CN110492802A - The angle of flow estimation method of electric excitation biconvex electrode electric machine controlled rectification electricity generation system - Google Patents
The angle of flow estimation method of electric excitation biconvex electrode electric machine controlled rectification electricity generation system Download PDFInfo
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
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Abstract
The invention discloses a kind of angle of flow estimation methods of electric excitation biconvex electrode electric machine controlled rectification electricity generation system, including position detector, measure voltage & current device, main power inverter, voltage regulator, angle of flow estimator and control angle determinator, the real-time detection output voltage in motor operation, load current, revolving speed, estimate that model carries out according to a preliminary estimate control angle needed for current operating conditions by the angle of flow that the principle combination actual correction based on output lateral capacitance ampere-second balance is built, on this basis, it obtains being actually turned on angle after being finely adjusted on the basis of angle of flow estimated value by conventional voltage closed-loop regulator and motor is controlled.The invention enables motors can be responded real-time, quickly when operating status changes, simultaneously, conventional voltage regulating ring can be automatically corrected error existing for estimation ring, to have good dynamic and steady-state performance, change more field suitable for operation conditions such as aviation, wind-power electricity generations.
Description
Technical Field
The invention relates to a conduction angle estimation method of a controllable rectification power generation system of an electro-magnetic doubly salient motor, belonging to the technical field of motor control.
Background
The electric excitation double salient pole generator uses the direct current excitation winding to replace the permanent magnet, has the advantages of simple structure, high reliability, easy failure and the like, and has wide application prospect in the fields of aviation, wind power and other harsh conditions. The traditional electric excitation double salient pole generator uses a diode full bridge circuit to form an uncontrolled rectification power generation system. However, because the output voltage of the generator can only be adjusted through the exciting current, when the generator is applied to a power generation system with a wide rotating speed range, the problems of difficult design and high cost of an exciting mechanism caused by overlarge exciting current in a low rotating speed range exist; meanwhile, the response time of excitation voltage regulation is long, and the dynamic performance is poor.
In order to solve the above problems, some scholars have conducted various studies. The disclosed Chinese invention patent is: controllable half-wave rectification power generation system of double salient pole machine of electro-magnetic, application number: 201110161224.2, a half-wave converter which replaces a diode full-bridge circuit lower tube with a power switch tube is provided, and two controllable rectification power generation systems are provided according to the connection mode of a motor neutral point on the basis. The disclosed Chinese invention patent is: controllable single-phase bridge rectification power generation system of doubly salient pole machine of electro-magnetic, application number: 201110161232.1, connecting stator windings of the doubly salient electro-magnetic motor with a single-phase bridge type controllable rectifying circuit respectively for independent rectification and then outputting in parallel, and realizing voltage regulation and power factor correction of the bridge type circuit through exciting current respectively. The above research mainly focuses on the research of the controllable power generation topology, and the research of the output voltage control strategy is not carried out. The invention discloses the following Chinese patent issued by David force and the like: a voltage regulation device of a doubly salient generator and a voltage regulation control method thereof, authorization numbers are as follows: ZL201410375849.7, the on and off of the corresponding switch tube of the excitation regulator is controlled by the real-time calculated value of the constructed sliding mode surface equation, so that the purpose of regulating the excitation voltage is achieved. The method has better robustness for the structural parameter change of the generator system. Another Chinese invention patent authorized by defensive power and the like: a voltage regulation control method of a doubly salient generator with anti-interference capability comprises the following steps: ZL201510340853.4, the control rate of the voltage regulator is established by utilizing the output voltage reference value and the constructed parameters of the linear state observer, the output of the generator is predicted and corrected, and the dynamic response of the motor is improved. But the research in the direction still has the problem that the excitation mechanism is difficult to design when the excitation mechanism is operated at a wide rotating speed.
Disclosure of Invention
The purpose of the invention is as follows: in order to improve the application capability of the doubly salient motor in a wide rotating speed range, the invention provides a conduction angle estimation method of a controllable rectification power generation system of an electro-magnetic doubly salient motor.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a conduction angle estimation method of an electro-magnetic doubly salient motor controllable rectification power generation system comprises a position detector, a voltage and current detector, a main power converter, a voltage regulator, a conduction angle estimator and a control angle determiner, wherein the conduction angle estimation method comprises the following steps:
the position detector is used for acquiring the angular position theta of the rotor of the excitation doubly salient motor and the motor rotating speed n;
the voltage-current detector is used for acquiring load voltage u0And a load current i0；
The conduction angle estimator combines a given voltage UrefMotor speed n and load voltage u0And a load current i0Determining the estimated value theta of the conduction angle required by the current working conditionceAnd a maximum on angle thetacm；
The voltage regulator being responsive to a given voltage UrefAnd the load voltage u0The difference value of (a) to generate a conduction angle fine-tuning value and a conduction angle estimated value thetacePerforming closed-loop fine adjustment, wherein the adjustment capability of the closed-loop fine adjustment is determined by output amplitude limiting;
the control angle determiner first determines the conduction angle estimate θceFine adjustment value theta of angle of flowccSum of the sum and maximum value of on-angle θcmAnd comparing, wherein the smaller value of the conduction angle given value and the conduction angle given value is taken, then the sector where the motor is located is judged according to the angle position theta and the angle position semi-control power generation mode, and further the corresponding switch tube of the main power converter is switched on and off according to the conduction angle given value so as to control the running state of the electrically excited doubly salient motor, and the method comprises the following steps:
step 1, establishing an ideal phase current mathematical expression in an electrical period through an armature winding phase voltage balance equation:
in the formula ipFor armature winding phase current, ifFor exciting winding current, LpfIs mutual inductance between armature winding and excitation winding, Lpf0Is an initial value of mutual inductance between the armature winding and the field winding, ip0Is the initial value of the phase current, Lp0Is the initial value of self-inductance of the armature winding, theta is the angular position, upIs the terminal voltage of the armature winding, omega is the electrical angular velocity of the motor, LpSelf-inductance of the armature winding;
step 2, according to the fact that the energy storage capacitor meets the ampere-second balance principle, as shown in the formula (2), an ideal output voltage mathematical model can be obtained, as shown in the formula (3), which relates to the conduction angle thetacA function of the motor speed n and the load resistance R;
wherein S represents a p-phase current power generation region, T is an electrical angle corresponding to one period of the motor, and UoR represents a load resistance as an output voltage;
Uo_i＝f(θc,R,n) (3)
in the formula of Uo_iRepresenting an ideal output voltage;
and 3, under the same working condition, the output voltage and the actual end voltage should meet the same proportional relation, and a correction coefficient expression can be obtained as a correction condition, as shown in a formula (4), so that an actual output voltage mathematical model can be obtained, as shown in a formula (5):
Uo＝K(θc,R,n)Uo_i (5)
wherein, K (theta)cR, n) is a correction coefficient, and R is the inside of the armature windingResistance, kpfThe absolute value of the change rate of the mutual inductance of the armature winding and the excitation winding relative to the angle;
obtaining the relation of the conduction angle with respect to the output voltage, the load resistance and the motor rotating speed by the output voltage model, wherein the mathematical relation of the maximum conduction angle, the load resistance and the motor rotating speed can be obtained by solving the bias derivative of the voltage with respect to the conduction angle to be 0 as shown in the formula (6), which is the maximum conduction angle model as shown in the formula (7);
wherein,for the purpose of the representation of the conduction angle function,is expressed as a function of the maximum conduction angle.
Preferably: the armature winding inductance for phase a is as follows:
wherein L isaIs self-induction of phase A, LaminIs the minimum value of self-inductance of phase A, kaIs the absolute value of the rate of change of the self-inductance of phase A with respect to the electrical angle, LamaxIs the maximum self-inductance of phase A, LafMutual inductance between A-phase winding and exciting winding, LafminMinimum value of mutual inductance, kafIs the rate of change of mutual inductance, LafmaxIs the maximum value of mutual inductance.
Preferably: rate of change of mutual inductance kaf：
Wherein e isa_nIs at no-load potential.
Preferably: the motor speed n is ω/48.
Compared with the prior art, the invention has the following beneficial effects:
1. by adopting a controllable rectification power generation control mode, the power factor can be adjusted by controlling the armature current, and the power generation power is improved;
2. an output voltage estimation model established through the motor operation parameters provides a design idea and a calculation method for the motor applying the control method.
3. The conduction angle estimation model established through the motor operation parameters can predict the control angles required by different states, so that the motor can quickly respond when the motor operation state changes, and has good dynamic performance.
Drawings
FIG. 1 is a structural diagram of an angle position semi-control power generation control system of an electro-magnetic doubly salient motor.
Fig. 2 is a topology diagram of a half-controlled converter.
Fig. 3 is a fully controlled converter topology.
Fig. 4 is a driving logic diagram of an angular position half-control power generation control method.
Fig. 5 is a typical waveform of the a-phase current.
FIG. 6 is a graph of experimental voltage values and calculated model values at different angles
FIG. 7 is a graph of experimental voltage values and model calculated values for different load resistances
FIG. 8 is a graph of experimental voltage values and model calculated values at different rotational speeds
Detailed Description
The present invention is further illustrated by the following description in conjunction with the accompanying drawings and the specific embodiments, it is to be understood that these examples are given solely for the purpose of illustration and are not intended as a definition of the limits of the invention, since various equivalent modifications will occur to those skilled in the art upon reading the present invention and fall within the limits of the appended claims.
A controllable rectification power generation control system of an electro-magnetic doubly salient motor is shown in figure 1 and comprises a position detector, a voltage and current detector, the electro-magnetic doubly salient motor, a main power converter, a voltage regulator, a conduction angle estimator and a control angle determiner. The position detector is used for acquiring the position and the rotating speed of the motor rotor; the voltage current detector is used for acquiring load voltage and load current; the conduction angle estimator determines a conduction angle estimation value and a maximum conduction angle required by the current working condition by combining the given voltage, the motor rotating speed, the load voltage and the load current value; the voltage regulator generates a conduction angle fine adjustment value according to the difference value of the given voltage and the detection voltage, and performs closed-loop fine adjustment on the conduction angle estimation value, wherein the adjustment capability of the voltage regulator is determined by output amplitude limiting; the control angle determiner compares the sum of the estimated conduction angle value and the fine conduction angle value with the maximum conduction angle value, the smaller conduction angle value is taken as the given conduction angle value, the sector where the motor is located is judged according to the angle position detection value of the motor and the angle position semi-control power generation mode, and the corresponding switch tube of the main power converter is switched on and off according to the given conduction angle value to control the running state of the electrically excited doubly salient motor.
The topology of the main power converter used in the control method is shown in fig. 2, and the topology is composed of bridge arm units, wherein 6 upper bridge arms are diodes, and a lower bridge arm is composed of an IGBT and an anti-parallel diode. First switch tube-TA1And a first diode DA1A first diode, a second diodeA2Form a first bridge arm, a first switch tube with two TA2And a first diode three DA3A first diode four DA4The A-phase winding wire outlet ends are respectively connected with the middle points of the first bridge arm and the fourth bridge arm to form an A-phase rectification circuit; second switch tube one TB1And a second diode DB1A second diode DB2A second bridge arm consisting of a second switching tube II TB2 and a second diode III DB3A second diode DB4Forming a fifth bridge arm, and connecting the leading-out ends of the B-phase winding to the intermediate points of the second bridge arm and the fifth bridge arm respectively to form a B-phaseA rectifying circuit; third switch tube one TC1And a third diode DC1A third diode, a second diode DC2A second switch tube T forming a third bridge armC2And a third diode three DC3A third diode DC4And the wire outlet ends of the C-phase winding are respectively connected with the middle points of the third bridge arm and the sixth bridge arm to form a C-phase rectification circuit. The power converter may also be an H-bridge converter as shown in fig. 3. Here analyzed in the topology of fig. 2.
The angle position semi-control power generation mode conducting logic is shown in fig. 4, and each electrical angle period of the inductor is divided into three sectors for control based on the principle of positive energy storage in an inductor ascending area and negative energy storage in an inductor descending area. A typical phase current waveform in this control mode is shown in fig. 5.
The conduction angle estimator is based on a conduction angle estimation model built by the following steps:
step one, establishing an expression of phase current in one period through an armature winding phase voltage balance equation (1), as shown in equation (2).
In the formula ipFor armature winding phase current, ip0The initial value of the phase current is; l ispIs self-inductance of the armature winding (for example, phase A, as shown in formula (3)), Lp0The initial value of self-inductance of the armature winding is obtained; l ispfMutual inductance between the armature winding and the excitation winding (for example, phase A, as shown in formula (3)), wherein the mutual inductance change rate KpfCalculated using equation (4), Lpf0The initial value of mutual inductance between the armature winding and the excitation winding is obtained; theta is the electrical angle of the motor, omega is the electrical angular velocity of the motor, upTo the armature winding terminal voltage, epFor induction of electric potential, r, of armature windingpIs the armature winding internal resistance.
Step two, according to the ampere-second balance principle that the energy storage capacitor satisfies the formula (5), an ideal output voltage mathematical model which is shown as the formula (6) and relates to the conduction angle theta can be obtainedcA function of the mechanical speed n of the motor and the load resistance R.
In the formula, S represents a p-phase current power generation region; t is an electrical angle corresponding to one period of the motor, namely 360 degrees; r represents a load resistance. Wherein the current expressions of each stage are shown in Table 1, and for simplifying calculation, the current is approximately linearized, so that an ideal output voltage output model can be obtained by calculation only by using a right boundary value,
Uo_i＝f(θc,R,n) (6)
in the formula of Uo_iRepresenting an ideal output voltage; and n-omega/48 is the mechanical rotation speed of the motor.
TABLE 1 phase current each region loop and current expression
And step three, because the internal resistance is not negligible during actual operation, the correction coefficient expression shown in the formula (7) can be obtained by taking the output voltage and the actual end voltage which should meet the same proportional relation under the same working condition as the correction condition. Thus, a mathematical model of the actual output voltage can be obtained as shown in equation (8). Fig. 6 to 8 are graphs of calculated values and experimental values of output voltages obtained at different conduction angles, different load resistances and different rotation speeds, respectively.
Uo＝K(θc,R,n)Uo_i (8)
And step four, obtaining the relation of the conduction angle on the output voltage, the load resistance and the motor rotating speed by the output voltage model, namely the relation shown by the formula (9), which is the conduction angle estimation value model. Further, the mathematical relationship between the maximum conduction angle, the load resistance and the motor rotation speed can be obtained by solving the bias of the voltage with respect to the conduction angle to be 0. As shown in equation (10), this is the maximum conduction angle model.
The control strategy can realize the voltage regulation function of the motor main power converter, fully utilizes the capability of the armature winding in power generation, simultaneously realizes the predictive control by directly estimating the conduction angle of the motor, and improves the dynamic performance of the motor.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention detects output voltage, load current and rotating speed in real time when the motor runs, preliminarily estimates the control angle required by the current running condition by combining a conduction angle estimation model established by actual correction based on the principle of ampere-second balance of output side capacitance, and finely adjusts the conduction angle estimation value by the traditional voltage closed-loop regulator on the basis of the initial conduction angle to control the motor. The conduction angle estimation ring in the method enables the motor to respond quickly in real time when the running state changes, and meanwhile, the traditional voltage fine adjustment ring can automatically correct errors existing in the estimation ring, so that the method has good dynamic and steady-state performance and is suitable for the fields with more changes of running conditions such as aviation, wind power generation and the like.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. A conduction angle estimation method of an electro-magnetic doubly salient motor controllable rectification power generation system comprises a position detector, a voltage and current detector, a main power converter, a voltage regulator, a conduction angle estimator and a control angle determiner, wherein the conduction angle estimation method comprises the following steps:
the position detector is used for acquiring the angular position theta of the rotor of the excitation doubly salient motor and the motor rotating speed n;
the voltage-current detector is used for acquiring load voltage u0And a load current i0；
The conduction angle estimator combines a given voltage UrefMotor speed n and load voltage u0And a load current i0Determining the estimated value theta of the conduction angle required by the current working conditionceAnd a maximum on angle thetacm；
The voltage regulator being responsive to a given voltage UrefAnd the load voltage u0The difference value of (a) to generate a conduction angle fine-tuning value and a conduction angle estimated value thetacePerforming closed-loop fine adjustment, wherein the adjustment capability of the closed-loop fine adjustment is determined by output amplitude limiting;
the control angle determiner first determines the conduction angle estimate θceFine adjustment value theta of angle of flowccSum of the sum and maximum value of on-angle θcmComparing, taking the smaller value of the given value of the conduction angle and the given value of the conduction angle, judging the sector of the motor according to the angle position theta and the semi-control power generation mode of the angle position, and further according to the conductionThe method is characterized by comprising the following steps of:
step 1, establishing an ideal phase current mathematical expression in an electrical period through an armature winding phase voltage balance equation:
in the formula ipFor armature winding phase current, ifFor exciting winding current, LpfIs mutual inductance between armature winding and excitation winding, Lpf0Is an initial value of mutual inductance between the armature winding and the field winding, ip0Is the initial value of the phase current, Lp0Is the initial value of self-inductance of the armature winding, theta is the angular position, upIs the terminal voltage of the armature winding, omega is the electrical angular velocity of the motor, LpSelf-inductance of the armature winding;
step 2, according to the fact that the energy storage capacitor meets the ampere-second balance principle, as shown in the formula (2), an ideal output voltage mathematical model can be obtained, as shown in the formula (3), which relates to the conduction angle thetacA function of the motor speed n and the load resistance R;
wherein S represents a p-phase current power generation region, T is an electrical angle corresponding to one period of the motor, and UoR represents a load resistance as an output voltage;
Uo_i＝f(θc,R,n) (3)
in the formula of Uo_iRepresenting an ideal output voltage;
and 3, under the same working condition, the output voltage and the actual end voltage should meet the same proportional relation, and a correction coefficient expression can be obtained as a correction condition, as shown in a formula (4), so that an actual output voltage mathematical model can be obtained, as shown in a formula (5):
Uo＝K(θc,R,n)Uo_i (5)
wherein, K (theta)cR, n) is a correction coefficient, R is an internal resistance of the armature winding, kpfThe absolute value of the change rate of the mutual inductance of the armature winding and the excitation winding relative to the angle;
obtaining the relation of the conduction angle with respect to the output voltage, the load resistance and the motor rotating speed by the output voltage model, wherein the mathematical relation of the maximum conduction angle, the load resistance and the motor rotating speed can be obtained by solving the bias derivative of the voltage with respect to the conduction angle to be 0 as shown in the formula (6), which is the maximum conduction angle model as shown in the formula (7);
wherein,for the purpose of the representation of the conduction angle function,is expressed as a function of the maximum conduction angle.
2. The conduction angle estimation method of the doubly salient electro-magnetic motor controllable rectification power generation system as claimed in claim 1, wherein: the armature winding inductance for phase a is as follows:
wherein L isaIs self-induction of phase A, LaminIs the minimum value of self-inductance of phase A, kaIs the absolute value of the rate of change of the self-inductance of phase A with respect to the electrical angle, LamaxIs the maximum self-inductance of phase A, LafMutual inductance between A-phase winding and exciting winding, LafminMinimum value of mutual inductance, kafIs the rate of change of mutual inductance, LafmaxIs the maximum value of mutual inductance.
3. The conduction angle estimation method of the doubly salient electro-magnetic motor controllable rectification power generation system as claimed in claim 2, wherein: rate of change of mutual inductance kaf：
Wherein e isa_nIs at no-load potential.
4. The conduction angle estimation method of the doubly salient electro-magnetic motor controllable rectification power generation system as claimed in claim 3, wherein: the motor speed n is ω/48.
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