CN109921708A - The non-equilibrium Poewr control method of stator winding adjusted based on double three-phase permanent-magnetic motor distribution torque - Google Patents
The non-equilibrium Poewr control method of stator winding adjusted based on double three-phase permanent-magnetic motor distribution torque Download PDFInfo
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Abstract
The invention discloses a kind of non-equilibrium Poewr control methods of stator winding adjusted based on double three-phase permanent-magnetic motor distribution torque, the control method is realized based on dsp chip, comprising the following steps: (1) sampling of stator current, DC bus-bar voltage, rotor angle and revolving speed；(2) fixed-direction magnetic field is established, rotor initial alignment is carried out；(3) bimorph transducer winding flux observation；(4) the mutual inductance value identification of double three-phase machine；(5) two sets of stator winding torque independent controls comprising decoupling link.Control method of the present invention is based on direct torque, the torque decoupler of two sets of stator winding is carried out by the motor mutual inductance parameter picked out, the independent control of two sets of stator winding torques of double three-phase machine and power can be achieved, when double winding passes through inverter external power supply respectively, it can be achieved that dual power supply charge and discharge mode be switched fast and the quick adjusting of output power.
Description
Technical field
The invention belongs to motor control technology field, it is related to a kind of adjusting based on double three-phase permanent-magnetic motor distribution torque
The non-equilibrium Poewr control method of stator winding.
Background technique
The problem of bringing with petroleum-based energy crisis and traffic pollution gets worse, and the demand of Transportation electrification is more strong
It is strong, and the power of the electrified vehicles of raising and efficiency are to enhance its market competitiveness, promote the important channel that market is popularized,
The performance boost of dynamic transfer system is one of key therein, the power transmission of the electrification transport facility such as electric car
System mainly includes electric drive system and power-supply system.
Traditional electric drive system is mainly three-phase system, and practical studies in recent years show when number of motor phases become be
After variable in system design, the characteristics of many is better than three-phase system is brought for the control of motor and structure.Polyphase machine tool
There is many advantages, such as torque pulsation is small, redundancy is high, high reliablity, be a kind of current important channel for realizing high-power transmission,
There is fabulous application prospect in the fields such as aviation, naval vessel propulsion, electric car.Asymmetric double three-phase system is heterogeneous system at present
Most promising one of structure in system, stator side has two sets of three-phase windings, therefore motor driven can pass through two sets
Three-phase inverter is realized；Meanwhile can be equivalent at symmetrical ten two-phase system inside motor, thus harmonic magnetic potential and electric current influence more
It is small.
The performance of power-supply system also affects many aspects such as the efficiency, cruising ability, dynamic response of dynamic transfer system,
Dual power supply hybrid energy-storing structure using battery and super capacitor is a major programme of current power-supply system performance optimization, should
Complementary characteristic of the structure in the way of the energy storage such as power-type and energy type compensate for single energy storage in the way of deficiency, new energy lead
There is unique advantage in domain.Currently, using more passive type structure that the two is directly in parallel in dynamic transfer system, cost compared with
Low but super capacitor energy utilization range is limited；Connect what two kinds of energy-storage travelling wave tubes were constituted using discrete bidirectional DC-DC converter
Active structure has many advantages, such as easy modularization, each unit independent control, however system can be reduced by increasing bidirectional DC-DC converter
Efficiency simultaneously will increase system cost.The integrated system for separating bus-type double three-phase machine drive system and composite power source composition is one
Kind new type power Transmission system scheme, separation bus structure can not only further increase the control freedom degree of system, Er Qieke
To utilize two sets of independent electric power generating composition composite power sources, direct Power Control is realized by motor, it is no longer necessary to DC-DC transformation
The advantages of device, which combines multiphase electric drive system and hybrid energy-storing power-supply system, realizes the integrated of dynamic transfer system
Change design.
In order to realize the hybrid energy-storing in the dynamic transfer system control, two sets of stator winding have to work power not
In the state of balance, and need to realize that the charge and discharge mode of energy-storage travelling wave tube switches by changing stator winding power flow direction.Cause
Power distribution is determined for the torque distribution of two stator winding, it is achieved that the doublewound distribution of torque of double three-phase machine controls
The power management capabilities of double three-phase systems can be played, this doublewound non-equilibrium power control of double three-phase machine is for integrated
Change dynamic transfer system control is significant and practical application value.
Summary of the invention
In view of above-mentioned, the present invention provides a kind of stator winding adjusted based on double three-phase permanent-magnetic motor distribution torque is non-
Poewr control method is balanced, while realizing the control of total torque and double winding power distribution.
A kind of non-equilibrium Poewr control method of stator winding adjusted based on double three-phase permanent-magnetic motor distribution torque, including
Following steps, the double three-phase permanent-magnetic motor have two sets of stator winding L1 and L2, and stator winding L1 and L2 are inverse by two respectively
Become device N1 and N2 driving；
(1) the threephase stator electric current I on Hall sensor acquisition stator winding L1 is utilizedA、IB、ICOn stator winding L2
Threephase stator electric current ID、IE、IF, utilize the DC bus-bar voltage V of voltage sensor acquisition inverter N1dc1With inverter N2's
DC bus-bar voltage Vdc2, utilize the rotor position angle θ and rotational speed omega of photoelectric encoder acquisition motor；
(2) the threephase stator voltage U on stator winding L1 is estimatedA、UB、UCWith the threephase stator electricity on stator winding L2
Press UD、UE、UF；
(3) to threephase stator electric current IA、IB、ICIt carries out CLARK and converts to obtain corresponding current component I under α β coordinate system1αWith
I1β, to threephase stator electric current ID、IE、IFIt carries out CLARK and converts to obtain corresponding current component I under α β coordinate system2αAnd I2β, to three
Phase stator voltage UA、UB、UCIt carries out CLARK and converts to obtain corresponding component of voltage U under α β coordinate system1αAnd U1β, to threephase stator
Voltage UD、UE、UFIt carries out CLARK and converts to obtain corresponding component of voltage U under α β coordinate system2αAnd U2β；
(4) stator winding L1 corresponding magnetic linkage component ψ under α β coordinate system is calculated according to the result of step (3)1αAnd ψ1β
And stator winding L2 corresponding magnetic linkage component ψ under α β coordinate system2αAnd ψ2β；
(5) to magnetic linkage component ψ1αAnd ψ1βIt carries out PARK and converts to obtain corresponding magnetic linkage component ψ under dq coordinate system1dAnd ψ1q, right
Magnetic linkage component ψ2αAnd ψ2βIt carries out PARK and converts to obtain corresponding magnetic linkage component ψ under dq coordinate system2dAnd ψ2q, to current component I1αWith
I1βIt carries out PARK and converts to obtain corresponding current component I under dq coordinate system1dAnd I1q, to current component I2αAnd I2βCarry out PARK change
Get corresponding current component I under dq coordinate system in return2dAnd I2q, and then calculate the mutual inductance value L in motor operation courseqq；
(6) make given rotating speed instruction value ω*The difference for subtracting motor speed ω obtains total turn of motor after PI is adjusted
Square instruction value Te *, and it is allocated, the corresponding torque instruction value T of two sets of stator winding L1 and L2 is calculatede1 *And Te2 *；
(7) the corresponding torque T of two sets of stator winding L1 and L2 is obtained by calculatione1And Te2, make Te1 *And Te2 *It is individually subtracted
Te1And Te2Difference corresponding angle of torsion instruction value Δ θ is obtained after PI is adjusted1With Δ θ2；
(8) the corresponding magnetic linkage angle, θ of two sets of stator winding L1 and L2 is obtained by calculation1And θ2, and then combined torque instructs
Value Te1 *And Te2 *Calculate stator winding L1 corresponding magnetic linkage instruction value ψ under dq coordinate system1d *And ψ1q *And stator winding L2
The corresponding magnetic linkage instruction value ψ under dq coordinate system2d *And ψ2q *；
(9) according to mutual inductance value LqqAnd magnetic linkage instruction value ψ1q *And ψ2q *Two sets of stator winding L1 and L2 pairs is obtained by calculation
The magnetic linkage decoupling compensation amount Δ ψ answered1cWith Δ ψ2c, make ψ1q *And ψ2q *Respectively with Δ ψ1cWith Δ ψ2cPass through anti-synchronous coordinate after summation
Transformation calculations obtain stator winding L1 corresponding magnetic linkage instruction value ψ under α β coordinate system1α *And ψ1β *And stator winding L2 is in α β
Corresponding magnetic linkage instruction value ψ under coordinate system2α *And ψ2β *；
(10) according to magnetic linkage instruction value ψ1α *、ψ1β *、ψ2α *And ψ2β *It is corresponding under α β coordinate system that stator winding L1 is calculated
Voltage instruction value V1α *And V1β *And stator winding L2 corresponding voltage instruction value V under α β coordinate system2α *And V2β *, Jin Ergen
According to voltage instruction value V1α *、V1β *、V2α *And V2β *Two groups of pwm signals (totally six tunnel) are generated to divide by space vector modulation algorithm
The other device for power switching in inverter N1 and N2 carries out switch control.
Further, the threephase stator voltage U in the step (2)A、UB、UCRespectively DC bus-bar voltage Vdc1With it is preceding
One period inverter N1 corresponds to the product of bridge arm device duty ratio in phase, threephase stator voltage UD、UE、UFRespectively DC bus
Voltage Vdc2The product of bridge arm device duty ratio in phase corresponding with previous cycle inverter N2.
Further, magnetic linkage component ψ is calculated by following formula in the step (4)1α、ψ1β、ψ2αAnd ψ2β；
Wherein: ψfFor the permanent magnet flux linkage value of motor, R is the stator winding resistance value of motor, and t indicates the moment.
Further, mutual inductance value L is calculated by following formula in the step (5)qq；
Wherein: LqIt is machine winding from inductance value.
Further, torque instruction value T is calculated by the distribution of following formula in the step (6)e1 *And Te2 *；
Wherein: D is torque distribution ratio and D=P1/PM, P1For the active power of output of stator winding L1, PMTotal for motor
Active power of output.
Further, torque T is calculated by following formula in the step (7)e1And Te2；
Wherein: n is the number of pole-pairs of motor, ψfFor the permanent magnet flux linkage value of motor.
Further, magnetic linkage angle, θ is calculated by following formula in the step (8)1And θ2；
Further, magnetic linkage instruction value ψ is calculated by following formula in the step (8)1d *、ψ1q *、ψ2d *And ψ2q *；
Wherein: | ψ1| and | ψ2| it is respectively the corresponding given magnetic linkage amplitude of two sets of stator winding L1 and L2.
Further, magnetic linkage decoupling compensation amount Δ ψ is calculated by following formula in the step (9)1cWith Δ ψ2c；
Wherein: LqIt is machine winding from inductance value.
Further, magnetic linkage instruction value ψ is calculated by following formula in the step (9)1α *、ψ1β *、ψ2α *And ψ2β *；
Further, voltage instruction value V is calculated by following formula in the step (10)1α *、V1β *、V2α *And V2β *；
Wherein: R is the stator winding resistance value of motor, and Δ T is the switch periods of device for power switching in inverter.
Double three-phase permanent-magnetic motor bimorph transducer winding distribution torque control scheme proposed by the present invention, it is first determined be applied to
Double three-phase permanent-magnetic electric system, target are that active power on bimorph transducer winding can be realized under the premise of realizing motor total torque
Distribution control, to make double three-phase machine in the outer energy management capabilities that have both of machinery output.Control method base of the present invention as a result,
In direct torque, the torque decoupler of two sets of stator winding is carried out, it can be achieved that double three-phase electricities by the motor mutual inductance parameter picked out
The independent control of two sets of stator winding torques of machine and power, when double winding passes through inverter external power supply respectively, it can be achieved that
Dual power supply charge and discharge mode be switched fast and the quick adjusting of output power.With existing double three-phase machine Torque Control
It compares, control method of the present invention completes machine torque output and the Bi-objective of winding power distribution controls.
Detailed description of the invention
Fig. 1 is hybrid energy-storing and double three-phase machine Integrated power formula dynamic transfer system structural schematic diagram.
Fig. 2 (a) is the overall structure block diagram of control method of the present invention.
Fig. 2 (b) is the control structure block diagram of voltage vector calculating and decoupling compensation link.
Fig. 3 is load current detection circuit figure.
Fig. 4 is switch tube driving circuit figure.
Fig. 5 is the control effect schematic diagram of double three-phase machine distribution dtc signal.
Fig. 6 is that the effect of coherent signal is shown under multiple drive modes switching using the distributed method for controlling torque of the present invention
It is intended to.
Specific embodiment
In order to more specifically describe the present invention, with reference to the accompanying drawing and specific embodiment is to technical solution of the present invention
It is described in detail.
Realize that, to the non-equilibrium power control of the stator winding adjusted based on double three-phase permanent-magnetic motor torque, key is two
The control of side torque does not interfere with each other, and two sets of torques of double three-phase machine may be expressed as:
In formula: Te1And Te2The respectively torque of first set three-phase windings and the generation of second set of three-phase windings, ψ1qAnd ψ2qRespectively
The q axis magnetic linkage value for being first set three-phase windings and second set of three-phase windings under three-phase rotating coordinate system, ψfFor permanent magnet flux linkage
Value, LqIt is three-phase windings from inductance value, LqqFor the mutual inductance value between two sets of three-phase windings.
The magnetic linkage of every set three-phase windings generate in formula (1) torque and double winding is related, to realize to any
The torque that the independent control of torque is generated without influencing other set winding, it is necessary to by the cooperation of double winding magnetic linkage, i.e.,
It is realized by the decoupling control of magnetic linkage.
Present invention aims at a kind of doublewound distributed method for controlling torque of double three-phase machine is proposed, realize simultaneously
The control of total torque and double winding power distribution, is achieved through the following technical solutions:
Step (1): the sampling of stator current, DC bus-bar voltage, rotor angle and revolving speed.
The value of feedback of the first three-phase current of double three-phase permanent-magnetic motor is passed sequentially through Hall sensor, sampled signal tune by 1.1
Reason circuit and analog to digital conversion circuit enter dsp chip, respectively IA、IB、IC.By the second three-phase current of double three-phase permanent-magnetic motor
Value of feedback passes sequentially through Hall sensor, sampled signal conditioning circuit enters dsp chip, respectively ID、IE、IF。
1.2 sample the first three-phase inverter DC bus-bar voltage V using direct current voltage sensordc1With the second three-phase inversion
Device DC bus-bar voltage Vdc2。
1.3 sample rotor-position signal using the river incremental optical-electricity encoder that more rubs, by encoder output
The EQEP unit for being sent into DSP28335 is handled and is counted, and motor rotor position signal θ and tach signal ω are obtained.
Step (2): establishing fixed-direction magnetic field, carries out rotor initial alignment.
The switching device of DEF phase three-phase inverter is closed, A phase target current is set to rotor fixed position electric current and (is set in advance
It is fixed, 0.5A~2A), B, C phase target current are set to 0A, by ABC phase current feedback value I obtained in step 1.1A、IB、ICWith mesh
Mark electric current is sent into pi regulator together, and pi regulator is according to F (s)=Kp+Ki/ s, wherein Kp=0.1, Ki=0.4 mode exports
Voltage vector, the space vector pulse width modulation device SVM module being sent into dsp chip.
Wherein: VoutFor voltage vector, Vdc1For the first three-phase inverter DC bus-bar voltage, TpTo generate duty ratio.
Step (3): bimorph transducer winding flux observation.
By six phase current feedback values in the six-phase voltage vector sum DSP of the output on two sets of stator winding in DSP, pass through
Three-phase CLARK is carried out respectively to voltage, the electric current of ABC phase and DEF phase winding to convert to obtain two sets of stator winding rest frames
Under biphase current value and two-phase voltage value, voltage value is respectively as follows: U1α, U1βAnd U2α, U2β, current value is respectively as follows: I1α, I1βWith
I2α, I2β。
According to the voltage vector on two sets of stator winding, the magnetic linkage value of two sets of stator winding is calculated separately.
In formula, ψfFor permanent magnet flux linkage value, R is stator winding resistance value, U1α、U2α、U1β、U2βIt is sat for voltage vector in alpha-beta
Coordinate under mark system, I1α、I2α、I1β、I2βFor coordinate of the current phasor under alpha-beta coordinate system, ψ1α、ψ2α、ψ1β、ψ2βFor magnetic linkage arrow
Measure the coordinate under alpha-beta coordinate system.
Step (4): the mutual inductance value observation of double three-phase machine is realized according to the following steps.
The magnetic linkage value ψ that 4.1 steps (3) obtain1α、ψ2α、ψ1β、ψ2βWith current value I1α、I2α、I1β、I2βAnd step (1)
To θ convert to obtain magnetic linkage value and current value under rotating coordinate system: ψ by double PARK1d、ψ2d、ψ1q、ψ2qWith I1d、I2d、I1q、
I2q。
4.2 are calculated as follows out the mutual inductance value L in motor operationqq:
Wherein: LqIt is machine winding from inductance value, is the intrinsic parameter of motor.
Step (5): dsp chip distributed direct torque doublewound to double three-phase permanent-magnetic motor is realized according to the following steps.
5.1 given rotating speed instruction value ω*, by its with step 1.3 obtained in be sent into PI together with speed feedback signal value ω
Adjuster obtains total torque instruction value Te *。
5.2 according to the power distribution demand of two sets of stator winding give two winding torque allocation proportion value D, according to its with it is total
Torque instruction value obtains two winding torque instruction value T as the following formulae1 *、Te2 *
In formula: P1For first set three-phase windings active power, PMTotal active power is exported for motor.
The 5.3 current feedback values I for obtaining step 4.11q、I2qWith motor permanent magnet magnetic linkage value ψfIt is calculated as follows together
To two winding torque value of feedback of double three-phase permanent-magnetic motor:
In formula: n is motor number of pole-pairs.
The 5.4 torque feedback values for obtaining the torque instruction value that step 5.2 obtains with step 5.3: Te1 *With Te1、Te2 *With
Te2Two pi regulators are respectively fed to, angle of torsion instruction value Δ θ is respectively obtained1、Δθ2。
5.5 by the magnetic linkage value ψ in step 4.11d, ψ2d, ψ1q, ψ2qThe magnetic linkage angle, θ of two stator winding is found out according to the following formula1、
θ2:
5.6 give the magnetic linkage amplitude of two sets of stator winding respectively | ψ1| with | ψ2|, by itself and θ1、θ2It counts according to the following formula together
Calculation obtains target magnetic linkage instruction value ψ1d*, ψ2d*, ψ1q*, ψ2q*。
5.7 by the ψ of step 4.11q、ψ2q, step 4.2 Lq、Lqq, step 5.6 ψ1q*, ψ2q* decoupling is found out according to the following formula
Compensation rate.
5.8 by decoupling compensation amount and target instruction target word value ψ1q* with Δ ψ1c、ψ2q* with Δ ψ2cIt sums respectively, obtains decoupling compensation
Target magnetic linkage instruction value afterwards；Instruction value after decoupling compensation is done into anti-Synchronous Reference Frame Transform, respectively obtains two sets of stator winding
Magnetic linkage instruction value under two-phase stationary coordinate system.
5.9 are calculated as follows to obtain voltage instruction value.
Voltage instruction value is sent into step (1) in space vector modulation (SVM) module of DSP, that is, can produce Liu Lumai
Rush signal SABCAnd SDEF。
IGBT in 5.10 inverters is input to the defeated of double three-phase permanent-magnetic motor according to the six-phase voltage that pulse signal generates
Enter end.
Fig. 1 is hybrid energy-storing and double three-phase machine Integrated power formula dynamic transfer system, and the stator winding of double three-phases is by two
Conventional three-phase windings ABC phase and DEF phase composition are covered, every set winding is all the connection of Y type, corresponding internal winding spatially phase
Poor 120 ° of electrical angles, and 30 ° are differed between two sets of three-phase windings.The integrated form dynamic transfer system uses voltage source inverter
It is powered, and two sets of three-phase windings pass through two three-phase inverters respectively and are connected to two kinds of energy storage members of battery and super capacitor
Part.
Shown in the control structure of the integrated form dynamic transfer system such as Fig. 2 (a), the core technology that the present invention uses is torque
Control technology is substantially the analysis method with space vector, the electromagnetism generated by stator winding magnetic vector to stator winding
Torque is directly controlled.Firstly, output electric current measure electric current is sensed using the current Hall of model LA55-P as shown in Figure 3
Device configures output sampling resistor RM resistance value according to Hall sensor no-load voltage ratio, to obtain sampled voltage UM, passes through above method point
Not Cai Yang six phase output current value of A, B, C, D, E, F, by obtained sampled voltage by isolation, biasing, low-pass filtering and clamper
The A/D mouth of DSP is input to after processing, obtained six railway digitals sampled signal can obtain corresponding six phase current values after being sent into DSP
IA、IB、IC、ID、IE、IF。
Then, rotor is obtained by encoder and rotates angle during the sampling period, by the rotation angle divided by the sampling period,
Obtain the mean speed ω in the period；It asks difference to obtain velocity error given rotating speed ω * and mean speed ω, is obtained above-mentioned
The velocity error arrived exports total torque instruction T after pi regulatore*, total torque instruction calculates link through torque reference value, presses
In pro rate to two sets of stator winding, the torque instruction T of first set three-phase windings is respectively obtainede1* with second set of three-phase windings
Torque instruction Te2*.At the same time, system will be according to the current of electric I of detectionA、IB、ICWith ID、IE、IF, utilize torque model
The actual torque T that first set three-phase windings and second set of three-phase windings generate respectively is estimated respectivelye1And Te2, then by first
Cover the given torque T of three-phase windingse1* with Te1Difference is asked to obtain torque error Δ Te1, by the given torque of second set of three-phase windings
Te2* with Te2Difference is asked to obtain torque error Δ Te2。
By the torque error Δ T of two sets of three-phase windingse1With Δ Te2Magnetic linkage angle is exported after two pi regulators respectively to increase
Measure Δ θ1With Δ θ2, and magnetic linkage angle step is input to the voltage vector as shown in Fig. 2 (b) and calculates link.At the same time, root
Stator magnetic linkage value can be estimated using voltage-type Flux Observation Model according to output voltage and electric current, and the magnetic linkage value is also entered into
As the voltage vector of Fig. 2 (b) calculates in link.
Firstly, according to magnetic linkage angle step Δ θ1With Δ θ2, the magnetic linkage angle, θ that observes1With θ2And given magnetic linkage amplitude
Instruction value | ψ1 *| with | ψ2 *| target flux linkage vector instruction ψ can be obtained1 *With ψ2 *。
Target flux linkage vector instruction can be rewritten as the form under dq rotating coordinate system, ψ1 *It is represented by ψ1d *With ψ1q *, ψ2 *
It is represented by ψ2q *With ψ2d *；Then two sides magnetic linkage is decoupled, decoupling amount is respectively Δ ψ1cWith Δ ψ2c, by Δ ψ1cWith ψ1q *Phase
Add, Δ ψ2cWith ψ2q *It is added, the torque decoupler control of two sets of threephase stator windings can be completed.
By the magnetic linkage instruction value ψ after decoupling1d *、ψ1q *+Δψ1c、ψ2d *、ψ2q *+Δψ2c, respectively with estimated according to model
Flux linkage vector ψ1d、ψ1q、ψ2d、ψ2qIt asks poor, the margin of error between magnetic linkage instruction value and flux estimate algorithm value can be obtained.According to encoder
The rotor rotation angle observed is multiplied by the available rotor electrical angle θ of motor number of pole-pairs, to the magnetic of two sets of threephase stator windings
The chain margin of error is carried out after the anti-Park that angle is-π/6 θ and θ is converted respectively divided by switch periods Ts, calculate voltage vector U1 and
Then voltage vector U1 and U2 are distinguished input space vector module by U2, obtain 12 road PWM pulse-width signals.
Driving circuit based on pwm signal is as shown in figure 4, use HCPL4504 optical coupling isolation circuit and MIC4429 type
Number driving chip, 12 road pwm signals are converted into 12 tunnel voltage drive signals, the signal is finally respectively outputted to six
12 IGBT grids of phase inverter and emitter both ends are, it can be achieved that system control function.
Fig. 5 is control system direct torque experiment effect figure, in the torque mutation of a set of stator winding, another set of stator
Winding output torque remains unchanged substantially, demonstrates the effect of control system.Fig. 6 is to realize control model during acceleration and deceleration
Transition effect, experimental verification motor can be between single supply powering mode, dual power supply mode, the super capacitor charge mode
Realization is switched fast.
The above-mentioned description to embodiment is for that can understand and apply the invention convenient for those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (10)
1. a kind of non-equilibrium Poewr control method of stator winding adjusted based on double three-phase permanent-magnetic motor distribution torque, including such as
Lower step, the double three-phase permanent-magnetic motor have two sets of stator winding L1 and L2, and stator winding L1 and L2 are respectively by two inversions
Device N1 and N2 driving；
(1) the threephase stator electric current I on Hall sensor acquisition stator winding L1 is utilizedA、IB、ICWith three on stator winding L2
Phase stator current ID、IE、IF, utilize the DC bus-bar voltage V of voltage sensor acquisition inverter N1dc1With the direct current of inverter N2
Busbar voltage Vdc2, utilize the rotor position angle θ and rotational speed omega of photoelectric encoder acquisition motor；
(2) the threephase stator voltage U on stator winding L1 is estimatedA、UB、UCWith the threephase stator voltage U on stator winding L2D、
UE、UF；
(3) to threephase stator electric current IA、IB、ICIt carries out CLARK and converts to obtain corresponding current component I under α β coordinate system1αAnd I1β,
To threephase stator electric current ID、IE、IFIt carries out CLARK and converts to obtain corresponding current component I under α β coordinate system2αAnd I2β, to three-phase
Stator voltage UA、UB、UCIt carries out CLARK and converts to obtain corresponding component of voltage U under α β coordinate system1αAnd U1β, to threephase stator electricity
Press UD、UE、UFIt carries out CLARK and converts to obtain corresponding component of voltage U under α β coordinate system2αAnd U2β；
(4) stator winding L1 corresponding magnetic linkage component ψ under α β coordinate system is calculated according to the result of step (3)1αAnd ψ1βAnd
Stator winding L2 corresponding magnetic linkage component ψ under α β coordinate system2αAnd ψ2β；
(5) to magnetic linkage component ψ1αAnd ψ1βIt carries out PARK and converts to obtain corresponding magnetic linkage component ψ under dq coordinate system1dAnd ψ1q, to magnetic linkage
Component ψ2αAnd ψ2βIt carries out PARK and converts to obtain corresponding magnetic linkage component ψ under dq coordinate system2dAnd ψ2q, to current component I1αAnd I1βInto
Row PARK converts to obtain corresponding current component I under dq coordinate system1dAnd I1q, to current component I2αAnd I2βPARK is carried out to convert
Corresponding current component I under to dq coordinate system2dAnd I2q, and then calculate the mutual inductance value L in motor operation courseqq；
(6) make given rotating speed instruction value ω*The difference for subtracting motor speed ω obtains the total torque instruction of motor after PI is adjusted
Value Te *, and it is allocated, the corresponding torque instruction value T of two sets of stator winding L1 and L2 is calculatede1 *And Te2 *；
(7) the corresponding torque T of two sets of stator winding L1 and L2 is obtained by calculatione1And Te2, make Te1 *And Te2 *T is individually subtractede1With
Te2Difference corresponding angle of torsion instruction value Δ θ is obtained after PI is adjusted1With Δ θ2；
(8) the corresponding magnetic linkage angle, θ of two sets of stator winding L1 and L2 is obtained by calculation1And θ2, and then combined torque instruction value
Te1 *And Te2 *Calculate stator winding L1 corresponding magnetic linkage instruction value ψ under dq coordinate system1d *And ψ1q *And stator winding L2 exists
Corresponding magnetic linkage instruction value ψ under dq coordinate system2d *And ψ2q *；
(9) according to mutual inductance value LqqAnd magnetic linkage instruction value ψ1q *And ψ2q *It is corresponding that two sets of stator winding L1 and L2 are obtained by calculation
Magnetic linkage decoupling compensation amount Δ ψ1cWith Δ ψ2c, make ψ1q *And ψ2q *Respectively with Δ ψ1cWith Δ ψ2cPass through anti-Synchronous Reference Frame Transform after summation
Stator winding L1 corresponding magnetic linkage instruction value ψ under α β coordinate system is calculated1α *And ψ1β *And stator winding L2 is in α β coordinate
Corresponding magnetic linkage instruction value ψ under system2α *And ψ2β *；
(10) according to magnetic linkage instruction value ψ1α *、ψ1β *、ψ2α *And ψ2β *Stator winding L1 corresponding electricity under α β coordinate system is calculated
Press instruction value V1α *And V1β *And stator winding L2 corresponding voltage instruction value V under α β coordinate system2α *And V2β *, and then according to electricity
Press instruction value V1α *、V1β *、V2α *And V2β *Two groups of pwm signals are generated to respectively to inverter N1 by space vector modulation algorithm
Switch control is carried out with the device for power switching in N2.
2. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (4)
Magnetic linkage component ψ is calculated by following formula1α、ψ1β、ψ2αAnd ψ2β；
Wherein: ψfFor the permanent magnet flux linkage value of motor, R is the stator winding resistance value of motor, and t indicates the moment.
3. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (5)
Mutual inductance value L is calculated by following formulaqq；
Wherein: LqIt is machine winding from inductance value.
4. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (6)
Torque instruction value T is calculated by the distribution of following formulae1 *And Te2 *；
Wherein: D is torque distribution ratio and D=P1/PM, P1For the active power of output of stator winding L1, PMFor the total output of motor
Active power.
5. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (7)
Torque T is calculated by following formulae1And Te2；
Wherein: n is the number of pole-pairs of motor, ψfFor the permanent magnet flux linkage value of motor.
6. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (8)
Magnetic linkage angle, θ is calculated by following formula1And θ2；
7. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (8)
Magnetic linkage instruction value ψ is calculated by following formula1d *、ψ1q *、ψ2d *And ψ2q *；
Wherein: | ψ1| and | ψ2| it is respectively the corresponding given magnetic linkage amplitude of two sets of stator winding L1 and L2.
8. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (9)
Magnetic linkage decoupling compensation amount Δ ψ is calculated by following formula1cWith Δ ψ2c；
Wherein: LqIt is machine winding from inductance value.
9. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: in the step (9)
Magnetic linkage instruction value ψ is calculated by following formula1α *、ψ1β *、ψ2α *And ψ2β *；
10. the non-equilibrium Poewr control method of stator winding according to claim 1, it is characterised in that: the step (10)
In by following formula calculate voltage instruction value V1α *、V1β *、V2α *And V2β *；
Wherein: R is the stator winding resistance value of motor, and Δ T is the switch periods of device for power switching in inverter.
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| CN113141142A (en) * | 2021-03-23 | 2021-07-20 | 山东大学 | Double-three-phase closed-loop control method and system for double-three-phase permanent magnet motor |
| CN113311278A (en) * | 2021-07-01 | 2021-08-27 | 哈尔滨理工大学 | Six-phase motor driving system fault diagnosis method based on vector space decoupling |
| CN114169199A (en) * | 2021-12-03 | 2022-03-11 | 东方电气集团东方电机有限公司 | Method for analyzing electromagnetic and structural coupling dynamics of stator winding end |
| US11711003B2 (en) | 2019-05-31 | 2023-07-25 | MagniX USA, Inc. | High voltage converter for use as electric power supply |
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| CN114169199B (en) * | 2021-12-03 | 2023-03-24 | 东方电气集团东方电机有限公司 | Method for analyzing electromagnetic and structural coupling dynamics of stator winding end |
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