CN109391218B - Electric drive device and electric equipment - Google Patents
Electric drive device and electric equipment Download PDFInfo
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- CN109391218B CN109391218B CN201710672849.7A CN201710672849A CN109391218B CN 109391218 B CN109391218 B CN 109391218B CN 201710672849 A CN201710672849 A CN 201710672849A CN 109391218 B CN109391218 B CN 109391218B
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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
- 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
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Abstract
The invention provides an electric driving device and an electric device using a multiple control method. The present invention provides an electric drive device provided in an electric device, for driving the electric device, 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 and an enable control signal according to the command signal; a driving part for forming a driving signal according to the switch control signal and the enable control signal; and a power conversion unit which converts the direct current into an operating power required by the multiphase motor according to the drive signal, wherein the control unit has at least one controller, the multiphase motor has m multiphase windings, and a set of switching control signals and m enable control signals output by the controller cause the waveform formed by superimposing in-phase line currents of the m multiphase windings to approach a sine wave.
Description
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 and an enable control signal according to the command signal; a driving part for forming a driving signal according to the switch control signal and the enable control signal; and a power conversion part for converting the DC power into the working power required by the multiphase motor according to the driving signal, wherein the control part has at least one controller, the multiphase motor has m multiphase windings, the driving part has m drivers, the power conversion part has m power converters, the control part is connected with the m drivers, each driver is connected with the corresponding power converter, each power converter is connected with the corresponding multiphase winding, the controller calculates a group of switching control signals and m enable control signals according to the instruction signal and a preset method and outputs the signals to the driving part, each driver of the driving part receives the switching control signals and the corresponding enable control signals, enters the working state or the stopping state under the effect of the enable control signals, and forms m groups of driving signals respectively according to the switching control signals under the working state, each power converter converts direct current into multiphase line current required by the multiphase windings according to corresponding driving signals, and a group of switch control signals and m enable control signals output by the controller enable the waveform formed by superposition of the in-phase line current of the m multiphase windings to be close to a sine wave, wherein m is a positive integer greater than 1.
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 modulating a square wave as a modulation wave and a carrier wave to form a rectangular pulse width modulation wave, and is used for forming a switching control signal, wherein the carrier wave is any one of a triangular wave and a sawtooth wave, or the rectangular pulse width modulation method is a method of directly calculating a rectangular pulse width modulation wave according to the square wave, the number of rectangular pulses per period and the duty ratio of the rectangular pulses, and is used for forming the switching control signal.
The electric drive device according to the present invention may further include: the rectangular pulse width modulation method adopts a preset formula to control the working time width W of the driver which enters the working state according to the enabling control signal in the half period of the square wavekSetting the other time to enter a stop state, wherein the predetermined formula is
k＝1，…，p；WkIs centrosymmetric and has radian unit, and in addition, (m-p) drivers all enter a stop state in a half period of the square wave, wherein p is a positive integer less than or equal to m.
The electric drive device according to the present invention may further include: wherein the predetermined output value is one of a displacement value, a rotational speed value, and a torque value.
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 INThen, the number m satisfies the following condition: m is more than 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 connecting a plurality of battery monomers in series and parallel or m series-connection battery packs formed by connecting a plurality of battery monomers in series, the m series-connection battery packs are mutually independent in structure and have the same performance parameters, each series-connection 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-connection 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: the control part calculates a group of switch control signals and m enabling control signals according to the output feedback signals and outputs the signals to the driving part, and the preset output value is one of a displacement value, a rotating speed value and a torque value.
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 a group of switch control signals and m enabling control signals according to the command signals and the output feedback signals and simultaneously according to the inner loop feedback signals and outputs the switch control signals and the m enabling control signals to the driving part, and the physical parameters are at least one of line voltage, line current, rotating speed and torque.
< Structure two >
Further, the present invention provides an electromotive device, characterized by comprising: 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 electric drive device and the electric equipment of the present invention, the controller calculates a set of switching control signals and m enable control signals according to a predetermined method based on the command signal and outputs the signals to the drive section, each driver of the drive section receives the switching control signals and the corresponding enable control signals, enters an operating state or a stop state under the action of the enable control signals, and forms m sets of drive signals respectively based on the switching control signals in the operating state, each power converter converts the direct current into a multiphase line current required for the multiphase windings according to the corresponding drive signals, the set of switching control signals and the m enable control signals output by the controller cause the in-phase line currents of the m multiphase windings to approach a sine wave by a waveform formed by superimposing, so that the set of switching control signals and the m enable control signals output by the calculation control unit cause higher harmonic components in the in-phase line currents of the m multiphase winding units to cancel each other, 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.
Moreover, the electric driving device and the electric equipment of the invention can reduce the switching frequency of the power switch tube while maintaining or improving the performance of the electric driving device, thereby reducing the heat productivity of the power switch tube and the temperature rise of the power conversion part, and improving the reliability and the safety of the system.
Moreover, with the electric driving device and the electric equipment of the present invention, even if any one of the m drivers, the m power converters, and the m multi-phase windings in the electric driving device fails, the driver corresponding to the failed element can be brought into a stop state by outputting the enable control signal by the control unit, and the driver, the power converter, and the multi-phase windings corresponding to the failed element are isolated, so that normal operation of other parts is ensured, uninterrupted operation of the electric driving device is ensured, and improvement of reliability and safety of the electric driving device is facilitated.
In addition, the power conversion part comprises m power converters, each power converter is connected with a corresponding multiphase winding, and each multiphase winding is structurally independent, so that the m power converters work independently and do not influence each other in a circuit structure, 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 a plurality of 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 great workload brought by screening the consistency of the power switching tubes is avoided, the production cost is reduced, and the fault caused by the current sharing failure of the power switching tubes is also avoided. In addition, the output line current of the power conversion part is the sum of the output line currents of all m power converters, the output line current of the power conversion part can be linearly increased by increasing the number of the power converters, and the power conversion part is suitable for electric equipment comprising a multi-phase motor with ultra-large rated current, such as an aircraft carrier.
In conclusion, the electric driving device and the electric equipment have the advantages of simple and reasonable control, 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 19, and a power converter 20.
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 111 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 multiphase motor 11 includes m multiphase windings 111 having mutually independent structures. The number of m 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 and the m multi-phase windings of the multi-phase motor 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 powered by a battery pack, which has m series-connected battery packs with mutually independent structures and the same performance parameters and is connected with m 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 current of the multiphase motor is detected, and two phases (B-phase and C-phase) of the line current are respectively extracted in each of the multiphase windings 111 for detection.
The control section 16 calculates and outputs m enable control signals 17 and a set of switch control signals 18 based on the command signal 13, the rotational speed feedback signal of the output sensing section 14, and the current feedback signal of the inner loop sensing section 15.
The driving section 19 has m drivers 191, and each driver 191 receives one enable control signal 17 and one set of switch control signals 18, which are correspondingly connected.
Each driver 191 enters an operating state or a stop state under the action of a corresponding connected enable control signal 17, and in the operating state, the driver 191 receives the switch control signal 18 and performs power amplification according to the switch control signal 18 to generate a driving signal for driving the power converter 201.
Each driver 191 may send out an a-phase driving signal, a B-phase driving signal, and a C-phase driving signal, and the three-phase driving signals respectively drive the power switching tubes in the a-phase power conversion circuit 201a, the B-phase power conversion circuit 201B, and the C-phase power conversion circuit 201C of the power converter 201 connected correspondingly to turn on or off the power switching tubes.
The power converter 20 includes m power converters 201, and each power converter 201 receives a drive signal from the corresponding connection driver 191 and converts the dc power of the dc power supply into a three-phase line current required for the corresponding connected multi-phase winding 111 based on the drive signal.
Each power converter 201 has three a-phase power conversion circuit 201a, B-phase power conversion circuit 201B, and C-phase power conversion circuit 201C connected in parallel with each other. The a-phase power conversion circuit 201a is connected to the a-phase input terminal of the multi-phase winding 111 correspondingly connected, the B-phase power conversion circuit 201B is connected to the B-phase input terminal of the multi-phase winding 111 correspondingly connected, and the C-phase power conversion circuit 201C is connected to the C-phase input terminal of the multi-phase winding 111 correspondingly connected.
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 201 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 the present embodiment, the power converter 201 employs a power field effect transistor.
The number of the driver 191, the power converter 201, and the multiphase winding 111 in this embodiment is m, m is a positive integer greater than 1, and the following conditions are satisfied: m is more than IN÷I1In the formula I1Is rated current of single power converter outputEffective value, INIs the rated current effective value of the multi-phase motor.
The control method adopted in the embodiment is as follows:
receiving a command signal corresponding to a predetermined output value output by the multi-phase motor by using a control part;
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 sensing part, and sending corresponding inner ring feedback signals;
calculating by using at least one controller in the control part according to the instruction signal, the output feedback signal and the inner loop feedback signal according to a preset method to obtain a group of switch control signals and m enabling control signals and outputting the signals;
m drivers of the driving part are adopted to enter a working state or a stopping state under the action of the correspondingly connected enabling control signals, and the drivers receive the switch control signals and form driving signals according to the switch control signals in the working state;
m power converters of the power conversion part are adopted to receive driving signals and convert direct current of a direct current power supply into multiphase line currents required by m multiphase windings with mutually independent structures of the multiphase motor according to the driving signals;
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, a square wave is used as a modulation wave, and a square wave and a carrier wave are modulated to form a square pulse width modulation wave, so as to form a switching control signal. The rectangular pulse width modulation method can also directly calculate to obtain a rectangular pulse width modulation wave according to the square wave, the number of the rectangular pulses in each period and the duty ratio of the rectangular pulses, and the rectangular pulse width modulation wave is used for forming a switch control signal.
The rectangular pulse width modulation method adopts a preset formula to control the working time width W of the driver which enters the working state according to the enabling control signal in the half period of the square wavekSetting the other time to enter a stop state, wherein the predetermined formula is
k＝1，…，p；
WkIs centrosymmetric and has the unit of radian,
the other (m-p) drivers go to rest during the half cycle of the square wave,
p is a positive integer less than or equal to m.
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 electromotive driving device has only 1 enable control signal, 1 set of switching control signals, 1 driver, 1 power converter, and 1 multiphase winding. The rectangular pulse width modulation method directly calculates a rectangular pulse width modulation wave 2 according to the square wave 1, the number of rectangular pulses per period (set to 20) and the duty ratio of the rectangular pulses (set to 0.8) for forming a switching control signal. In the half period of the square wave, the working time width of the driver entering the working state under the action of the enabling control signal is calculated to obtain W12.09 radians as shown in fig. 2. Therefore, for the driver, the received switch control signal corresponds to the shaded rectangular pulse width modulation wave 3 in fig. 2, and performs power amplification to form a driving signal, and the correspondingly connected power converter receives the driving signal and converts the dc power of the voltage source composed of the series battery pack and the capacitor pack into a phase line voltage required by 1 multiphase winding of the multiphase motor according to the driving signal, wherein the phase line voltage is a rectangular pulse voltage similar to the rectangular pulse width modulation wave 3, and has an amplitude equal to the dc voltage value of the voltage source composed of 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 1 multi-phase winding of the multi-phase motor is a rectangular pulse voltage 4, the rectangular pulse voltage 4 is similar to the shaded rectangular pulse width modulation wave in 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, and 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 3 rd harmonic wave 61, a 5 th harmonic wave 62 and other higher harmonic waves (not shown in the figure), and the amplitude of the fundamental wave 5 is 0.875 unit voltage. As can be seen from table 1, the percentage of the amplitude of the 3 rd harmonic 61 to the amplitude of the fundamental wave 5 is 1.6, the percentage of the amplitude of the 5 th harmonic 62 to the amplitude of the fundamental wave 5 is 21, and the percentage of the total harmonic distortion of the rectangular pulse voltage 4 is 26.27. (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 electromotive driving device has 3 enable control signals, 3 drivers, 3 power converters, and 3 multiphase windings. As with the working principle of FIG. 2, in the half period of the square wave, the working time width of 3 drivers entering the working state under the action of 3 enabling control signals is calculated to obtain W12.81 radian W22.09 radian and W31.17 radians, and a rectangular pulse width modulated wave 7 is obtained. W1Corresponding to the rectangular pulse width modulation wave 71, W2Corresponding to the rectangular pulse width modulated wave 72, W3Corresponding to the rectangular pulse width modulated wave 73.
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, as the operation principle of fig. 4, the voltages of the same phase line of the 3 multi-phase windings of the multi-phase motor are superimposed to form a rectangular pulse voltage 4 ', and the rectangular pulse voltage 4' is similar to the rectangular pulse width modulation wave in fig. 4, and has an amplitude 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. 5. The rectangular pulse voltage 4 ' is decomposed by a Fourier series to obtain a fundamental wave 5 ' and a higher harmonic 6 ', the higher harmonic 6 ' comprises a 3 rd harmonic 61 ', a 5 th harmonic 62 ' and other higher harmonics (not shown in the figure), and the amplitude of the fundamental wave 5 ' is 2.47 unit voltages. Looking up table 1, it can be seen that the percentage of the amplitude of the 3 rd harmonic 61 'to the amplitude of the fundamental wave 5' is 2, the percentage of the amplitude of the 5 th harmonic 132 to the amplitude of the fundamental wave 62 'is 1.5, and the percentage of the total harmonic distortion of the rectangular pulse voltage 4' is 4.81, which is much smaller than the percentage of the total harmonic distortion of the set of rectangular pulse voltages 26.27 shown in fig. 3.
As can be seen from the analysis of the rectangular pwm waveform in table 1 (duty ratio 0.8, number of pulses per cycle 20), as the number m of the rectangular pwm waveform groups increases, the amplitudes of the higher harmonics of each order decrease as a whole, and the percentage of the total harmonic distortion also decreases as a whole. In general, the method is beneficial to reducing the total harmonic distortion rate of the line current of the multi-phase motor.
TABLE 1 analysis of rectangular pulse width modulated waves
(duty ratio is 0.8, number of pulses per cycle is 20)
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 drivers put into operation can be controlled by the enable control signal output by the control unit to control the output value of the multi-phase motor to be changed in a stepped manner. Especially for super-power electric equipment with output only needing step control, such as an electric ship, the effect of the embodiment is most obvious.
TABLE 2 analysis of rectangular pulse width modulated wave (duty cycle 1)
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.
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
Effects and effects of the embodiments
According to the electric drive device and the electric equipment of the present invention, the controller calculates a set of switching control signals and m enable control signals according to a predetermined method based on the command signal and outputs the signals to the drive section, each driver of the drive section receives the switching control signals and the corresponding enable control signals, enters an operating state or a stop state under the action of the enable control signals, and forms m sets of drive signals respectively based on the switching control signals in the operating state, each power converter converts the direct current into a multiphase line current required for the multiphase windings according to the corresponding drive signals, the set of switching control signals and the m enable control signals output by the controller cause the in-phase line currents of the m multiphase windings to approach a sine wave by a waveform formed by superimposing, so that the set of switching control signals and the m enable control signals output by the calculation control unit cause higher harmonic components in the in-phase line currents of the m multiphase winding units to cancel each other, 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.
Moreover, the electric driving device and the electric equipment of the invention can reduce the switching frequency of the power switch tube while maintaining or improving the performance of the electric driving device, thereby reducing the heat productivity of the power switch tube and the temperature rise of the power conversion part, and improving the reliability and the safety of the system.
Moreover, with the electric driving device and the electric equipment of the present invention, even if any one of the m drivers, the m power converters, and the m multi-phase windings in the electric driving device fails, the driver corresponding to the failed element can be brought into a stop state by outputting the enable control signal by the control unit, and the driver, the power converter, and the multi-phase windings corresponding to the failed element are isolated, so that normal operation of other parts is ensured, uninterrupted operation of the electric driving device is ensured, and improvement of reliability and safety of the electric driving device is facilitated.
In addition, the power conversion part comprises m power converters, each power converter is connected with a corresponding multiphase winding, and each multiphase winding is structurally independent, so that the m power converters work independently and do not influence each other in a circuit structure, 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 a plurality of 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 great workload brought by screening the consistency of the power switching tubes is avoided, the production cost is reduced, and the fault caused by the current sharing failure of the power switching tubes is also avoided. In addition, the output line current of the power conversion part is the sum of the output line currents of all m power converters, the output line current of the power conversion part can be linearly increased by increasing the number of the power converters, and the power conversion part is suitable for electric equipment comprising a multi-phase motor with ultra-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 the m power conversion units are mutually independent, when the direct current power supply adopts a battery pack for supplying power, the battery pack can be formed by connecting a plurality of battery monomers in series to form m series battery packs with mutually independent structures and 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 output end and converts the direct current 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 comprise rated capacity, rated voltage, rated current and 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 and the electric equipment have the advantages of simple and reasonable control, 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.
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 and an enable control signal according to the command signal;
a driving part for forming a driving signal according to the switch control signal and the enable 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 controller,
the multi-phase motor is provided with m multi-phase windings, the windings with the same phase in the m multi-phase windings are in parallel winding relationship, the phase number, the phase sequence and the connection mode of the m multi-phase windings are the same,
the driving part is provided with m drivers,
the power conversion unit has m power converters,
the control unit is connected to the m drivers, each of the drivers is connected to a corresponding one of the power converters, each of the power converters is connected to a corresponding one of the multiphase windings,
the controller calculates a group of switch control signals and m enabling control signals according to the instruction signals and outputs the signals to the driving part,
each driver of the driving part receives the switch control signal and the corresponding enable control signal, enters a working state or a stopping state under the action of the enable control signal, and forms m groups of driving signals respectively according to the switch control signal in the working state,
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 group of the switch control signals and the m enable control signals output by the controller enable the waveform formed by the superposition of the m in-phase line currents of the multi-phase windings to be close to a sine wave,
m is a positive integer greater than 1.
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 for forming a rectangular pulse width modulation wave by using a square wave as a modulation wave and modulating the square wave and a carrier wave, wherein the carrier wave is any one of a triangular wave and a sawtooth wave,
or, the rectangular pulse width modulation method is a method of directly calculating to obtain a rectangular pulse width modulation wave according to the square wave, the number of rectangular pulses per period and the duty ratio of the rectangular pulses, and is used for forming the switching control signal.
3. The electric drive apparatus according to claim 2, characterized in that:
wherein the rectangular pulse width modulation method adoptsUsing a predetermined formula to control the working time width W of the driver which enters the working state according to the enabling control signal in the half period of the square wavekSetting the other time to enter a stop state, wherein the predetermined formula is
And the other (m-p) drivers enter a stop state in a half period of the square wave, wherein p is a positive integer less than or equal to m.
4. The electric drive apparatus according to claim 1, characterized in that:
wherein the predetermined output value is one of a displacement value, a rotational speed value, and a torque value.
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 INThen, the number m satisfies the following condition: m is more than 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 a plurality of battery monomers in series-parallel connection or m series battery packs which are formed by a plurality of battery monomers in series connection 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 a group of switch control signals and m enabling control signals according to the output feedback signals and outputs the signals to the driving part at the same time of the command signals,
the predetermined output value is one of a displacement value, a rotational speed value, and a torque value.
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 a group of switch control signals and m enabling control signals according to the instruction signals and the output feedback signals and the inner loop feedback signals and outputs the switch control signals and the m enabling control signals to the driving part,
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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| US11063531B2 (en) * | 2014-02-14 | 2021-07-13 | Wisconsin Alumni Research Foundation | Series connected DC input inverters |
| JP6406122B2 (en) * | 2015-05-15 | 2018-10-17 | 株式会社デンソー | Multi-level inverter control device |
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