CN111049446A - Permanent magnet synchronous motor hardware-in-loop simulation method and device, storage medium and terminal - Google Patents

Permanent magnet synchronous motor hardware-in-loop simulation method and device, storage medium and terminal Download PDF

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CN111049446A
CN111049446A CN201911412648.9A CN201911412648A CN111049446A CN 111049446 A CN111049446 A CN 111049446A CN 201911412648 A CN201911412648 A CN 201911412648A CN 111049446 A CN111049446 A CN 111049446A
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permanent magnet
magnet synchronous
synchronous motor
current
simulation
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CN111049446B (en
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朱元
姜维
陆科
吴志红
肖明康
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Tongji University
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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
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/20—Estimation of torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses a hardware-in-loop simulation method and device of a permanent magnet synchronous motor, a storage medium and a terminal, wherein the method comprises not less than two simulation cycles; each simulation cycle comprises the following steps: inquiring phase voltages of three phases of the permanent magnet synchronous motor in the current simulation period according to the acquired voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of the three phases of the permanent magnet synchronous motor; inquiring a voltage vector of the permanent magnet synchronous motor in the current simulation period under a static coordinate system according to the phase voltage of the three phases of the permanent magnet synchronous motor in the current simulation period, and calculating a corresponding voltage angle value; inquiring corresponding sine values and cosine values according to the voltage angle values, and calculating d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period; while other simulation data is acquired. The method effectively reduces the simulation distortion caused by software delay under the condition of real-time simulation, and can improve the updating speed of the motor model calculation result by at least one order of magnitude.

Description

Permanent magnet synchronous motor hardware-in-loop simulation method and device, storage medium and terminal
Technical Field
The invention relates to a motor hardware-in-loop real-time simulation technology, in particular to a method and a device for effectively improving the hardware-in-loop simulation speed of a three-phase permanent magnet synchronous motor, a storage medium and a terminal.
Background
The hardware-in-loop real-time simulation technology makes full use of the characteristics of a hardware system to carry out analog simulation on an actual system, for example, the off-line digital simulation is closer to the effect of a real system, the technology research and development are facilitated, and the development cost of a new technology is effectively reduced. At present, a hardware-in-loop real-time simulation technology is widely applied to the fields of aerospace, military national defense, automobile power and the like.
The model simulation precision is a key factor for restricting the development of the real-time simulation technology. For a real-time motor model, improving the model accuracy represents the reduction of the operation speed, so that the real-time simulation performance is poor; however, if the precision is reduced, the real-time simulation technique has a large error or serious distortion compared with the actual system, and the simulation loses the original meaning.
Meanwhile, the model resolving speed of the existing motor hardware-in-the-loop real-time simulation technology is generally between several microseconds and dozens of microseconds. This means that the motor real-time simulation technology has at least time delay of several microseconds to tens of microseconds, and the time delay has no great influence on the signal level; however, for the power level, the model resolving delay and the response delay of the hardware itself may cause the power part simulation distortion or the simulation may not be possible due to the total delay, and thus it is difficult to meet the place with high real-time requirement. The permanent magnet synchronous motor is one of motors, and the problems also exist in a method for performing in-loop real-time simulation on motor hardware.
Therefore, an in-loop real-time simulation method for motor hardware, which can accelerate the model resolving speed on the premise of ensuring the model simulation accuracy, is urgently needed.
Disclosure of Invention
The invention aims to solve the technical problem that the existing permanent magnet synchronous motor hardware at least has time delay from several microseconds to dozens of microseconds in the real-time simulation process, which is likely to cause the simulation distortion of a power part or the simulation can not be realized, thereby being difficult to meet the place with higher real-time requirement.
In order to solve the technical problem, the invention provides a hardware-in-loop simulation method of a permanent magnet synchronous motor, which comprises the following steps: not less than two simulation cycles;
wherein each simulation cycle comprises the following steps:
acquiring voltages of three bridge arms of an inverter in a permanent magnet synchronous motor in a current simulation period and phase current direction information of three phases of the permanent magnet synchronous motor;
inquiring phase voltages of three phases of the permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of the three phases of the permanent magnet synchronous motor;
inquiring a voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period in a static coordinate system transformation table according to the three-phase voltage of the permanent magnet synchronous motor in the current simulation period, and calculating a voltage angle value of the permanent magnet synchronous motor in the rotating coordinate system in the current simulation period according to the voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period;
inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to a voltage angle value of the permanent magnet synchronous motor in a rotating coordinate system in the current simulation period, and calculating a d-axis voltage and a q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value;
calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, obtaining torque of the permanent magnet synchronous motor in the current simulation period, calculating angular speed of a rotor of the permanent magnet synchronous motor in the next simulation period based on the torque of the permanent magnet synchronous motor in the current simulation period, and calculating the angle of the permanent magnet synchronous motor in the next simulation period.
Preferably, calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value comprises:
calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the following formula:
ud(n)＝uscosθ2(n)
uq(n)＝ussinθ2(n)
wherein u issRepresents the voltage amplitude u of the permanent magnet synchronous motor in a static coordinate systemd(n) and uq(n) respectively representing d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, cos theta2(n) denotes the cosine value, sin θ2(n) represents the sine value.
Preferably, the calculating the d-axis current and the q-axis current of the permanent magnet synchronous motor in the next simulation cycle according to the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation cycle comprises:
calculating the d-axis current and the q-axis current of the permanent magnet synchronous motor in the next simulation period according to the following current iterative algorithm:
Figure BDA0002350373780000021
wherein id(n +1) and iq(n +1) represents d-axis output current and q-axis output current of the permanent magnet synchronous motor in the next simulation period, and u representsd(n) and uq(n) respectively representing d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, id(n) and iq(n) represents d-axis output current and q-axis output current of the permanent magnet synchronous motor in the current simulation period, T represents sampling period, and L represents sampling perioddAnd LqRespectively representing the d-axis and q-axis inductances, R, of the PMSMsMeans for said permanent magnetResistance of stator in step motor, omegae(n) angular velocity, ψ, of the permanent magnet synchronous motor at the present simulation cyclefAnd the flux linkage value of the permanent magnet synchronous motor is represented.
Preferably, the obtaining of the torque of the permanent magnet synchronous motor in the current simulation cycle, and calculating the angular velocity of the rotor of the permanent magnet synchronous motor in the next simulation cycle based on the torque of the permanent magnet synchronous motor in the current simulation cycle, the calculating the angle of the permanent magnet synchronous motor in the next simulation cycle includes:
calculating the torque of the permanent magnet synchronous motor in the current simulation period based on the d-axis current and the q-axis current of the permanent magnet synchronous motor in the current simulation period acquired in the previous simulation period;
based on the torque of the permanent magnet synchronous motor in the current simulation period and the angular speed of the permanent magnet synchronous motor in the current simulation period obtained in the previous simulation period, and calculating the angular speed of the permanent magnet synchronous motor rotor in the next simulation period according to a mechanical energy iterative algorithm of the permanent magnet synchronous motor;
and calculating the angle of the permanent magnet synchronous motor rotor in the next simulation period according to the angle iterative algorithm of the permanent magnet synchronous motor.
Preferably, the step of calculating the torque of the permanent magnet synchronous motor in the current simulation period based on the d-axis current and the q-axis current of the permanent magnet synchronous motor in the current simulation period acquired in the previous simulation period comprises:
calculating the torque of the permanent magnet synchronous motor in the current simulation period according to the following equation:
Figure BDA0002350373780000031
wherein, Te(n) represents the torque of the PMSM for the current simulation cycle, pnRepresenting the pole pair number, psi, of the permanent magnet synchronous machinefRepresents the flux linkage value of the permanent magnet synchronous motor,id(n) and iq(n) d-axis output current and q-axis output current of the permanent magnet synchronous motor in the current simulation period, LdAnd LqThe inductances of the d-axis and q-axis of the permanent magnet synchronous motor are shown respectively.
Preferably, the step of calculating the angular velocity of the permanent magnet synchronous motor at the next moment according to the mechanical energy iterative algorithm of the permanent magnet synchronous motor based on the torque of the permanent magnet synchronous motor at the current simulation cycle and the angular velocity of the permanent magnet synchronous motor at the current simulation cycle obtained at the previous simulation cycle comprises:
calculating the angular speed of the rotor of the permanent magnet synchronous motor in the next simulation period according to the following mechanical energy iterative equation:
Figure BDA0002350373780000032
wherein, ω isr(n +1) represents the angular velocity, omega, of the rotor of the PMSM in the next simulation cycler(n) represents the angular speed of the rotor of the permanent magnet synchronous motor in the current simulation period, J represents the total moment of inertia of the rotor of the permanent magnet synchronous motor, and TL(n) represents the load torque of the permanent magnet synchronous motor, pnRepresenting the number of pole pairs, T, of the PMSMeAnd (n) represents the torque of the permanent magnet synchronous motor in the current simulation period, and T represents the sampling period.
Preferably, the step of calculating the angle of the rotor of the permanent magnet synchronous motor in the next simulation cycle according to the angle iterative algorithm of the permanent magnet synchronous motor based on the angle of the rotor of the permanent magnet synchronous motor in the current simulation cycle and the electrical angular velocity of the rotor of the permanent magnet synchronous motor in the current simulation cycle, which are obtained in the previous simulation cycle, includes:
calculating the angle of the permanent magnet synchronous motor rotor in the next simulation period according to the following angle iterative equation:
θe(n+1)＝θe(n)+Tωe(n)
wherein, thetae(n +1) represents the angle of the rotor of the permanent magnet synchronous motor in the next simulation period, thetae(n) represents whenAngle, omega, of the rotor of the PMSM with a preceding simulation periodeAnd (n) represents the electrical angular speed of the rotor of the permanent magnet synchronous motor in the current simulation period, and T represents the sampling period.
In order to solve the technical problem, the invention also provides a hardware-in-loop simulation device of the permanent magnet synchronous motor, which comprises a basic quantity acquisition module, a bridge arm state information acquisition module, a voltage angle value acquisition module, a d-axis voltage and q-axis voltage acquisition module and other simulation quantity acquisition modules which are sequentially connected;
the basic quantity obtaining module is used for obtaining the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and the phase current direction information of three phases of the permanent magnet synchronous motor;
the bridge arm state information acquisition module is used for inquiring phase voltages of three phases of the permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of the three phases of the permanent magnet synchronous motor;
the voltage angle value acquisition module is used for inquiring a voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period in a static coordinate system transformation table according to the three-phase voltage of the permanent magnet synchronous motor in the current simulation period, and calculating a voltage angle value of the permanent magnet synchronous motor in the rotating coordinate system in the current simulation period according to the voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period;
the d-axis voltage and q-axis voltage acquisition module is used for inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to a voltage angle value of the permanent magnet synchronous motor in a rotating coordinate system in a current simulation period, and calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value;
the other simulation quantity obtaining module is used for calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, obtaining torque of the permanent magnet synchronous motor in the current simulation period, calculating angular speed of a rotor of the permanent magnet synchronous motor in the next simulation period based on the torque of the permanent magnet synchronous motor in the current simulation period, and calculating the angle of the permanent magnet synchronous motor in the next simulation period.
In order to solve the above technical problem, the present invention further provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a hardware-in-loop real-time simulation method for a permanent magnet synchronous motor.
In order to solve the above technical problem, the present invention further provides a terminal, including: the system comprises a processor and a memory, wherein the memory is in communication connection with the processor;
the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the terminal to execute the permanent magnet synchronous motor hardware-in-loop real-time simulation method.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the hardware-in-loop real-time simulation method of the permanent magnet synchronous motor provided by the embodiment of the invention, a complex calculation process is replaced by a table look-up mode in the hardware-in-loop real-time simulation method, so that the simulation distortion caused by software delay under the real-time simulation condition is effectively reduced, and the update speed of a motor model resolving result can be improved by at least one order of magnitude. And the model is solved by a table look-up method, so that model rushing caused by errors in the calculation process can be effectively avoided, and the robustness of the hardware simulation model is effectively improved. Meanwhile, the table look-up method has lower requirements on hardware performance, and can use a high-speed signal processing unit with lower cost and achieve higher model simulation performance; therefore, the cost of the motor hardware-in-loop simulation system can be effectively reduced on the premise of achieving the specified motor hardware-in-loop simulation performance.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart showing a simulation cycle of a hardware-in-loop real-time simulation method of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a hardware-in-the-loop real-time simulation apparatus of a permanent magnet synchronous motor according to a second embodiment of the present invention;
fig. 3 shows a schematic structural diagram of a four-terminal according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
The model resolving speed of the existing motor hardware-in-the-loop real-time simulation technology is generally between several microseconds and dozens of microseconds. This means that the motor real-time simulation technology has at least time delay of several microseconds to tens of microseconds, and the time delay has no great influence on the signal level; however, for the power level, the model resolving delay and the response delay of the hardware itself may cause the power part simulation distortion or the simulation may not be possible due to the total delay, and thus it is difficult to meet the place with high real-time requirement. The permanent magnet synchronous motor is one of motors, and the problems also exist in a method for performing in-loop real-time simulation on motor hardware.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides a hardware-in-loop real-time simulation method for a permanent magnet synchronous motor.
Fig. 1 is a schematic flow chart illustrating an in-loop real-time simulation method for hardware of a permanent magnet synchronous motor according to an embodiment of the present invention; the whole in-loop real-time simulation process of the permanent magnet synchronous motor hardware actually comprises a plurality of in-loop real-time simulation cycles of the permanent magnet synchronous motor hardware, and each cycle comprises all the following steps. Therefore, referring to fig. 1, a simulation cycle of the hardware-in-the-loop real-time simulation method for the permanent magnet synchronous motor according to the embodiment of the present invention includes the following steps.
Step S101, obtaining the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of three phases of the permanent magnet synchronous motor.
Specifically, when each period of the hardware-in-loop real-time simulation process of the permanent magnet synchronous motor starts, the voltages of three bridge arms of an inverter in the current permanent magnet synchronous motor and phase current direction information of three phases of the permanent magnet synchronous motor need to be acquired. Further, the three bridge arm voltages of the inverter respectively comprise an upper bridge arm voltage and a lower bridge arm voltage of each bridge arm; the direction information of the three-phase circuit of the permanent magnet synchronous motor comprises inflow current and outflow current. Meanwhile, it should be noted that the acquisition process in this step can be directly extracted by the set program.
Step S102, phase voltages of three phases of the permanent magnet synchronous motor in the current simulation period are inquired in a bridge arm state information table according to voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of the three phases of the permanent magnet synchronous motor.
Specifically, the bridge arm state information table includes an upper bridge arm voltage and a lower bridge arm voltage of a single bridge arm of the inverter, phase current direction information of three phases of the permanent magnet synchronous motor, and fault information of a bridge arm of the permanent magnet synchronous motor inverter. Table 1 below is a bridge arm status information table.
TABLE 1 bridge arm status information Table
S1 1 1 0 0 1 1 0 0
S2 1 0 1 0 1 0 1 0
cur 1 1 1 1 -1 -1 -1 -1
Phase voltage X 1 0 0 X 1 0 1
Fault of 1 0 0 0 1 0 0 0
Referring to table 1, S1 in the arm state information table in the table indicates the upper arm voltage, S2 indicates the lower arm voltage, 1 corresponding to S1 and S2 indicates that the voltage is the bus voltage (relative to the negative pole of the bus, and the conduction voltage drops of the IGBT and the diode are not considered), and 0 corresponding to S1 and S2 indicates no voltage; cur represents the phase current direction of three phases of the permanent magnet synchronous motor, wherein 1 represents inflow current, and-1 represents outflow current; the phase voltage is a voltage relative to the negative pole of the bus, wherein 1 corresponding to the phase voltage represents a voltage, 0 represents no voltage, and X represents a short circuit; and 1 corresponding to the fault information represents fault, and 0 represents no fault. And respectively inquiring phase voltages and fault information of the three phases of the permanent magnet synchronous motor in the current simulation period in a bridge arm state information table based on the voltages of the three bridge arms and the phase current directions of the three phases of the permanent magnet synchronous motor acquired in the step S101. The phase voltages of the three phases of the permanent magnet synchronous motor in the current simulation period are obtained in a table look-up mode, and the time for looking up the table is shorter than the time for calculating, so that the time for obtaining the state information of each bridge arm of the inverter is greatly reduced in the period of the hardware-in-the-loop real-time simulation method of the permanent magnet synchronous motor in the step.
Step S103, inquiring a voltage vector of the permanent magnet synchronous motor in the current simulation period in a static coordinate system transformation table according to the three-phase voltage of the permanent magnet synchronous motor in the current simulation period, and calculating a voltage angle value of the permanent magnet synchronous motor in the current simulation period in a rotating coordinate system according to the voltage vector of the permanent magnet synchronous motor in the current simulation period in the static coordinate system.
Specifically, after the phase voltages of the three phases of the permanent magnet synchronous motor in the current simulation period are obtained, the three-phase coordinate system needs to be converted into a static coordinate system according to the phase voltages of the three phases of the permanent magnet synchronous motor in the current simulation period. The conversion of the specific coordinates also adopts a table look-up mode. Table 2 below is a stationary coordinate system conversion table.
TABLE 2 transformation table for stationary coordinate system
a 0 0 0 0 1 1 1 1
b 0 0 1 1 0 0 1 1
c 0 1 0 1 0 1 0 1
Amplitude value 0 2/3 2/3 2/3 2/3 2/3 2/3 0
Angle of rotation 0 240 120 180 0 300 60 0
Referring to table 2, in the table, a represents a phase voltage value of a phase of the permanent magnet synchronous motor in the current simulation period, b represents a phase voltage value of b phase of the permanent magnet synchronous motor in the current simulation period, and c represents a phase voltage value of c phase of the permanent magnet synchronous motor in the current simulation period; the amplitude and the angle represent voltage vectors of the permanent magnet synchronous motor under a rotating coordinate system. Based on the three-phase voltages of the permanent magnet synchronous motor in the current simulation period obtained in the step S102, the voltage vector of the permanent magnet synchronous motor in the current simulation period in the stationary coordinate system is inquired and inquired in the stationary coordinate system transformation table, and the voltage angle value of the permanent magnet synchronous motor in the current simulation period in the rotating coordinate system is obtained by subtracting the electrical angular velocity of the permanent magnet synchronous motor in the current simulation period from the angle in the voltage vector of the permanent magnet synchronous motor in the current simulation period in the stationary coordinate system. Specifically, the voltage angle value of the permanent magnet synchronous motor in the current simulation period under the rotating coordinate system can be obtained by the following formula:
θ2(n)＝θ1(n)-θe(n) (1)
wherein, theta1(n) represents the voltage vector angle theta of the permanent magnet synchronous motor in the current simulation period under the rotating coordinate systeme(n) represents the electrical angular velocity, θ, of the current simulated period PMSM2And (n) represents the voltage angle value of the permanent magnet synchronous motor in the current simulation period under the rotating coordinate system.
And step S104, inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to the voltage angle value of the permanent magnet synchronous motor in the current simulation period in a rotating coordinate system, and calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value.
Specifically, the angle value based on the rotating coordinate system is discretized into 4096 points in advance, the sine value and the cosine value corresponding to each discrete point are respectively calculated, and all the discrete points and the corresponding sine value and cosine value are constructed into a sine and cosine change table. Since the sine and cosine change table has too much data, the table is not displayed here. And inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to the voltage angle value of the permanent magnet synchronous motor in the current simulation period in the rotating coordinate system, which is obtained in the step S104. And calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period based on the inquired and corresponding sine value and cosine value. Specifically, the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period can be calculated by the following equation (2):
Figure BDA0002350373780000081
wherein u issRepresents the voltage amplitude u of the permanent magnet synchronous motor in a static coordinate systemd(n) and uq(n) respectively representing d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, cos theta2(n) denotes the found cosine value, sin θ2(n) represents the queried sine value.
Step S105, calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, obtaining torque of the permanent magnet synchronous motor in the current simulation period, calculating angular speed of a rotor of the permanent magnet synchronous motor in the next simulation period based on the torque of the permanent magnet synchronous motor in the current simulation period, and calculating angle of the permanent magnet synchronous motor in the next simulation period.
Firstly, calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the current simulation period based on d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, d-axis current and q-axis current of the permanent magnet synchronous motor in the current simulation period obtained in the previous simulation period and angular speed of the permanent magnet synchronous motor in the current simulation period, and calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to a current iteration algorithm.
Specifically, the d-axis current and the q-axis current of the permanent magnet synchronous motor in the next simulation period can be calculated according to the following formula (3):
Figure BDA0002350373780000082
wherein id(n +1) and iq(n +1) respectively represents the same permanent magnet in the next simulation periodD-axis output current and q-axis output current, u, of step motord(n) and uq(n) d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, id(n) and iq(n) represents d-axis output current and q-axis output current of the permanent magnet synchronous motor in the current simulation period, T represents sampling period, and L represents sampling perioddAnd LqRespectively representing d-and q-axis inductances, R, of a permanent-magnet synchronous machinesRepresenting the resistance, omega, of the stator in a permanent-magnet synchronous machinee(n) angular velocity, psi, of the current simulation period permanent magnet synchronous motorfThe permanent magnet flux linkage value of the permanent magnet synchronous motor is shown.
And calculating the torque of the permanent magnet synchronous motor in the current simulation period based on the d-axis current and the q-axis current of the permanent magnet synchronous motor in the current simulation period, which are obtained in the previous simulation period.
The torque of the permanent magnet synchronous motor in the current simulation period can be obtained by calculating the following equation (4):
Figure BDA0002350373780000091
wherein, Te(n) represents the torque of the permanent magnet synchronous motor in the current simulation period, pnRepresenting the pole pair number, psi, of a permanent-magnet synchronous machinefIndicating the permanent magnet flux linkage value, i, of a permanent magnet synchronous machined(n) and iq(n) d-axis output current and q-axis output current of the permanent magnet synchronous motor in the current simulation period, LdAnd LqThe inductances of the d-axis and q-axis of the permanent magnet synchronous motor are shown respectively.
And then calculating the angular speed of the permanent magnet synchronous motor rotor in the next simulation period according to the mechanical energy iterative algorithm of the permanent magnet synchronous motor based on the torque of the permanent magnet synchronous motor in the current simulation period and the angular speed of the permanent magnet synchronous motor in the current simulation period obtained in the previous simulation period.
The angular velocity of the rotor of the permanent magnet synchronous motor in the next simulation period can be obtained by calculating the following equation (5),
Figure BDA0002350373780000092
wherein, ω isr(n +1) represents the angular velocity, omega, of the rotor of the PMSM in the next simulation periodr(n) represents the angular velocity of the rotor of the permanent magnet synchronous motor in the current simulation period, J represents the total moment of inertia of the rotor of the permanent magnet synchronous motor, and TL(n) represents the load torque of the permanent magnet synchronous motor, pnRepresenting the number of pole pairs, T, of a permanent magnet synchronous machineeAnd (n) represents the torque of the permanent magnet synchronous motor in the current simulation period, and T represents the sampling period.
On the basis, the angle of the permanent magnet synchronous motor rotor in the next simulation period needs to be calculated, so that the calculation of the next simulation period is facilitated.
Specifically, based on the angle of the permanent magnet synchronous motor rotor in the current simulation period and the angular speed of the permanent magnet synchronous motor rotor in the next simulation period obtained in the previous simulation period, the angle of the permanent magnet synchronous motor rotor in the next simulation period is calculated according to the angle iterative algorithm of the permanent magnet synchronous motor.
Specifically, the process for obtaining the angle of the rotor of the permanent magnet synchronous motor in the next simulation period comprises the following steps:
θe(n+1)＝θe(n)+Tωe(n) (6)
wherein, thetae(n +1) represents the angle of the rotor of the PMSM in the next simulation period, thetae(n) represents the angle, omega, of the rotor of the permanent magnet synchronous motor in the current simulation periodeAnd (n) represents the angular speed of the electric rotor of the permanent magnet synchronous motor in the current simulation period, and T represents the sampling period.
It should be noted that, when the simulation system is in the first simulation cycle, all the parameters that need to be calculated in the previous simulation cycle can be obtained through data acquisition.
According to the above steps, the simulation cycle output simulation data includes: and entering the next simulation period according to the actual condition.
According to the hardware-in-loop real-time simulation method of the permanent magnet synchronous motor, provided by the embodiment of the invention, a complex calculation process is replaced by a table look-up mode in the hardware-in-loop real-time simulation method, so that the simulation distortion caused by software delay under the real-time simulation condition is effectively reduced, and the update speed of a motor model resolving result can be improved by at least one order of magnitude. And the model is solved by a table look-up method, so that model rushing caused by errors in the calculation process can be effectively avoided, and the robustness of the hardware simulation model is effectively improved. Meanwhile, the table look-up method has lower requirements on hardware performance, and can use a high-speed signal processing unit with lower cost and achieve higher model simulation performance; therefore, the cost of the motor hardware-in-loop simulation system can be effectively reduced on the premise of achieving the specified motor hardware-in-loop simulation performance.
Example two
In order to solve the technical problems in the prior art, the embodiment of the invention provides a hardware-in-loop simulation device of a permanent magnet synchronous motor.
FIG. 2 is a schematic structural diagram of a hardware-in-the-loop real-time simulation apparatus of a permanent magnet synchronous motor according to a second embodiment of the present invention; referring to fig. 2, the hardware-in-the-loop simulation device of the permanent magnet synchronous motor according to the embodiment of the present invention includes a basic quantity obtaining module, a bridge arm state information obtaining module, a voltage angle value obtaining module, a d-axis voltage and q-axis voltage obtaining module, and other simulation quantity obtaining modules, which are sequentially connected.
The basic quantity obtaining module is used for obtaining the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and the phase current direction information of three phases of the permanent magnet synchronous motor.
The bridge arm state information acquisition module is used for inquiring the phase voltages of the three phases of the permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the voltages of the three bridge arms of the inverter in the permanent magnet synchronous motor in the current simulation period and the phase current direction information of the three phases of the permanent magnet synchronous motor.
The voltage angle value obtaining module is used for inquiring a voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period in a static coordinate system transformation table according to the phase voltage of three phases of the permanent magnet synchronous motor in the current simulation period, and calculating the voltage angle value of the permanent magnet synchronous motor in the rotating coordinate system in the current simulation period according to the voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period.
The d-axis voltage and q-axis voltage obtaining module is used for inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to a voltage angle value of the permanent magnet synchronous motor in a rotating coordinate system in a current simulation period, and calculating d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value.
The other simulation quantity obtaining module is used for calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, obtaining torque of the permanent magnet synchronous motor in the current simulation period, calculating angular speed of a rotor of the permanent magnet synchronous motor in the next simulation period based on the torque of the permanent magnet synchronous motor in the current simulation period, and calculating the angle of the permanent magnet synchronous motor in the next simulation period.
According to the hardware-in-loop simulation device of the permanent magnet synchronous motor, provided by the embodiment of the invention, a complex calculation process is replaced by a table look-up mode in the hardware-in-loop real-time simulation method, so that the simulation distortion caused by software delay under the real-time simulation condition is effectively reduced, and the updating speed of a motor model resolving result can be increased by at least one order of magnitude. And the model is solved by a table look-up method, so that model rushing caused by errors in the calculation process can be effectively avoided, and the robustness of the hardware simulation model is effectively improved. Meanwhile, the table look-up method has lower requirements on hardware performance, and can use a high-speed signal processing unit with lower cost and achieve higher model simulation performance; therefore, the cost of the motor hardware-in-loop simulation system can be effectively reduced on the premise of achieving the specified motor hardware-in-loop simulation performance.
EXAMPLE III
In order to solve the above technical problems in the prior art, an embodiment of the present invention further provides a storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program can implement all the steps of the ring simulation method for the hardware of the permanent magnet synchronous motor in the first embodiment.
The specific steps of the hardware-in-the-loop simulation method of the permanent magnet synchronous motor and the beneficial effects obtained by applying the readable storage medium provided by the embodiment of the invention are the same as those of the first embodiment, and are not described herein again.
It should be noted that: the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Example four
In order to solve the technical problems in the prior art, the embodiment of the invention also provides a terminal.
Fig. 3 is a schematic structural diagram of a four-terminal according to an embodiment of the present invention, and referring to fig. 3, the terminal according to this embodiment includes a processor and a memory, which are connected to each other; the memory is used for storing computer programs, and the processor is used for executing the computer programs stored in the memory, so that the terminal can realize all the steps of the hardware-in-loop simulation method of the permanent magnet synchronous motor in the embodiment when being executed.
The specific steps of the permanent magnet synchronous motor hardware-in-the-loop simulation method and the beneficial effects obtained by applying the terminal provided by the embodiment of the invention are the same as those of the first embodiment, and are not described herein again.
It should be noted that the Memory may include a Random Access Memory (RAM), and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Similarly, the Processor may also be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A hardware-in-loop simulation method for a permanent magnet synchronous motor comprises the following steps: not less than two simulation cycles;
wherein each simulation cycle comprises the following steps:
acquiring voltages of three bridge arms of an inverter in a permanent magnet synchronous motor in a current simulation period and phase current direction information of three phases of the permanent magnet synchronous motor;
inquiring phase voltages of three phases of the permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of the three phases of the permanent magnet synchronous motor;
inquiring a voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period in a static coordinate system transformation table according to the three-phase voltage of the permanent magnet synchronous motor in the current simulation period, and calculating a voltage angle value of the permanent magnet synchronous motor in the rotating coordinate system in the current simulation period according to the voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period;
inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to a voltage angle value of the permanent magnet synchronous motor in a rotating coordinate system in the current simulation period, and calculating a d-axis voltage and a q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value;
calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, obtaining torque of the permanent magnet synchronous motor in the current simulation period, calculating angular speed of a rotor of the permanent magnet synchronous motor in the next simulation period based on the torque of the permanent magnet synchronous motor in the current simulation period, and calculating the angle of the permanent magnet synchronous motor in the next simulation period.
2. The method of claim 1, wherein calculating d-axis and q-axis voltages of the permanent magnet synchronous machine for a current simulation cycle from the sine and cosine values comprises:
calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the following formula:
ud(n)＝uscosθ2(n)
uq(n)＝ussinθ2(n)
wherein u issRepresents the voltage amplitude u of the permanent magnet synchronous motor in a static coordinate systemd(n) and uq(n) respectively representing d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, cos theta2(n) denotes the cosine value, sin θ2(n) represents the sine value.
3. The method of claim 1, wherein calculating the d-axis current and the q-axis current of the PMSM for the next simulation cycle based on the d-axis voltage and the q-axis voltage of the PMSM for the current simulation cycle comprises:
calculating the d-axis current and the q-axis current of the permanent magnet synchronous motor in the next simulation period according to the following current iterative algorithm:
Figure FDA0002350373770000021
wherein id(n +1) and iq(n +1) respectively represents d-axis output current and q-axis output current of the permanent magnet synchronous motor in the next simulation periodFlow, ud(n) and uq(n) respectively representing d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, id(n) and iq(n) represents d-axis output current and q-axis output current of the permanent magnet synchronous motor in the current simulation period, T represents sampling period, and L represents sampling perioddAnd LqRespectively representing the d-axis and q-axis inductances, R, of the PMSMsRepresenting the resistance, ω, of the stator in said permanent magnet synchronous machinee(n) represents the electrical angular velocity, ψ, of the permanent magnet synchronous motor of the present simulation cyclefAnd the flux linkage value of the permanent magnet synchronous motor is represented.
4. The method of claim 1, wherein obtaining the torque of the PMSM for a current simulation cycle, and calculating the angular velocity of the PMSM rotor for a next simulation cycle based on the torque of the PMSM for the current simulation cycle, the calculating the angle of the PMSM for the next simulation cycle comprises:
calculating the torque of the permanent magnet synchronous motor in the current simulation period based on the d-axis current and the q-axis current of the permanent magnet synchronous motor in the current simulation period acquired in the previous simulation period;
based on the torque of the permanent magnet synchronous motor in the current simulation period and the angular speed of the permanent magnet synchronous motor in the current simulation period obtained in the previous simulation period, and calculating the angular speed of the permanent magnet synchronous motor rotor in the next simulation period according to a mechanical energy iterative algorithm of the permanent magnet synchronous motor;
and calculating the angle of the permanent magnet synchronous motor rotor in the next simulation period according to the angle iterative algorithm of the permanent magnet synchronous motor.
5. The method of claim 4, wherein the step of calculating the torque of the PMSM for a current simulation cycle based on the d-axis current and the q-axis current of the PMSM for the current simulation cycle obtained for a previous simulation cycle comprises:
calculating the torque of the permanent magnet synchronous motor in the current simulation period according to the following equation:
Figure FDA0002350373770000022
wherein, Te(n) represents the torque of the PMSM for the current simulation cycle, pnRepresenting the pole pair number, psi, of the permanent magnet synchronous machinefIndicating the permanent magnet flux linkage value, i, of a permanent magnet synchronous machined(n) and iq(n) d-axis output current and q-axis output current of the permanent magnet synchronous motor in the current simulation period, LdAnd LqRespectively representing the d-axis inductance and the q-axis inductance of the permanent magnet synchronous motor.
6. The method of claim 4, wherein the step of calculating the angular velocity of the PMSM at the next moment according to the iterative algorithm of mechanical energy of the PMSM based on the torque of the PMSM at the current simulation cycle and the angular velocity of the PMSM at the current simulation cycle obtained at the previous simulation cycle comprises:
calculating the angular speed of the rotor of the permanent magnet synchronous motor in the next simulation period according to the following mechanical energy iterative equation:
Figure FDA0002350373770000031
wherein, ω isr(n +1) represents the angular velocity, omega, of the rotor of the PMSM in the next simulation cycler(n) represents the angular speed of the rotor of the permanent magnet synchronous motor in the current simulation period, J represents the total moment of inertia of the rotor of the permanent magnet synchronous motor, and TL(n) represents the load torque of the permanent magnet synchronous motor, pnRepresenting the number of pole pairs, T, of the PMSMeAnd (n) represents the torque of the permanent magnet synchronous motor in the current simulation period, and T represents the sampling period.
7. The method of claim 4, wherein the step of calculating the angle of the PMSM rotor for the next simulation cycle based on the angle of the PMSM rotor for the current simulation cycle and the electrical angular velocity of the PMSM rotor for the current simulation cycle obtained from the previous simulation cycle and based on the angular iterative algorithm of the PMSM comprises:
calculating the angle of the permanent magnet synchronous motor rotor in the next simulation period according to the following angle iterative equation:
θe(n+1)＝θe(n)+Tωe(n)
wherein, thetae(n +1) represents the angle of the rotor of the permanent magnet synchronous motor in the next simulation period, thetae(n) represents the angle, omega, of the rotor of the permanent magnet synchronous motor in the current simulation periodeAnd (n) represents the electrical angular speed of the rotor of the permanent magnet synchronous motor in the current simulation period, and T represents the sampling period.
8. A hardware-in-loop simulation device of a permanent magnet synchronous motor is characterized by comprising a basic quantity acquisition module, a bridge arm state information acquisition module, a voltage angle value acquisition module, a d-axis voltage and q-axis voltage acquisition module and other simulation quantity acquisition modules which are sequentially connected;
the basic quantity obtaining module is used for obtaining the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and the phase current direction information of three phases of the permanent magnet synchronous motor;
the bridge arm state information acquisition module is used for inquiring phase voltages of three phases of the permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the voltages of three bridge arms of an inverter in the permanent magnet synchronous motor in the current simulation period and phase current direction information of the three phases of the permanent magnet synchronous motor;
the voltage angle value acquisition module is used for inquiring a voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period in a static coordinate system transformation table according to the three-phase voltage of the permanent magnet synchronous motor in the current simulation period, and calculating a voltage angle value of the permanent magnet synchronous motor in the rotating coordinate system in the current simulation period according to the voltage vector of the permanent magnet synchronous motor in the static coordinate system in the current simulation period;
the d-axis voltage and q-axis voltage acquisition module is used for inquiring a corresponding sine value and a corresponding cosine value in a sine and cosine change table according to a voltage angle value of the permanent magnet synchronous motor in a rotating coordinate system in a current simulation period, and calculating the d-axis voltage and the q-axis voltage of the permanent magnet synchronous motor in the current simulation period according to the sine value and the cosine value;
the other simulation quantity obtaining module is used for calculating d-axis current and q-axis current of the permanent magnet synchronous motor in the next simulation period according to d-axis voltage and q-axis voltage of the permanent magnet synchronous motor in the current simulation period, obtaining torque of the permanent magnet synchronous motor in the current simulation period, calculating angular speed of a rotor of the permanent magnet synchronous motor in the next simulation period based on the torque of the permanent magnet synchronous motor in the current simulation period, and calculating the angle of the permanent magnet synchronous motor in the next simulation period.
9. A storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the permanent magnet synchronous motor hardware-in-the-loop real-time simulation method of any of claims 1 to 7.
10. A terminal, comprising: the system comprises a processor and a memory, wherein the memory is in communication connection with the processor;
the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the terminal to execute the hardware-in-loop real-time simulation method of the permanent magnet synchronous motor according to any one of claims 1 to 7.
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