CN109391205B - Electric drive device and electric equipment - Google Patents

Electric drive device and electric equipment Download PDF

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CN109391205B
CN109391205B CN201710714069.4A CN201710714069A CN109391205B CN 109391205 B CN109391205 B CN 109391205B CN 201710714069 A CN201710714069 A CN 201710714069A CN 109391205 B CN109391205 B CN 109391205B
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phase
output
driving
wave
power
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CN109391205A (en
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金爱娟
李少龙
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/28—Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/10—Commutator motors, e.g. repulsion motors
    • H02P25/107—Polyphase or monophase commutator motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/05—Polyphase motors supplied from a single-phase power supply or a DC power supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/11—Sinusoidal waveform
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/13—Different type of waveforms depending on the mode of operation

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

Abstract

The invention provides an electric driving device and an electric device using a multiple control method. The electric drive device of the present invention is provided in an electric device for driving the electric device, and includes: a multi-phase motor; a control unit; a drive section; and the power conversion part is provided with at least one calculation control unit and m output ends, the multi-phase motor is provided with m multi-phase winding units, the calculation control unit calculates m groups of switch control signals according to the instruction signal and outputs the m groups of switch control signals to the driving part through the m output ends, each driving unit receives the corresponding switch control signal and forms a driving signal according to the switch control signal, each power converter converts direct current into multi-phase line current required by the multi-phase winding according to the corresponding driving signal, and the m groups of switch control signals output by the calculation control unit enable the waveform formed by the superposition of the in-phase line current of the m multi-phase winding units to be close to a sine wave.

Description

Electric drive device and electric equipment
Technical Field
The invention belongs to the field of motors, and particularly relates to an electric driving device adopting a multiple control method and electric equipment.
Background
In the modern society, the requirement for environmental protection is higher and higher, and the environmental standards of various devices are also improved. With the gradual depletion of non-renewable energy such as petroleum, the development and application of green energy are promoted. In order to better protect the environment and reduce the dependence on petroleum resources, various policies are issued by the nation and new energy and renewable energy are vigorously popularized.
At present, the electric energy is the main stream of development as the power of various devices. Electric equipment such as electric buses, electric cars, electric forklifts, etc. that use electricity as an energy source are also gaining increasing popularity among manufacturers and consumers. The electric equipment has the advantages of low pollution, capability of providing electric energy through renewable energy sources, high energy utilization rate, simple structure, low noise, good dynamic performance, high portability and the like compared with fuel oil equipment. Under the situation that petroleum resources are more and more tense, electric driving devices, in particular high-power electric driving devices such as electric combat vehicles, electric warships, electric aircrafts, electric aircraft carriers and the like, are vigorously developed, and have profound significance on national defense safety.
Because the AC motor, especially the asynchronous motor, has the advantages of simple structure, reliable operation, light weight and low price, it has been widely used. However, the ac motor is supplied by a power converter controlled by pwm, and the switching frequency of the power switch tube is generally above 20 khz. The electric drive device is nonlinear in nature, and has phenomena such as higher harmonic current, torque, rotational speed pulsation and the like. Therefore, in a high-performance electric drive device, in order to improve motor performance, reduce higher harmonic current, reduce torque ripple, and improve output stability, a method of increasing the switching frequency of a power switching tube is generally adopted. However, in the sinusoidal pulse width modulation control technique, even if the switching frequency reaches over 200KHz, the total harmonic distortion percentage of the line current is still equal to about 9. The heating of the power switch tube mainly comes from the conducting and switching-off processes, and the heating value is in direct proportion to the switching frequency, so that the higher the switching frequency is, the larger the heating value is, and the higher the temperature rise is.
In addition, for a high-power electric drive device, the output power is proportional to the product of the rated voltage and the rated current of the motor. In some electric driving devices with limitations on power supply voltage, such as the limitation of safety voltage, power battery voltage or civil voltage level, the rated current of a motor in a high-power electric driving device is large, the heat generation of a power switch tube is in direct proportion to the square of working current, and temperature rise is caused to rise sharply.
In the electric driving device, the requirements on the power switching tube are very strict, and the power switching tube must work below the maximum working temperature, the maximum working current and the maximum working voltage during normal work, and once any condition is exceeded, the power switching tube is easy to damage. In addition, the working temperature of the power switch tube is generally far higher than the ambient temperature, the aging speed of the power switch tube is accelerated along with the increase of the working time, the performance indexes such as the maximum working temperature, the maximum working current, the maximum working voltage and the like are reduced along with the aging speed, and faults such as the damage of the power switch tube and the like are easy to occur, so that the faults of electric equipment and even safety accidents are caused. In summary, the higher the operating temperature, the higher the failure rate.
In a high-power high-performance electric driving device, the heating value and the temperature rise of a power switch tube are increased along with the increase of the working current and the switching frequency of the power switch tube, so that the reliability and the safety of the electric driving device are influenced.
In conclusion, these problems have severely affected the development of high-power high-performance electric equipment, including electric tools, electric vehicles, electric ships, high-speed elevators, variable-frequency central air conditioners, electric trains, and even electric combat vehicles, electric warships, electric aircrafts, and electrically driven aircraft carriers at national defense.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object thereof is to provide an electric drive device and an electric apparatus using a multiple control method.
< Structure 1>
The present invention provides an electric drive device provided in an electric apparatus for driving the electric apparatus, characterized by comprising: a multi-phase motor for outputting a predetermined output value for driving the electromotive device; a DC power supply for providing DC power; a control part for receiving a command signal corresponding to a predetermined output value output by the multi-phase motor, and calculating and outputting a switch control signal according to the command signal; a driving part for forming a driving signal according to the switch control signal; and a power conversion unit for converting the direct current into the operating power required by the multiphase motor according to the driving signal, wherein the control unit has at least one calculation control unit and m output ends, the multiphase motor has m multiphase winding units with mutually independent structures, each multiphase winding unit comprises n multiphase windings with mutually independent structures, the driving unit has m driving units, each driving unit comprises n drivers, the power conversion unit has m power conversion units, each power conversion unit comprises n power converters, each output end is connected with n drivers in the corresponding driving unit, each driver is connected with the corresponding power converter, each power converter is connected with the corresponding multiphase winding, the calculation control unit calculates m groups of switching control signals according to a predetermined method according to the command signal, m groups of switch control signals are output to the driving part through m output ends, each driver in each driving unit receives the corresponding switch control signal and respectively forms n groups of driving signals according to the switch control signals, each power converter converts direct current into multiphase line current required by the multiphase winding according to the corresponding driving signals, the m groups of switch control signals output by the control unit are calculated to enable the in-phase line current of the m multiphase winding units to be close to a sine wave through a waveform formed by superposition, the preset output value is one of a displacement value, a rotating speed value and a torque value, m is a positive integer larger than 1, and n is a positive integer.
The electric drive device according to the present invention may further include: the predetermined method includes a rectangular pulse width modulation method, which is a method of forming a rectangular pulse width modulation wave by modulating a rectangular wave as a modulation wave with a carrier wave, the method being used to form each set of switching control signals, the carrier wave being any one of a triangular wave and a sawtooth wave, or the rectangular pulse width modulation method being a method of directly calculating a rectangular pulse width modulation wave according to the rectangular wave, the number of rectangular pulses per cycle, and the duty ratio of the rectangular pulses, and the method being used to form each set of switching control signals.
The electric drive device according to the present invention may further include: the superposed waveform obtained by superposing the m rectangular waves corresponding to the m groups of rectangular pulse width modulation waves is centrosymmetric and close to a sine wave, and the amplitude of the superposed waveform is equal to that of the sine wave.
In the invention providedThe electric drive device may further include: the rectangular pulse width modulation method adopts a predetermined formula to set the rectangular wave width in the rectangular pulse width modulation method, wherein the predetermined formula is
Figure BDA0001383385470000031
k＝1，…，p，WkThe unit is radian for p rectangular wave widths of the rectangular pulse width modulated wave corresponding to the switching control signal, and the other (m-p) rectangular wave widths are zero. p is a positive integer less than or equal to m.
The electric drive device according to the present invention may further include: wherein, when the rated current effective values output by the single power converters are all I1Rated current of the polyphase machine having an effective value of INWhen the number m and n satisfy the following conditions: m x n > IN÷I1。
The electric drive device according to the present invention may further include: the multi-phase motor is any one of an asynchronous motor and a synchronous motor, and the number of phases of the multi-phase motor is more than 2.
The electric drive device according to the present invention may further include: the direct current power supply is a battery pack or a rectification power supply, the battery pack comprises at least one series-parallel battery pack formed by series-parallel connection of a plurality of battery monomers or m multiplied by n series battery packs formed by series connection of a plurality of battery monomers, the series battery packs are mutually independent in structure and have the same performance parameters, each series battery pack is correspondingly connected with one power converter, each power converter receives a driving signal output by a correspondingly connected driver and converts direct current of the series battery pack into multiphase line current required by a correspondingly connected multiphase winding according to the driving signal, and the performance parameters comprise rated capacity, rated voltage, rated current and internal resistance.
The electric drive device according to the present invention may further include: and the control part calculates and outputs a switch control signal according to the output feedback signal while according to the instruction signal.
The electric drive device according to the present invention may further include: the inner ring sensing part detects physical parameters of the multi-phase motor and sends corresponding inner ring feedback signals; the control part calculates and outputs a switch control signal according to the command signal and the output feedback signal and also according to the inner loop feedback signal, and the physical parameter is at least one of line voltage, line current, rotating speed and torque.
< Structure two >
Further, the present invention also provides an electromotive device having such features, including: the electric driving device, wherein the electric driving device is the electric driving device of < structure one >.
Action and Effect of the invention
According to the electromotive driving device and electromotive equipment of the present invention, the control section has at least one calculation control means and m output terminals, the multiphase motor has m multiphase winding units having mutually independent structures, the driving section has m driving means, the calculation control means calculates m sets of switching control signals according to a predetermined method based on command signals and outputs the m sets of switching control signals to the driving section through the m output terminals, each driver in each driving means receives a corresponding switching control signal and forms n sets of driving signals based on the switching control signal, each power converter converts direct current into multiphase line currents required for the multiphase windings based on the corresponding driving signals, so that the m sets of switching control signals output by the calculation control means cancel higher harmonic components in the in-phase line currents of the m multiphase winding units, the waveform formed by superposing the currents of the same phase lines of the m multi-phase winding units is subjected to Fourier series decomposition, so that the total harmonic distortion rate is smaller, the waveform is close to a sine wave, the electromagnetic torque and the output pulsation of the multi-phase motor are smaller and more stable, and the working performance of an electric driving device or electric equipment is more excellent.
In addition, the electric driving device and the electric equipment of the invention can maintain or improve the performance of the electric driving device, reduce the switching frequency of the power switching tube, further reduce the heat productivity of the power switching tube and the temperature rise of the power conversion part, and improve the reliability and the safety of the system.
Moreover, in the electric driving device and the electric equipment of the present invention, even if any one of the m output terminals, the m driving units, the m power conversion units, and the m multi-phase winding units in the electric driving device fails, the output terminal corresponding to the failed element can be shielded by the control unit, and the output terminal corresponding to the failed element, the driving unit, the power conversion unit, and the multi-phase winding unit are isolated, so that the normal operation of other units is ensured, the uninterrupted operation of the electric driving device is ensured, and the reliability and the safety of the electric driving device are improved.
In addition, the power conversion part comprises m power conversion units, each power conversion unit comprises n power converters, each power converter is connected with the corresponding multiphase winding, and each multiphase winding is structurally independent, so that in the circuit structure, the m multiplied by n power converters work independently and do not influence each other, and the power switching tubes contained in the power converters do not have the problem of parallel current sharing, so that the requirement of the parallel current sharing of the power switching tubes on the performance consistency of the power switching tubes is eliminated, the requirement of large current of a multiphase motor can be met by using common power switching tubes, the maximum workload caused by screening the consistency of the power switching tubes is avoided, the production cost is reduced, and the faults caused by the failure of the current sharing of the power switching tubes are also avoided. In addition, the output line current of the power conversion part is the sum of the output line currents of all the m × n power converters, the output line current of the power conversion part can be linearly increased by increasing the number of the power converters or the power conversion units, theoretically, the output line current can reach infinity, and the power conversion part is suitable for electric equipment comprising a multiphase motor with ultra-large rated current, such as an aircraft carrier.
In conclusion, the electric driving device has the advantages of simple and reasonable structure, excellent working performance, safety, reliability and the like.
Drawings
Fig. 1 is a schematic circuit diagram of an electric drive device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a set of rectangular PWM waves in the present embodiment;
FIG. 3 is a harmonic analysis diagram of a set of rectangular pulse voltages in the present embodiment;
FIG. 4 is a schematic diagram of three sets of rectangular PWM waves in the present embodiment; and
fig. 5 is a harmonic analysis diagram after superposition of three groups of rectangular pulse voltages in the present embodiment.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following description is made in conjunction with the accompanying drawings to describe the specific embodiments of the invention.
The electric driving device 10 is disposed in an electric device such as an electric tool, an electric vehicle, an electric ship, a high-speed elevator, a variable-frequency central air conditioner, an electric train, an electric combat vehicle, an electric warship, an electric aircraft, and an electric drive aircraft carrier, and is configured to drive the electric device.
Fig. 1 is a schematic circuit configuration diagram of the electric drive device in the present embodiment.
As shown in fig. 1, the electric drive device 10 includes a multi-phase motor 11, a dc power supply 12, an output sensor 14, an inner ring sensor 15, a controller 16, a driver 18, and a power converter 19.
The number of sets of armature windings of the multi-phase motor 11 is greater than or equal to 1, i.e. the conventional motor such as a three-phase motor is equal to 1, and when the number of sets of armature windings is greater than 1, the multi-phase motor comprises a plurality of sets of multi-phase windings such as a double three-phase motor. In the present embodiment, the number of sets of armature windings is equal to 1.
The number of the stators of the multiphase motor 11 is more than or equal to 1, and when the number of the stators is two or more, two or more sets of multiphase motor armature windings are adopted. In the present embodiment, the multiphase motor 11 has a stator and a set of armature windings mounted on the stator.
The number of phases of the multi-phase motor 11 is greater than 2, and in the present embodiment, the number of phases is 3, that is, the multi-phase motor 11 is a three-phase motor, and accordingly, the multi-phase windings 1111 are three-phase windings each having three independent armature windings.
The multiphase motor 11 has a rated line voltage and a rated line current.
The multiphase motor 11 is any one of an asynchronous motor and a synchronous motor. In the present embodiment, the multiphase motor 11 is a three-phase asynchronous motor.
The connection of the armature windings of the polyphase motor 11 can be a star connection or a ring connection. In this embodiment, there is a ring connection, i.e. a triangular connection.
The armature winding of the multi-phase motor 11 includes m multi-phase winding units 111, each multi-phase winding unit 111 includes n multi-phase windings 1111, and the multi-phase motor 11 includes m × n multi-phase windings 1111 having independent structures. The number of m multiplied by n can be split by the number of the parallel winding of the armature winding of the multi-phase motor. Before and after the split, the winding phase number, the winding phase sequence and the winding connection mode of the armature winding of the multi-phase motor and the m multiplied by n multi-phase winding units are kept unchanged.
The dc power supply 12 has a constant voltage corresponding to the rated line voltage of the multiphase motor 11, and the dc power supply 12 is a battery pack including at least one battery pack in series or in series-parallel or a rectified power supply. In the present embodiment, the dc power supply 12 is supplied by a battery pack, which has m × n series-connected battery packs with mutually independent structures and the same performance parameters and is connected to the m × n power converters in a one-to-one correspondence. The battery pack and the capacitor pack together power the multiphase motor 11.
The command signal 13 is a command signal corresponding to a displacement value, a rotation speed value, or a torque value output from the multiphase motor 11.
The output sensing part 14 detects one of a displacement value, a rotation speed value and a torque value output by the multi-phase motor and outputs a corresponding output feedback signal. The output feedback signal is received by the control section 16. In the present embodiment, the multiphase motor 11 outputs a rotation speed value.
The inner loop sensing portion 15 detects at least one of line voltage, line current, rotational speed, and torque of the multi-phase motor and outputs a corresponding inner loop feedback signal. The output feedback signal is received by the control section 16. In the present embodiment, the line currents of the multiphase motor are detected, and currents of two phases (B-phase and C-phase) of each of the multiphase windings 1111 are extracted in each of the multiphase motor winding units 111 for detection.
The control unit 16 calculates and outputs m groups of switching control signals 17 through m structurally independent output units 161 in the control unit based on the command signal 13, the rotational speed feedback signal of the output sensor unit 14, and the current feedback signal of the inner ring sensor unit 15.
The driving unit 18 amplifies power based on the switching control signal 17 to generate a driving signal for driving the power conversion unit 19.
The driving unit 18 has m driving units 181, each driving unit 181 includes n drivers 1811, the driving unit 18 has m × n drivers 1811 with independent structures, and the n drivers 1811 in each driving unit 181 receive the switch control signal 17 from the corresponding connected one of the output terminals 162.
Each driver 1811 may send out an a-phase driving signal, a B-phase driving signal, and a C-phase driving signal, where the three-phase driving signals respectively drive the a-phase power conversion circuit 1911a, the B-phase power conversion circuit 1911B, and the C-phase power conversion circuit 1911C of the power converter 1911, which are correspondingly connected, to turn on or off.
Power conversion unit 19 includes m power conversion units 191, each power conversion unit 191 includes n power converters 1911, and power conversion unit 19 has m × n independent power converters 1911.
Each power converter 1911 receives a drive signal from the corresponding link driver 1811 and converts the dc power from the dc power source to the three-phase line current required by the corresponding link polyphase winding 1111 in accordance with the drive signal.
Each power converter 1911 includes three a-phase power conversion circuits 1911a, B-phase power conversion circuits 1911B, and C-phase power conversion circuits 1911C connected in parallel with each other. The a-phase power conversion circuit 1911a is connected to the a-phase input terminal of the multi-phase winding 1111 connected to the corresponding circuit, the B-phase power conversion circuit 1911B is connected to the B-phase input terminal of the multi-phase winding 1111 connected to the corresponding circuit, and the C-phase power conversion circuit 1911C is connected to the C-phase input terminal of the multi-phase winding 1111 connected to the corresponding circuit.
Each power conversion circuit comprises at least two power switch tubes, and when the number of the power switch tubes is more than two, a series voltage-sharing or parallel current-sharing technology is used. In this embodiment, each power conversion circuit includes two power switching tubes, and does not adopt a series voltage equalizing technology and a parallel current equalizing technology.
The power converter 1911 may be formed of an intelligent power module, or may include a plurality of power switching tubes. The Power switch tube is a fully-controlled device and is any one of a Power field effect transistor (Power MOSFET), a gate turn-off thyristor (GTO), an integrated gate commutated thyristor (MGCT), an insulated gate bipolar transistor (MGBT), a Power bipolar transistor (GTR) and a gate commutated thyristor (SGCT). In this embodiment, a power field effect transistor is employed.
In this embodiment, m n drivers 1811 are respectively connected to m n power converters 1911 and power m n structurally independent multi-phase windings 1111. The one driving unit 181, the power conversion unit 191 and the multi-phase winding unit 111 connected correspondingly constitute one main circuit unit 201. One output terminal 162 is connected to a corresponding one of the main circuit units 201. The m main circuit units 201 collectively constitute the main circuit 20.
The number of drivers 1811, power converter 1911 and multiphase windings 1111 in this embodiment is m × n, m is a positive integer greater than 1, n is a positive integer, and the following conditions are satisfied: m x n > IN÷I1In the formula I1Is the rated current effective value, I, of the output of a single power conversion unitNIs the rated current effective value of the multi-phase motor.
The control method adopted in the embodiment is as follows:
the control part is adopted to receive a command signal corresponding to a preset output value output by the multi-phase motor,
detecting a preset output value output by the multi-phase motor by adopting an output sensing part and sending a corresponding output feedback signal;
detecting physical parameters of the multi-phase motor by adopting an inner ring sensor, and sending corresponding inner ring feedback signals;
calculating m groups of switch control signals by using at least one calculation control unit in the control part according to the instruction signals and a preset method, and outputting the m groups of switch control signals through m output ends in the control part;
m driving units of the driving part are adopted to receive the switch control signals and form driving signals according to the switch control signals;
m power conversion units of the power conversion part receive the driving signal and convert the direct current of the direct current power supply into the current of the multi-phase wires required by m multi-phase winding units of the multi-phase motor according to the driving signal,
m multi-phase winding units of a multi-phase motor are used to output predetermined output values for driving an electromotive drive device in accordance with the multi-phase line currents.
In the present embodiment, the multiple control method is an m-fold control method.
In this embodiment, the waveform obtained by superimposing m rectangular waves corresponding to m groups of rectangular pulse width modulation waves is centrosymmetric and close to a sine wave, and the amplitude of the superimposed waveform is equal to that of the sine wave. The calculation formula of the P rectangular wave widths is
Figure BDA0001383385470000091
And k is 1, …, p, wherein p is a positive integer less than or equal to m, and the widths of the (m-p) rectangular waves are zero. WkIs p rectangular wave widths of a rectangular pulse width modulated wave corresponding to the switching control signal in radians.
Fig. 2 is a schematic diagram of a set of rectangular pulse width modulated waves in the present embodiment.
As shown in fig. 2, when m is 1, the electric driving apparatus in this embodiment has only 1 output terminal, 1 group of switching control signals, 1 driving unit, 1 power conversion unit, and 1 multi-phase winding unit, and the modulation wave in the rectangular pulse width modulation method has only 1 rectangular wave, and the width of the rectangular wave is calculated according to a predetermined formula to obtain W12.09 radians. The waveform of the rectangular wave 1 is close to that of the sine wave 2, and the amplitudes of the rectangular wave 1 and the sine wave 2 are equal, that is, the rectangular wave 1 and the sine wave 2 are obtained from the abscissa axisThe areas resulting from the integration are nearly equal. The rectangular wave and a carrier wave (the carrier wave is a triangular wave, not shown) are modulated to form a rectangular pulse width modulated wave 3 having a duty ratio of 0.5. One calculation control unit in the control part calculates a group of switch control signals according to the rectangular pulse width modulation wave 3 and outputs the switch control signals through 1 output end in the control part, the drive unit receives the group of switch control signals and forms drive signals according to the switch control signals, 1 power conversion unit in the power conversion part receives the drive signals and converts direct current of a voltage source formed by a series battery pack and a capacitor pack into a phase line voltage required by 1 multiphase winding units of the multiphase motor according to the drive signals, the phase line voltage is rectangular pulse voltage similar to the rectangular pulse width modulation wave 3, and the amplitude is equal to the direct current voltage value of the voltage source formed by the series battery pack and the capacitor pack.
Fig. 3 is a harmonic analysis diagram of a set of rectangular pulse voltages in the present embodiment.
As shown in fig. 3, the voltage of one phase line of the multi-phase winding unit is a rectangular pulse voltage 4, the rectangular pulse voltage 4 is similar to the rectangular pulse width modulation wave of fig. 2, and the amplitude is equal to the dc voltage value of the voltage source composed of the series battery pack and the capacitor pack, which is represented by 1 unit voltage in fig. 3. The rectangular pulse voltage 4 is subjected to fourier series decomposition to obtain a fundamental wave 5 and a higher harmonic wave 6, wherein the higher harmonic wave 6 comprises a 5 th harmonic wave 61, a 7 th harmonic wave 62 and other higher harmonic waves (not shown in the figure), and the amplitude of the fundamental wave 5 is 0.55 unit voltage. As can be seen from table 1, the percentage of the amplitude of the 5 th harmonic 61 to the amplitude of the fundamental wave 5 is 20.7, the percentage of the amplitude of the 7 th harmonic 62 to the amplitude of the fundamental wave 5 is 15.28, and the percentage of the total harmonic distortion of the rectangular pulse voltage 4 is 27.897. (the calculation formula of the total harmonic distortion rate refers to GB/T17626.7-2008, the times of the higher harmonics are less than or equal to 11, and the total harmonic distortion rate is equal to the power and root of the effective value of the higher harmonics and then divided by the effective value of the fundamental wave.)
Fig. 4 is a schematic diagram of three sets of rectangular pulse width modulated waves in the present embodiment.
As shown in fig. 4, when m is 3, the electric driving apparatus has 3 output terminals, 3 sets of switch control signals, 3 driving units, and 3 power convertersA switching unit and 3 multi-phase winding units, wherein the modulation wave in the rectangular pulse width modulation method is a rectangular wave 7, the rectangular wave 7 comprises a first rectangular wave 71, a second rectangular wave 72 and a third rectangular wave 73, and the width of the rectangular wave 7 is calculated according to a predetermined formula to obtain W12.81 radian W22.09 radian and W31.17 radians. In the present embodiment, m-p-3. The step wave formed by superimposing the rectangular waves 7 is close to the sine wave 2, and the amplitudes of the step wave and the sine wave 2 are equal, that is, the areas obtained by integrating the abscissa axis by the step wave and the sine wave 2 are close to equal. Rectangular pulse width modulated wave 8 was directly calculated from rectangular wave 7, the number of rectangular pulses per cycle was set to 20, and the duty ratio of the rectangular pulses was set to 0.5. The first rectangular wave 71 generates a first rectangular pulse width modulated wave 81, the second rectangular wave 72 generates a second rectangular pulse width modulated wave 82, and the third rectangular wave 73 generates a third rectangular pulse width modulated wave 83.
Fig. 5 is a harmonic analysis diagram after superposition of three groups of rectangular pulse voltages in the present embodiment.
As shown in fig. 5, the 3 power conversion units of the power conversion unit receive the 3 sets of driving signals shown in fig. 4 and convert the dc power of the 3 voltage sources composed of the 3 series-connected battery packs and capacitor packs into the multiphase line voltages required by the 3 multiphase winding units of the multiphase motor according to the driving signals. The line voltage waveform of each phase is a rectangular pulse voltage, the waveform is similar to the rectangular pulse width modulation wave 8 shown in fig. 4, the amplitude is equal to the direct current voltage value of a voltage source formed by a series battery pack and a capacitor pack, the voltage value is represented by 1 unit voltage in fig. 5, and the same-phase line voltages of 3 multi-phase winding units are formed into a waveform like the rectangular pulse voltage 4' of fig. 5 through superposition. The rectangular pulse voltage 4 ' is decomposed by fourier series to obtain fundamental waves 5 ' and higher harmonics (the higher harmonics have very small amplitudes, which are drawn to scale but not labeled in the figure), and the amplitude of the fundamental waves 5 ' is 1.53 unit voltages. As can be seen from table 1, the amplitude percentage of the 5 th harmonic to the fundamental 5 ' is 1.25, the amplitude percentage of the 7 th harmonic to the fundamental 5 ' is 0.25, and the total harmonic distortion percentage of the rectangular pulse voltage 4 ' is 4.7882, which is much smaller than the total harmonic distortion percentage 27.897 of the group of rectangular pulse voltages shown in fig. 3.
As can be seen from the analysis of the rectangular pwm waveform in table 1 (duty ratio is 0.5, number of pulses per cycle is 20), as the number m of the rectangular pwm waveform sets increases, the amplitudes of the higher harmonics of each order decrease and the percentage of the total harmonic distortion decreases. The method of the present embodiment is advantageous for reducing the total harmonic distortion rate of the multiphase motor line current.
TABLE 1 analysis of rectangular pulse width modulated wave (duty cycle 0.5)
Figure BDA0001383385470000111
Figure BDA0001383385470000121
As can be seen from table 2 analysis of the rectangular pwm waveform (duty ratio of 1), as the number m of the rectangular pwm waveform sets increases, the amplitude of the higher harmonic wave also decreases, and the percentage of the total harmonic distortion decreases. Compared with table 1, the switching frequency of each power switch tube is lower, only 50 hz, and the percentage of the total harmonic distortion is small as long as m is large enough. When the preset output value of the multi-phase motor is the maximum, the working current effective value of the multi-phase motor reaches the maximum, the control is carried out according to the implementation method, the duty ratio of the rectangular pulse width modulation wave is 1, the switching frequency of the power switch tube is very low, the heat productivity and the temperature rise are also very low, and the safety and the reliability of a system are favorably improved.
TABLE 2 analysis of rectangular pulse width modulated wave (duty cycle 1)
Figure BDA0001383385470000122
Figure BDA0001383385470000131
Table 2 can be used as a reference for controlling the output value of the multi-phase motor in a stepped manner, that is, the number of power conversion units put into operation can be smaller than m during actual operation, and the number of effective groups of the switch control signals output by the control part can be controlled to control the output value of the multi-phase motor to be changed in a stepped manner. Especially for the electric equipment with output only needing to be controlled in a stepped mode, such as an electric ship, the effect of the embodiment is most obvious.
When the output value of the multi-phase motor is controlled in a stepless manner, the value of the duty ratio can be changed in two adjacent step controls in table 2, and the stepless control can also be carried out. In other words, in the stepless control, stepped control is inserted as much as possible. In a word, on the premise of ensuring the performance of the electric driving device, the power converter in the working state is reduced, so that the temperature rise of the power conversion part is reduced, and the safety and the reliability of the system are improved.
Partial data in the rectangular pulse width modulation wave analysis (duty ratio of 1) in the table 2 is selected to build a Matlab/Simulink three-phase asynchronous motor simulation model, a voltage source supplies power, and the relation between the virtual superposed voltage of the armature winding of the multi-phase motor and the real superposed current total harmonic distortion rate is analyzed, so that the armature winding current total harmonic distortion rate simulated by the Matlab/Simulink multi-phase motor in the table 3 is obtained. Although the voltage of the armature winding of the multi-phase motor is not equal to the value obtained by superposing the voltages of all the multi-phase windings included in the multi-phase motor, the voltage and the current of the multi-phase winding have a correlation, and the current of the armature winding of the multi-phase motor is equal to the value obtained by superposing the currents of all the multi-phase windings included in the multi-phase motor according to kirchhoff's current law. Therefore, the total harmonic distortion rate obtained by the waveform formed by superposing the current of the same phase line of the multiple multiphase winding units after Fourier series decomposition and the total harmonic distortion rate obtained by the waveform formed by superposing the voltage of the same phase line of the multiple multiphase winding units after Fourier series decomposition are in positive correlation. Therefore, with the multiple control method in this embodiment, the total harmonic distortion obtained by fourier-order decomposition of the waveform formed by superimposing the rectangular pulse voltages in phase in the multiple multiphase winding units is reduced, and the total harmonic distortion obtained by fourier-order decomposition of the waveform formed by superimposing the waveforms in phase line currents in corresponding multiple multiphase winding units is also reduced (the calculation formula of table 3 for the total harmonic distortion is inconsistent with the calculation formulas used in tables 1 and 2).
TABLE 3 Total harmonic distortion of armature winding current for Matlab/Simulink polyphase electric machine simulation
Figure BDA0001383385470000132
Effects and effects of the embodiments
According to the electric drive device and the electric equipment of the present embodiment, the control unit has at least one calculation control means and m output terminals, the multiphase motor has m multiphase winding units having mutually independent structures, the drive unit has m drive means, the calculation control means calculates m sets of switching control signals according to a predetermined method based on command signals and outputs the m sets of switching control signals to the drive unit through the m output terminals, each driver in each drive unit receives a corresponding switching control signal and forms n sets of drive signals based on the switching control signal, each power converter converts direct current into multiphase line current required for the multiphase winding based on the corresponding drive signal, and therefore, the m sets of switching control signals output by the calculation control means cancel harmonic components in the in-phase line current of the m multiphase winding units generated, the waveform formed by superposing the currents of the same phase lines of the m multi-phase winding units is subjected to Fourier series decomposition, so that the total harmonic distortion rate is smaller, the waveform is close to a sine wave, the electromagnetic torque and the output pulsation of the multi-phase motor are smaller and more stable, and the working performance of an electric driving device or electric equipment is more excellent.
In addition, the electric driving device and the electric equipment of the embodiment can reduce the switching frequency of the power switching tube while maintaining or improving the performance of the electric driving device, further reduce the heat productivity of the power switching tube and the temperature rise of the power conversion part, and improve the reliability and the safety of the system.
Moreover, in the electric drive device and the electric equipment of the embodiment, even if m output terminals in the electric drive device, m drive units, m power conversion units and m multiphase winding units have faults, the output terminal corresponding to the fault element can be shielded by the control part, the output terminal corresponding to the fault element, the drive unit, the power conversion unit and the multiphase winding unit are isolated, the normal operation of other units is ensured, the uninterrupted operation of the electric drive device is ensured, and the reliability and the safety of the electric drive device are improved.
In addition, the power conversion part comprises m power conversion units, each power conversion unit comprises n power converters, each power converter is connected with the corresponding multiphase winding, and each multiphase winding is structurally independent, so that in the circuit structure, the m multiplied by n power converters work independently and do not influence each other, and the power switching tubes contained in the power converters do not have the problem of parallel current sharing, so that the requirement of the parallel current sharing of the power switching tubes on the performance consistency of the power switching tubes is eliminated, the requirement of large current of a multiphase motor can be met by using common power switching tubes, the maximum workload caused by screening the consistency of the power switching tubes is avoided, the production cost is reduced, and the faults caused by the failure of the current sharing of the power switching tubes are also avoided. In addition, the output line current of the power conversion part is the sum of the output line currents of all m × n power converters, the output line current of the power conversion part can be linearly increased by increasing the number of the power converters or the power conversion units, and the power conversion device is suitable for electric equipment comprising a multi-phase motor with super-large rated current, such as an aircraft carrier.
In this embodiment, when the duty ratio of the rectangular pulse width modulation wave is set to 1, the number of effective groups of the output switching control signals is controlled by the control unit to control the number of power conversion units actually put into operation, and the output value of the multi-phase motor is controlled to change in steps. When the output value of the multi-phase motor needs stepless control, the stepless control can be carried out by changing the value of the duty ratio in two adjacent step controls. Or in the stepless control, the stepped control is inserted as much as possible, which is beneficial to reducing the heat productivity and temperature rise of the power switch tube and improving the safety and reliability of the electric driving device and the electric equipment.
In addition, because m × n power conversion units are independent from each other, when the dc power supply is supplied by a battery pack, the battery pack may be formed by connecting a plurality of battery cells in series to form m × n series battery packs having independent structures and identical performance parameters, each series battery pack is correspondingly connected to one power converter, each power converter receives a driving signal output by a correspondingly connected output terminal and converts the dc power of the series battery pack into a multiphase line current required by a correspondingly connected multiphase winding according to the driving signal, and the performance parameters include a rated capacity, a rated voltage, a rated current and an internal resistance. Therefore, the battery cells of the battery pack do not need to adopt a parallel technology, and numerous problems and high cost caused by inconsistent performance of the battery cells after the battery cells are connected in parallel are eliminated. In the aspect of power supply, a plurality of relatively small-capacity battery units replace a single large-capacity series-parallel battery pack, and under the condition that the number of battery monomers is the same, the overall performance attenuation of the batteries caused by parallel connection is reduced, the energy density, the power, the performance, the durability and the safety are improved, and better guarantee can be provided for the endurance and the performance of electric equipment. Compared with the output current of the series-parallel battery packs, the output current of each series-parallel battery pack is smaller, so that the requirements on contact resistance and insulation of a connecting line between the series-parallel battery packs and a power converter, the connecting line and the connector of the series-parallel battery packs and the connector of the connecting line and the power converter are lower, the production difficulty and cost are reduced, and the safety and reliability of an electric driving device and electric equipment are improved.
In conclusion, the electric driving device of the embodiment has the advantages of simple and reasonable structure, excellent working performance, safety, reliability and the like.
The above embodiments are merely basic illustrations of the concept of the present invention, and do not limit the present invention. Any equivalent changes made according to the technical scheme of the invention belong to the protection scope of the invention.
In the above embodiment, the power conversion unit outputs the multiphase voltage, but in the present invention, when the dc power source is a current source formed by a series battery and a reactor, the power conversion unit outputs the multiphase line current, fig. 3 and 5 correspond to the rectangular pulse current, and the total harmonic distortion of the line current is calculated, and the total harmonic distortion of the line current is also reduced.
In the above embodiment, the rectangular pulse width modulation method in fig. 2 is a method of forming a rectangular pulse width modulation wave by modulating a rectangular wave as a modulation wave with a carrier wave, and is used to form each set of switching control signals, and the rectangular pulse width modulation method in fig. 4 is a method of directly calculating a rectangular pulse width modulation wave from the rectangular wave, the number of rectangular pulses per cycle, and the duty ratio of the rectangular pulses, and is used to form each set of switching control signals. However, as the multiple control method of the present invention, two rectangular pulse width modulation methods may be arbitrarily replaced.
In the above-described embodiment, the output sensor section detects a predetermined output value output from the multiphase motor and transmits a corresponding output feedback signal, the inner-loop sensor detects a physical parameter of the multiphase motor and transmits a corresponding inner-loop feedback signal, and the control section calculates and outputs the switching control signal based on the command signal, the output feedback signal, and the inner-loop feedback signal.

Claims (10)

1. An electric drive device provided in an electric equipment for driving the electric equipment, characterized by comprising:
a multi-phase motor for outputting a predetermined output value for driving the electromotive device;
a DC power supply for providing DC power;
a control part for receiving a command signal corresponding to the predetermined output value output by the multi-phase motor, and calculating and outputting a switch control signal according to the command signal;
a driving part for forming a driving signal according to the switch control signal; and
a power conversion unit for converting the DC power into an operating power required by the multi-phase motor based on the drive signal,
wherein the control part has at least one calculation control unit and m output terminals,
the multi-phase motor is provided with m multi-phase winding units with mutually independent structures, each multi-phase winding unit comprises n multi-phase windings with mutually independent structures, the windings with the same phase in all the multi-phase windings are in parallel winding relationship, the phase sequence and the connection mode of all the multi-phase windings are the same,
the driving part has m driving units, each of which includes n drivers,
the power conversion unit has m power conversion units each including n power converters,
each output terminal is connected to n drivers in the corresponding drive unit, each driver is connected to the corresponding power converter, each power converter is connected to the corresponding multiphase winding,
the calculation control unit calculates m groups of switch control signals according to the instruction signals and a preset method, and outputs the m groups of switch control signals to the driving part through m output ends,
each driver in each driving unit receives the corresponding switch control signal and respectively forms n groups of driving signals according to the switch control signal,
each of the power converters converts the direct current to a polyphase line current required by the polyphase winding according to the corresponding drive signal,
the m groups of switch control signals output by the calculation control unit enable the waveform formed by the in-phase line currents of the m multi-phase winding units through superposition to be close to a sine wave,
the predetermined output value is one of a displacement value, a rotational speed value and a torque value,
m is a positive integer greater than 1,
n is a positive integer.
2. The electric drive apparatus according to claim 1, characterized in that:
wherein the predetermined method comprises a rectangular pulse width modulation method,
the rectangular pulse width modulation method is a method of forming a rectangular pulse width modulation wave by modulating a rectangular wave as a modulation wave with a carrier wave, the carrier wave being any one of a triangular wave and a sawtooth wave, to form each set of the switching control signals,
or, the rectangular pulse width modulation method is a method of directly calculating to obtain a rectangular pulse width modulation wave according to the rectangular wave, the number of rectangular pulses per period and the duty ratio of the rectangular pulses, and is used for forming each group of the switching control signals.
3. The electric drive apparatus according to claim 2, characterized in that:
wherein the superposed waveform obtained by superposing m rectangular waves corresponding to m groups of rectangular pulse width modulation waves is centrosymmetric and close to a sine wave,
the superimposed waveform and the sine wave have equal amplitudes.
4. The electric drive apparatus according to claim 2, characterized in that:
the rectangular pulse width modulation method adopts a predetermined formula to set the rectangular wave width in the rectangular pulse width modulation method, wherein the predetermined formula is
Figure FDA0003353790480000031
The W iskP square wave widths of the square pulse width modulation wave corresponding to the switching control signal, and the other (m-p) square wave widths are zero,
and p is a positive integer less than or equal to m.
5. The electric drive apparatus according to claim 1, characterized in that:
when the rated current effective values output by the power converter are I1The rated current effective value of the multi-phase motor is INWhen the number m and n satisfy the following conditions: m x n > IN÷I1。
6. The electric drive apparatus according to claim 1, characterized in that:
wherein the multi-phase motor is any one of an asynchronous motor and a synchronous motor,
the number of phases of the multiphase motor is greater than 2.
7. The electric drive apparatus according to claim 1, characterized in that:
wherein the direct current power supply is a battery pack or a rectification power supply,
the battery pack comprises at least one series-parallel battery pack formed by series-parallel connection of a plurality of battery monomers or m multiplied by n series battery packs which are formed by series connection of a plurality of battery monomers and have mutually independent structures and the same performance parameters,
each series battery pack is correspondingly connected with one power converter, each power converter receives the driving signal output by the correspondingly connected driver and converts the direct current of the series battery pack into the current of a multi-phase wire required by a correspondingly connected multi-phase winding according to the driving signal,
the performance parameters include rated capacity, rated voltage, rated current and internal resistance.
8. The electric drive apparatus according to claim 1, further comprising:
an output sensing part for outputting the output signal,
wherein the output sensing part detects a predetermined output value output by the multi-phase motor and sends a corresponding output feedback signal,
the control part calculates and outputs a switch control signal according to the output feedback signal while according to the instruction signal.
9. The electric drive of claim 8, further comprising:
the inner ring of the sensing part is provided with a sensing part,
the inner ring sensing part detects physical parameters of the multi-phase motor and sends corresponding inner ring feedback signals;
the control part calculates and outputs a switch control signal according to the inner loop feedback signal while outputting the feedback signal according to the command signal,
the physical parameter is at least one of line voltage, line current, rotational speed, and torque.
10. An electrically powered device, comprising:
an electric driving device is arranged on the frame,
wherein the electric drive device is the electric drive device according to any one of claims 1 to 9.
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