous motor, which has a simple structure, is convenient to realize, can accurately simulate loads under different working conditions and has strong practicability, aiming at the defects in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a PMSM load analog system for being surveyed the motor and provide load, its characterized in that: the load simulation control system comprises a load simulation permanent magnet synchronous motor, a load simulation motor driving circuit for driving the load simulation permanent magnet synchronous motor and a data acquisition control system; the load simulation permanent magnet synchronous motor is connected with the output end of the load simulation motor driving circuit, and the output shaft of the tested motor is connected with the output shaft of the load simulation permanent magnet synchronous motor through a coupler; the data acquisition control system comprises a microcontroller, wherein the input end of the microcontroller is connected with a three-phase current sampling circuit for sampling the three-phase current of the load simulation permanent magnet synchronous motor, a three-phase voltage sampling circuit for sampling the three-phase voltage of the load simulation permanent magnet synchronous motor, a speed sensor for detecting the speed of the load simulation permanent magnet synchronous motor and a torque sensor for detecting the torque of the load simulation permanent magnet synchronous motor, and a load simulation motor driving circuit is connected with the output end of the microcontroller.
The load simulation system of the permanent magnet synchronous motor is characterized in that: the load simulation motor driving circuit is a three-phase fully-controlled bridge inverter circuit.
The load simulation system of the permanent magnet synchronous motor is characterized in that: the microcontroller is a DSP digital signal processor.
The invention also provides a control method of the permanent magnet synchronous motor load simulation system, which has the advantages of simple steps, convenient realization, capability of accurately simulating the loads under different working conditions, quick torque response, small torque pulsation, high simulation precision, strong practicability, good use effect and convenient popularization and use, and is characterized by comprising the following steps:
step one, data acquisition and transmission: the load simulation permanent magnet synchronous motor speed detection device comprises a three-phase current sampling circuit, a three-phase voltage sampling circuit, a speed sensor, a torque sensor, a microcontroller and a load simulation permanent magnet synchronous motor, wherein the three-phase current sampling circuit is used for collecting the phase A current, the phase B current and the phase C current of the load simulation permanent magnet synchronous motor and outputting the collected signals to the microcontroller;
step two, data preprocessing, which comprises the following specific processes:
step 201, the microcontroller simulates the A-phase current i of the permanent magnet synchronous motor to the load by adopting a Clarke conversion methodaPhase i of B-phase currentbAnd C phase current icClarke conversion is carried out to obtain a component i of the stator current on an alpha axisαAnd the component i of the stator current in the beta axisβ(ii) a The microcontroller simulates the A-phase voltage u of the permanent magnet synchronous motor to the load by adopting a Clarke conversion methodaPhase u of B phasebAnd a phase u of C voltagecClarke conversion is carried out to obtain the component u of the stator voltage on the alpha axisαAnd the component u of the stator voltage in the beta axisβ；
Step 202, the microcontroller according to formula Te′＝1.5p(ψαiβ-ψβiα) Calculating to obtain a torque calculation value Te'; wherein p is the number of pole pairs of the motor, psiαIs the component of the stator flux linkage in the alpha axis and psiα＝∫(uα-Rs·iα)dt，ψβIs the component of the stator flux linkage in the beta axis and psiβ＝∫(uβ-Rs·iβ)dt，RsIs stator resistance, t is time;
step 203, the microcontroller according to formula
Calculating to obtain a given torque value Te *Wherein, TOIs a constant rotationGiven values of moment, a, b, c are all speed coefficients, d is 60PnThe/2 pi, n is the rated speed of the load simulation permanent magnet synchronous motor, PnThe rated power of the load to be simulated is sign (n) which is a given function, wherein sign (n is more than or equal to 0) is-1, and sign (n is less than 0) is 1; j is the moment of inertia of the mechanical load and drive shaft, J1Simulating the rotational inertia of the permanent magnet synchronous motor for load, wherein I is 2 pi/60;
step three, adopting an SVPWM direct torque control mode to control the load simulation permanent magnet synchronous motor, and the specific process is as follows:
step 301, calculating a load torque angle change value, specifically comprising:
step 3011, the microcontroller sets Δ T to T according to the formulae *-TeCalculating the torque T detected by the torque sensoreWith a given value of torque Te *A difference Δ T of;
step 3012, the microcontroller performs speed limiting control on the load simulation permanent magnet synchronous motor according to the speed signal detected by the speed sensor, and outputs a torque regulation value Tere1；
Step 3013, the microcontroller determines Δ T ═ Δ T-T according to the formulaere1Calculating to obtain a torque adjusting value delta T';
step 3014, the microcontroller adopts a PI regulator and uses a formula
Calculating to obtain a load torque angle change value delta; wherein k ispIs the proportionality coefficient, k, of a PI regulatoriIs the integral coefficient of the PI regulator, s represents the integral;
step 302, calculating a stator flux linkage control target vector, specifically comprising the following steps: the microcontroller is based on a formula
Obtaining a stator flux linkage control target vector | psi by calculations(k+1)|*Where k denotes the time k, k +1 denotes the time k +1, ψfFor rotor flux linkage, LsqFor the stator of an electric machineThe component of the inductance in the q-axis;
step 303, calculating a voltage vector, specifically comprising the following steps:
3031, the microcontroller is based on a formula Usα(k+1)＝[|ψs(k+1)|*cos(θ+Δ)-ψskcosθ]/Ts+RsiαCalculating to obtain a voltage vector component U on an alpha axissα(k+1)；
3032, the microcontroller is according to a formula Usβ(k+1)＝[|ψs(k+1)|*sin(θ+Δ)-ψsksinθ]/Ts+RsiβCalculating to obtain a voltage vector component U on a beta axissβ(k+1)；
Wherein theta is the stator flux linkage angle
TsIs the control period of the voltage vector, #skIs a stator flux linkage at time k and
and step 304, the microcontroller outputs the voltage vector to a load simulation motor driving circuit, and the load simulation permanent magnet synchronous motor is driven by the load simulation motor driving circuit.
The above method is characterized in that: in step 3012, the microcontroller performs speed limiting control on the load simulation permanent magnet synchronous motor according to the speed signal detected by the speed sensor, and outputs a torque adjustment value Tere1The specific method comprises the following steps: when the load detected by the speed sensor simulates the rotating speed | n of the permanent magnet synchronous motor0Less than the velocity limit value | n*When l (| n)0|-|n*| is less than 0, the speed cut-off negative feedback does not work, and the torque regulating value T is outputere1When the speed of the load simulation permanent magnet synchronous motor is changed along with the motor to be measured, the speed of the load simulation permanent magnet synchronous motor is 0; when the load detected by the speed sensor simulates the rotating speed | n of the permanent magnet synchronous motor0| is greater than the velocity limit | n*When l (| n)0|-|n*|) is greater than 0, speed cut-off negative reactionFeedback comes into play and the torque regulation value T is outputere1＝K1(|n0|-|n*|)，K1Is the velocity clipping factor.
The above method is characterized in that: step 3013 and step 3014 further include step 30131: the microcontroller judges the given torque value Te *Whether the direction of the speed signal is the same as that of the speed signal detected by the speed sensor or not, and when the torque is set to a given value Te *Outputting 1 to the multiplier when the direction of the speed signal is the same; when the torque is given value Te *When the direction is different from the speed signal direction, 0 is output to the multiplier; after the K times of amplification by the multiplier, the torque adjustment value delta T 'is updated by making a difference with the torque adjustment value delta T'.
Compared with the prior art, the invention has the following advantages:
1. the invention provides a permanent magnet synchronous motor load simulation system and a simulation method thereof aiming at a load simulation system, different control methods are provided by analyzing load types born in actual production, the loads under different working conditions can be accurately simulated, potential energy loads can be simulated, reactive loads can be simulated, the method steps are simple, and the realization is convenient.
2. The invention uses speed cut-off negative feedback to carry out amplitude limiting control on the speed of the permanent magnet synchronous load simulation system, avoids the phenomenon of galloping, and effectively improves the reliability and the stability of the work of the permanent magnet synchronous load simulation system.
3. The invention has the advantages of fast torque response, small torque pulsation, high simulation precision and good system control effect.
4. The invention has strong practicability and good use effect and is convenient for popularization and use.
In conclusion, the system disclosed by the invention is simple in structure, simple in steps, convenient to implement, capable of accurately simulating the loads under different working conditions, fast in torque response, small in torque pulsation, high in simulation precision, strong in practicability, good in use effect and convenient to popularize and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
Fig. 1 is a schematic circuit block diagram of a load simulation system of a permanent magnet synchronous motor according to the present invention.
Fig. 2 is a flow chart of a method of the control method of the load simulation system of the permanent magnet synchronous motor according to the present invention.
Fig. 3 is a schematic diagram of a control method of the load simulation system of the permanent magnet synchronous motor according to embodiment 2 of the present invention.
Fig. 4 is a schematic diagram of a control method of the load simulation system of the permanent magnet synchronous motor according to embodiment 3 of the present invention.
Fig. 5 is a connection diagram of the load simulation system of the permanent magnet synchronous motor and the system to be tested, which are constructed by simulation in the invention.
FIG. 6 is a graph of reactive load torque response from the simulation of the present invention.
FIG. 7 is a graph of reactive load speed simulated by the present invention.
FIG. 8 is a potential energy load torque response graph obtained by simulation of the present invention.
FIG. 9 is a graph of bit energy loading speed simulated by the present invention.
Description of reference numerals:
1-load simulation permanent magnet synchronous motor; 2-load simulation motor driving circuit;
3-1 — a microcontroller; 3-2-three-phase current sampling circuit;
3-three-phase voltage sampling circuit; 3-4-speed sensor;
3-5-torque sensor; 4, a motor to be detected;
5, a tested motor driving circuit; 6-the system under test.
Detailed Description
Hereinafter, a load simulation system of a permanent magnet synchronous motor according to the present invention will be described in embodiment 1, a control method of the load simulation system of the permanent magnet synchronous motor according to the present invention when a simulation load is a potential energy load will be described in embodiment 2, and a control method of the load simulation system of the permanent magnet synchronous motor according to the present invention when the simulation load is an reactive load will be described in embodiment 3.
Example 1
As shown in fig. 1, the load simulation system for the permanent magnet synchronous motor of the present invention is used for providing a load for a tested motor 4, and includes a load simulation permanent magnet synchronous motor 1, a load simulation motor driving circuit 2 for driving the load simulation permanent magnet synchronous motor 1, and a data acquisition control system; the load simulation permanent magnet synchronous motor 1 is connected with the output end of the load simulation motor driving circuit 2, and the output shaft of the tested motor 4 is connected with the output shaft of the load simulation permanent magnet synchronous motor 1 through a coupler; the data acquisition control system comprises a microcontroller 3-1, wherein the input end of the microcontroller 3-1 is connected with a three-phase current sampling circuit 3-2 for sampling the three-phase current of the load simulation permanent magnet synchronous motor 1, a three-phase voltage sampling circuit 3-3 for sampling the three-phase voltage of the load simulation permanent magnet synchronous motor 1, a speed sensor 3-4 for detecting the speed of the load simulation permanent magnet synchronous motor 1 and a torque sensor 3-5 for detecting the torque of the load simulation permanent magnet synchronous motor 1, and the load simulation motor driving circuit 2 is connected with the output end of the microcontroller 3-1.
In specific implementation, the tested motor 4 is driven by a tested motor driving circuit 5. The tested motor 4 and the tested motor driving circuit 5 form a tested system 6.
In this embodiment, the load simulation motor driving circuit 2 is a three-phase fully-controlled bridge inverter circuit.
In this embodiment, the microcontroller 3-1 is a DSP digital signal processor.
Example 2
The load to be simulated in the embodiment is a potential energy load, and the load can drag the motor to rotate reversely. In the process of simulating the loads, when the torque output by the load simulation permanent magnet synchronous motor 1 is greater than the torque output by the tested motor 4, the tested motor 4 cannot drive the load simulation permanent magnet synchronous motor 1 to rotate, the speed of the load simulation permanent magnet synchronous motor 1 is gradually reduced until the speed is 0, and at the moment, the load simulation permanent magnet synchronous motor 1 starts to drive the tested 4 to rotate reversely.
As shown in fig. 2 and 3, the control method of the load simulation system of the permanent magnet synchronous motor of the present invention includes the following steps:
step one, data acquisition and transmission: the three-phase current sampling circuit 3-2 collects phase A current, phase B current and phase C current of the load simulation permanent magnet synchronous motor 1 and outputs the collected signals to the microcontroller 3-1, the three-phase voltage sampling circuit 3-3 collects phase A voltage, phase B voltage and phase C voltage of the load simulation permanent magnet synchronous motor 1 and outputs the collected signals to the microcontroller 3-1, the speed sensor 3-4 detects the speed of the load simulation permanent magnet synchronous motor 1 and outputs the detected signals to the microcontroller 3-1, and the torque sensor 3-5 detects the torque of the load simulation permanent magnet synchronous motor 1 and outputs the detected signals to the microcontroller 3-1;
step two, data preprocessing, which comprises the following specific processes:
step 201, the microcontroller 3-1 adopts a Clarke conversion method to simulate the A-phase current i of the permanent magnet synchronous motor 1 for the loadaPhase i of B-phase currentbAnd C phase current icClarke conversion is carried out to obtain a component i of the stator current on an alpha axisαAnd the component i of the stator current in the beta axisβ(ii) a The microcontroller 3-1 adopts a Clarke conversion method to simulate the A-phase voltage u of the permanent magnet synchronous motor 1 to the loadaPhase u of B phasebAnd a phase u of C voltagecClarke conversion is carried out to obtain the component u of the stator voltage on the alpha axisαAnd the component u of the stator voltage in the beta axisβ；
Step 202, the microcontroller 3-1 according to formula Te′＝1.5p(ψαiβ-ψβiα) Calculating to obtain a torque calculation value Te'; wherein p is the number of pole pairs of the motor, psiαIs the component of the stator flux linkage in the alpha axis and psiα＝∫(uα-Rs.iα)dt，ψβIs the component of the stator flux linkage in the beta axis and psiβ＝∫(uβ-Rs.iβ)dt，RsIs stator resistance, t is time;
step 203, the microcontroller 3-1 according to the formula
Calculating to obtain a given torque value Te *Wherein, TOA, b and c are all speed coefficients, d is 60PnN is the rated rotating speed (unit is r/min) of the load simulation permanent magnet synchronous motor 1, PnThe rated power of the load to be simulated is sign (n) which is a given function, wherein sign (n is more than or equal to 0) is-1, and sign (n is less than 0) is 1; j is the moment of inertia of the mechanical load and drive shaft, J1Simulating the rotational inertia of the permanent magnet synchronous motor 1 for load, wherein I is 2 pi/60;
step three, adopting an SVPWM direct torque control mode to control the load simulation permanent magnet synchronous motor 1, and the specific process is as follows:
step 301, calculating a load torque angle change value, specifically comprising:
step 3011, the microcontroller 3-1 sets Δ T as T according to the formulae *-TeThe torque T detected by the torque sensors 3-5 is calculatedeWith a given value of torque Te *A difference Δ T of;
step 3012, the microcontroller 3-1 performs speed limiting control on the load simulation permanent magnet synchronous motor 1 according to the speed signal detected by the speed sensor 3-4, and outputs a torque regulation value Tere1；
In this embodiment, in step 3012, the microcontroller 3-1 performs speed limiting control on the load simulation permanent magnet synchronous motor 1 according to the speed signal detected by the speed sensor 3-4, and outputs the torque adjustment value Tere1The specific method comprises the following steps: simulating the rotating speed | n of the permanent magnet synchronous motor 1 when the load detected by the speed sensors 3-40Less than the velocity limit value | n*When l (| n)0|-|n*| is less than 0, the speed cut-off negative feedback does not work, and the torque regulating value T is outputere1When the speed of the load simulation permanent magnet synchronous motor 1 is changed along with the change of the motor 4 to be measured; simulating the rotating speed | n of the permanent magnet synchronous motor 1 when the load detected by the speed sensors 3-40| is greater than the velocity limit | n*When l (| n)0|-|n*| is greater than 0, the speed cut-off negative feedback starts to act, and the torque regulation value T is outputere1＝K1(|n0|-|n*|)，K1Is the velocity clipping factor.
Step 3013, the microcontroller 3-1 sets the formula Δ T ═ Δ T-Tere1Calculating to obtain a torque adjusting value delta T';
step 30131: the microcontroller 3-1 judges the given torque value Te *If the direction of the speed signal is the same as that of the speed signal detected by the speed sensor 3-4, when the torque is set to a given value Te *Outputting 1 to the multiplier when the direction of the speed signal is the same; when the torque is given value Te *When the direction is different from the speed signal direction, 0 is output to the multiplier; after the K times of amplification by the multiplier, the torque adjustment value delta T 'is updated by making a difference with the torque adjustment value delta T'.
Step 3014, the microcontroller 3-1 adopts a PI regulator and uses a formula
Calculating to obtain a load torque angle change value delta; wherein k ispIs the proportionality coefficient, k, of a PI regulatoriIs the integral coefficient of the PI regulator, s represents the integral;
step 302, calculating a stator flux linkage control target vector, specifically comprising the following steps: the microcontroller 3-1 is based on the formula
Obtaining a stator flux linkage control target vector | psi by calculations(k+1)|*Where k denotes the time k, k +1 denotes the time k + 1, ψfFor rotor flux linkage, LsqThe component of the motor stator inductance in the q axis is shown;
step 303, calculating a voltage vector, specifically comprising the following steps:
3031, the microcontroller 3-1 uses a formula Usα(k+1)＝[|ψs(k+1)|*cos(θ+Δ)-ψskcosθ]/Ts+RsiαCalculating to obtain a voltage vector component U on an alpha axissα(k+1)；
Step 3032, the microcontroller 3-1 is according to formula Usβ(k+1)＝[|ψs(k+1)|*sin(θ+Δ)-ψsksinθ]/Ts+Rsi beta is calculated to obtain a voltage vector component U on a beta axissβ(k+1)；
Wherein theta is the stator flux linkage angle
TsBeing control periods of voltage vectors (i.e. every T)sOutput a voltage vector control signal), psiskIs a stator flux linkage at time k and
and step 304, the microcontroller 3-1 outputs the voltage vector to the load simulation motor driving circuit 2, and the load simulation permanent magnet synchronous motor 1 is driven by the load simulation motor driving circuit 2.
Example 3
The load to be simulated in the embodiment is an anti-reactive load, and the load cannot drag the motor to rotate reversely. In the process of simulating the loads, when the torque output by the load simulation permanent magnet synchronous motor 1 is larger than that of the tested motor 4, the load simulation permanent magnet synchronous motor 1 cannot drive the tested motor 4 to rotate reversely. When the load simulates the rotating speed direction and the torque set value T of the permanent magnet synchronous motor 1e *When the direction of the load simulation permanent magnet synchronous motor is the same, the torque output by the load simulation permanent magnet synchronous motor 1 is larger than the torque output by the tested motor 4, and the torque needs to be adjusted to control the load simulation permanent magnet synchronous motor 1 not to drive the tested motor 4 to rotate reversely, so that the reactive load is simulated.
As shown in fig. 2 and 4, the control method of the load simulation system of the permanent magnet synchronous motor of the present invention includes the following steps:
step one, data acquisition and transmission: the three-phase current sampling circuit 3-2 collects phase A current, phase B current and phase C current of the load simulation permanent magnet synchronous motor 1 and outputs the collected signals to the microcontroller 3-1, the three-phase voltage sampling circuit 3-3 collects phase A voltage, phase B voltage and phase C voltage of the load simulation permanent magnet synchronous motor 1 and outputs the collected signals to the microcontroller 3-1, the speed sensor 3-4 detects the speed of the load simulation permanent magnet synchronous motor 1 and outputs the detected signals to the microcontroller 3-1, and the torque sensor 3-5 detects the torque of the load simulation permanent magnet synchronous motor 1 and outputs the detected signals to the microcontroller 3-1;
step two, data preprocessing, which comprises the following specific processes:
step 201, the microcontroller 3-1 adopts a Clarke conversion method to simulate the A-phase current i of the permanent magnet synchronous motor 1 for the loadaPhase i of B-phase currentbAnd C phase current icClarke conversion is carried out to obtain a component i of the stator current on an alpha axisαAnd the component i of the stator current in the beta axisβ(ii) a The microcontroller 3-1 adopts a Clarke conversion method to simulate the A-phase voltage u of the permanent magnet synchronous motor 1 to the loadaPhase u of B phasebAnd a phase u of C voltagecClarke conversion is carried out to obtain the component u of the stator voltage on the alpha axisαAnd the component u of the stator voltage in the beta axisβ；
Step 202, the microcontroller 3-1 according to formula Te′＝1.5p(ψαiβ-ψβiα) Calculating to obtain a torque calculation value Te'; wherein p is the number of pole pairs of the motor, psiαIs the component of the stator flux linkage in the alpha axis and psiα＝∫(uα-Rs.iα)dt，ψβIs the component of the stator flux linkage in the beta axis and psiβ＝∫(uβ-Rs.iβ)dt，RsIs stator resistance, t is time;
step 203, the microcontroller 3-1 according to the formula
Calculating to obtain a given torque value Te *Wherein, TOA, b and c are all speed coefficients, d is 60PnN is the rated rotating speed (unit is r/min) of the load simulation permanent magnet synchronous motor 1, PnThe rated power of the load to be simulated is sign (n) which is a given function, wherein sign (n is more than or equal to 0) is-1, and sign (n is less than 0) is 1; j is the moment of inertia of the mechanical load and drive shaft, J1Simulating the rotational inertia of the permanent magnet synchronous motor 1 for load, wherein I is 2 pi/60;
step three, adopting an SVPWM direct torque control mode to control the load simulation permanent magnet synchronous motor 1, and the specific process is as follows:
step 301, calculating a load torque angle change value, specifically comprising:
step 3011, the microcontroller 3-1 sets Δ T as T according to the formulae *-TeThe torque T detected by the torque sensors 3-5 is calculatedeWith a given value of torque Te *A difference Δ T of;
step 3012, the microcontroller 3-1 performs speed limiting control on the load simulation permanent magnet synchronous motor 1 according to the speed signal detected by the speed sensor 3-4, and outputs a torque regulation value Tere1；
In this embodiment, in step 3012, the microcontroller 3-1 performs speed limiting control on the load simulation permanent magnet synchronous motor 1 according to the speed signal detected by the speed sensor 3-4, and outputs the torque adjustment value Tere1The specific method comprises the following steps: simulating the rotating speed | n of the permanent magnet synchronous motor 1 when the load detected by the speed sensors 3-40Less than the velocity limit value | n*When l (| n)0|-|n*| is less than 0, the speed cut-off negative feedback does not work, and the torque regulating value T is outputere1When the speed of the load simulation permanent magnet synchronous motor 1 is changed along with the change of the motor 4 to be measured; simulating the rotating speed | n of the permanent magnet synchronous motor 1 when the load detected by the speed sensors 3-40| is greater than the velocity limit | n*When l (| n)0|-|n*| is greater than 0, the speed cut-off negative feedback starts to act, and the torque regulation value T is outputere1＝K1(|n0|-|n*|)，K1Is the velocity clipping factor.
Step 3013, the microcontroller 3-1 sets the formula Δ T ═ Δ T-Tere1Calculating to obtain a torque adjusting value delta T';
step (ii) of3014. The microcontroller 3-1 adopts a PI regulator and is based on a formula
Calculating to obtain a load torque angle change value delta; wherein k ispIs the proportionality coefficient, k, of a PI regulatoriIs the integral coefficient of the PI regulator, s represents the integral;
step 302, calculating a stator flux linkage control target vector, specifically comprising the following steps: the microcontroller 3-1 is based on the formula
Obtaining a stator flux linkage control target vector | psi by calculations(k+1)|*Where k denotes the time k, k +1 denotes the time k + 1, ψfFor rotor flux linkage, LsqThe component of the motor stator inductance on the q axis is shown, and p is the number of pole pairs of the motor;
step 303, calculating a voltage vector, specifically comprising the following steps:
3031, the microcontroller 3-1 uses a formula Usα(k+1)＝[|ψs(k+1)|*cos(θ+Δ)-ψskcosθ]/Ts+RsiαCalculating to obtain a voltage vector component U on an alpha axissα(k+1)；
Step 3032, the microcontroller 3-1 is according to formula Usβ(k+1)＝[|ψs(k+1)|*sin(θ+Δ)-ψsksinθ]/Ts+Rsi beta is calculated to obtain a voltage vector component U on a beta axissβ(k+1)；
Wherein theta is the stator flux linkage angle
TsBeing control periods of voltage vectors (i.e. every T)sOutput a voltage vector control signal), psiskIs a stator flux linkage at time k and
and step 304, the microcontroller 3-1 outputs the voltage vector to the load simulation motor driving circuit 2, and the load simulation permanent magnet synchronous motor 1 is driven by the load simulation motor driving circuit 2.
The PMSM in fig. 3 and 4 each represents a load-simulated permanent magnet synchronous motor 1.
In order to verify the technical effect which can be generated by the invention, MATLAB software is adopted to carry out simulation verification on the permanent magnet synchronous motor load simulation system and the control method thereof. The model parameters of the load simulation permanent magnet synchronous motor 1 are shown in table 1.
Table 1 model parameter table for load simulation of permanent magnet synchronous motor
The tested motor 4 is also a permanent magnet synchronous motor, and the motor parameters of the tested motor are the same as the parameters of the load simulation permanent magnet synchronous motor 1.
The connection diagram of the simulation-constructed PMSM load simulation system and the tested system is shown in FIG. 5, in which the speed output of the tested motor 4 is connected with the speed input of the load simulation PMSM 1, meanwhile, the electromagnetic output torque T of the load simulation PMSM 1 is input to the tested motor 4, and the electromagnetic output torque T of the load simulation PMSM 1 is applied to the load input torque T of the tested motor 4m. Wherein, KωFor the speed of the measured motor 4 to be transmitted to the load simulation PMSM 1, KTAnd simulating the proportionality coefficient of the electromagnetic output torque of the permanent magnet synchronous motor 1 transmitted to the tested motor 4 for loading. At the moment, the mechanical input of the load simulation system of the permanent magnet synchronous motor is the rotation speed control, the speed of the load simulation system is controlled by the tested motor 4, and the given torque value T is sete *The output torque of the load simulation permanent magnet synchronous motor 1 is changed by tracking the change of the tested motor 4 at any time.
Assuming that the output torque of the motor 4 to be measured is constant at 20N · m, the load simulation system of the permanent magnet synchronous motor simulates the potential energy load in example 2 and the reactive load in example 3, respectively. The parameters when simulating the potential energy load are as follows: t isO＝10-30N·m,a＝1,b＝c＝d＝0；The parameters when simulating the reactive load were: to 10-30N · m, a-0, b-1, and c-d-0. The simulated reactive load torque response graph is shown in fig. 6, the simulated reactive load speed graph is shown in fig. 7, the simulated potential energy load torque response graph is shown in fig. 8, and the simulated potential energy load speed graph is shown in fig. 9.
As can be seen from fig. 6 and 8, the load simulation system of the permanent magnet synchronous motor of the present invention realizes accurate tracking of load characteristics, the output torque is substantially consistent with a given command, and the torque ripple is small. Therefore, the control method of the permanent magnet synchronous motor load simulation system can effectively control the load simulation permanent magnet synchronous motor 1 to dynamically track the given torque, and has high response speed.
As can be seen from fig. 6 and 7, when the reactive load is simulated, and the torque output by the load simulation permanent magnet synchronous motor 1 is greater than the torque output by the motor 4 to be tested, the output torque is gradually reduced to be equal to the output torque of the motor 4 to be tested, the speed is reduced to 0, the maximum speed is 800r/min, and the amplitude limiting control function is good. As can be seen from fig. 8 and 9, when the potential energy load is simulated, the load simulation permanent magnet synchronous motor 1 can move in the reverse direction, and the speed is controlled within plus or minus 800r/min of the amplitude limiting range. Therefore, the permanent magnet synchronous motor load simulation system and the control method thereof are combined, so that the reactive load and the potential energy load can be simulated.
In addition, as can be seen from fig. 7 and 9, the load simulation system of the permanent magnet synchronous motor of the present invention has no overshoot when in operation, the rise time is less than 0.01s, the response speed is fast, the torque output error is less than 1%, the simulation precision is high, and the system control effect of the control method of the load simulation system of the permanent magnet synchronous motor of the present invention is good.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (5)
1. A control method of a permanent magnet synchronous motor load simulation system is disclosed, wherein the permanent magnet synchronous motor load simulation system is used for providing a load for a tested motor (4), and comprises a load simulation permanent magnet synchronous motor (1), a load simulation motor driving circuit (2) for driving the load simulation permanent magnet synchronous motor (1) and a data acquisition control system; the load simulation permanent magnet synchronous motor (1) is connected with the output end of the load simulation motor driving circuit (2), and the output shaft of the tested motor (4) is connected with the output shaft of the load simulation permanent magnet synchronous motor (1) through a coupler; the data acquisition control system comprises a microcontroller (3-1), wherein the input end of the microcontroller (3-1) is connected with a three-phase current sampling circuit (3-2) for sampling the three-phase current of the load simulation permanent magnet synchronous motor (1), a three-phase voltage sampling circuit (3-3) for sampling the three-phase voltage of the load simulation permanent magnet synchronous motor (1), a speed sensor (3-4) for detecting the speed of the load simulation permanent magnet synchronous motor (1) and a torque sensor (3-5) for detecting the torque of the load simulation permanent magnet synchronous motor (1), and the load simulation motor driving circuit (2) is connected with the output end of the microcontroller (3-1); the method is characterized in that: the method comprises the following steps:
step one, data acquisition and transmission: the load simulation permanent magnet synchronous motor speed detection system comprises a three-phase current sampling circuit (3-2), a three-phase voltage sampling circuit (3-3), a speed sensor (3-4), a torque sensor (3-5), a load simulation permanent magnet synchronous motor (1), a microcontroller (3-1), a speed sensor (3-5) and a load simulation permanent magnet synchronous motor (1), wherein the three-phase current sampling circuit (3-2) collects phase-A current, phase-B current and phase-C current of the load simulation permanent magnet synchronous motor (1) and outputs collected signals to the microcontroller (3-1), the three-phase voltage sampling circuit (3-3) collects phase-A voltage, phase-B voltage and phase-C voltage of the load simulation permanent magnet synchronous motor (1) and outputs collected signals to the microcontroller (3-1), the speed sensor detects the torque of the load simulation permanent magnet synchronous motor (1) and outputs detected signals;
step two, data preprocessing, which comprises the following specific processes:
step 201, the microcontroller (3-1) simulates A-phase current i of the permanent magnet synchronous motor (1) to a load by adopting a Clarke conversion methodaPhase i of B-phase currentbAnd C phase current icClarke conversion is carried out to obtain a component i of the stator current on an alpha axisαAnd the component i of the stator current in the beta axisβ(ii) a The microcontroller (3-1) simulates the A-phase voltage u of the permanent magnet synchronous motor (1) to the load by adopting a Clarke conversion methodaPhase u of B phasebAnd a phase u of C voltagecClarke conversion is carried out to obtain the component u of the stator voltage on the alpha axisαAnd the component u of the stator voltage in the beta axisβ；
Step 202, the microcontroller (3-1) according to a formula Te′＝1.5p(ψαiβ-ψβiα) Calculating to obtain a torque calculation value Te'; wherein p is the number of pole pairs of the motor, psiαIs the component of the stator flux linkage in the alpha axis and psiα＝∫(uα-Rs·iα)dt，ψβIs the component of the stator flux linkage in the beta axis and psiβ＝∫(uβ-Rs·iβ)dt，RsIs stator resistance, t is time;
step 203, the microcontroller (3-1) according to a formula
Calculating to obtain a given torque value Te *Wherein, TOA, b and c are all speed coefficients, d is 60PnN is the rated speed of the load simulation permanent magnet synchronous motor (1), PnThe rated power of the load to be simulated is sign (n) which is a given function, wherein sign (n is more than or equal to 0) is-1, and sign (n is less than 0) is 1; j is the moment of inertia of the mechanical load and drive shaft, J1The moment of inertia of the permanent magnet synchronous motor (1) is simulated for the load, and I is 2 pi/60;
step three, controlling the load simulation permanent magnet synchronous motor (1) by adopting an SVPWM direct torque control mode, and the specific process is as follows:
step 301, calculating a load torque angle change value, specifically comprising:
step 3011, the microcontroller (3-1) sets Δ T ═ T according to the formulae *-TeComputingObtaining the torque T detected by the torque sensor (3-5)eWith a given value of torque Te *A difference Δ T of;
step 3012, the microcontroller (3-1) performs speed limiting control on the load simulation permanent magnet synchronous motor (1) according to the speed signal detected by the speed sensor (3-4), and outputs a torque regulation value Tere1；
Step 3013, the microcontroller (3-1) sets a Δ T ═ Δ T-T according to the formula Δ T ═ Tere1Calculating to obtain a torque adjusting value delta T';
step 3014, the microcontroller (3-1) adopts a PI regulator and uses a formula
Calculating to obtain a load torque angle change value delta; wherein k ispIs the proportionality coefficient, k, of a PI regulatoriIs the integral coefficient of the PI regulator, s represents the integral;
step 302, calculating a stator flux linkage control target vector, specifically comprising the following steps: the microcontroller (3-1) is based on a formula
Obtaining a stator flux linkage control target vector | psi by calculations(k+1)|*Where k denotes the time k, k +1 denotes the time k +1, ψfFor rotor flux linkage, LsqThe component of the motor stator inductance in the q axis is shown;
step 303, calculating a voltage vector, specifically comprising the following steps:
3031, the microcontroller (3-1) according to a formula Usα(k+1)＝[|ψs(k+1)|*cos(θ+Δ)-ψskcosθ]/Ts+RsiαCalculating to obtain a voltage vector component U on an alpha axissα(k+1)；
Step 3032, the microcontroller (3-1) according to a formula Usβ(k+1)＝[|ψs(k+1)|*sin(θ+Δ)-ψsksinθ]/Ts+RsiβCalculating to obtain a voltage vector component U on a beta axissβ(k+1)；
Wherein theta is the stator flux linkage angle
TsIs the control period of the voltage vector, #skIs a stator flux linkage at time k and
and step 304, the microcontroller (3-1) outputs the voltage vector to the load simulation motor driving circuit (2), and the load simulation permanent magnet synchronous motor (1) is driven by the load simulation motor driving circuit (2).
2. The control method of a load simulation system of a permanent magnet synchronous motor according to claim 1, characterized in that: the load simulation motor driving circuit (2) is a three-phase fully-controlled bridge inverter circuit.
3. The control method of a load simulation system of a permanent magnet synchronous motor according to claim 1, characterized in that: the microcontroller (3-1) is a DSP digital signal processor.
4. The control method of a load simulation system of a permanent magnet synchronous motor according to claim 1, characterized in that: in step 3012, the microcontroller (3-1) performs speed limiting control on the load simulation permanent magnet synchronous motor (1) according to the speed signal detected by the speed sensor (3-4), and outputs a torque regulation value Tere1The specific method comprises the following steps: when the load detected by the speed sensor (3-4) simulates the rotating speed | n of the permanent magnet synchronous motor (1)0Less than the velocity limit value | n*When l (| n)0|-|n*| is less than 0, the speed cut-off negative feedback does not work, and the torque regulating value T is outputere1When the speed of the load simulation permanent magnet synchronous motor (1) is 0, the speed is changed along with the motor (4) to be measured; when the load detected by the speed sensor (3-4) simulates the rotating speed | n of the permanent magnet synchronous motor (1)0| is greater than the velocity limit | n*When l (| n)0|-|n*|)＞0, the speed cut-off negative feedback starts to work, and the torque regulation value T is outputere1＝K1(|n0|-|n*|)，K1Is the velocity clipping factor.
5. The control method of a load simulation system of a permanent magnet synchronous motor according to claim 1 or 4, characterized in that: step 3013 and step 3014 further include step 30131: the microcontroller (3-1) judges a given torque value Te *If the direction of the speed signal is the same as that of the speed signal detected by the speed sensor (3-4), when the torque is set to a given value Te *Outputting 1 to the multiplier when the direction of the speed signal is the same; when the torque is given value Te *When the direction is different from the speed signal direction, 0 is output to the multiplier; after the K times of amplification by the multiplier, the torque adjustment value delta T 'is updated by making a difference with the torque adjustment value delta T'.
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| CN111624490A (en) * | 2020-07-10 | 2020-09-04 | 湖北泰和电气有限公司 | Aging test system for permanent magnet synchronous motor |
| CN113096504B (en) * | 2021-04-22 | 2022-06-24 | 杭州电子科技大学 | Simulation experiment circuit of speed control system |
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Effective date of registration: 20231106 Address after: Room 2501, Unit 2, Building 3, Hongmiaopo Community, No. 91 Hongmiaopo Road, Lianhu District, Xi'an City, Shaanxi Province, 710016 Patentee after: Xi'an Lize Electronic Technology Co.,Ltd. Address before: 710054 No. 58, middle section, Yanta Road, Shaanxi, Xi'an Patentee before: XI'AN University OF SCIENCE AND TECHNOLOGY |