CN111327231B - Motor braking feedback energy absorbing method, device and system based on high-frequency injection - Google Patents
Motor braking feedback energy absorbing method, device and system based on high-frequency injection Download PDFInfo
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- CN111327231B CN111327231B CN202010120991.2A CN202010120991A CN111327231B CN 111327231 B CN111327231 B CN 111327231B CN 202010120991 A CN202010120991 A CN 202010120991A CN 111327231 B CN111327231 B CN 111327231B
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- 238000002347 injection Methods 0.000 title claims abstract description 45
- 239000007924 injection Substances 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 34
- XEEYBQQBJWHFJM-UHFFFAOYSA-N iron Substances [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 22
- 238000010521 absorption reaction Methods 0.000 claims description 9
- 229910052742 iron Inorganic materials 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 5
- 239000003990 capacitor Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
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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
- H02P21/36—Arrangements for braking or slowing; Four quadrant control
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a motor braking feedback energy absorbing method, device and system based on high-frequency injection, belonging to the technical field of motor braking, comprising the following steps: judging whether a braking instruction is received or not; judging whether the state of the battery relay is disconnected or not under the condition that a brake instruction is received; under the condition that the state of the battery relay is judged to be disconnected, acquiring the moment of inertia and the rotating speed of the current motor; calculating the kinetic energy of the motor according to the moment of inertia and the rotating speed; comparing the rotating speed of the motor with a preset motor efficiency chart to determine the current motor efficiency value; reading the braking time of a braking instruction, and calculating the power of motor braking feedback energy according to the braking time and the kinetic energy; calculating an effective value of high-frequency injection current for absorbing motor braking feedback energy according to a formula (1); calculating the voltage of the high-frequency injection current according to the formula (2); a high frequency injection current is generated and injected into the motor.
Description
Technical Field
The invention relates to the technical field of motor braking, in particular to a motor braking feedback energy absorption method, device and system based on high-frequency injection.
Background
In the motor deceleration braking process, energy is fed back to the direct current side. Usually, the direct current side is connected with a power supply through a four-quadrant frequency converter, or a storage battery directly supplies power to the direct current side. At this time, the energy fed back by motor braking will not cause the voltage of the DC bus capacitor to rise. However, if the dc side is a two-quadrant inverter, or if the battery is disconnected, the energy fed back during braking is usually absorbed by a braking unit in order to prevent the capacitor voltage from rapidly rising due to short-time energy overshoot. However, the brake application unit increases system volume, cost and complexity, reducing system reliability. High requirements of the electric drive system on volume, cost and reliability are difficult to meet.
Disclosure of Invention
The invention aims to provide a motor braking feedback energy absorbing method, device and system based on high-frequency injection, which can ensure that short-time energy overshoot is not caused in the motor deceleration braking process under the condition that a direct current side is a two-quadrant frequency converter.
In order to achieve the above object, the present invention provides a motor braking feedback energy absorbing method based on high frequency injection, the method comprising:
judging whether a braking instruction is received or not;
judging whether the state of the battery relay is disconnected or not under the condition that the brake instruction is received;
under the condition that the state of the battery relay is judged to be disconnected, acquiring the moment of inertia and the rotating speed of the current motor;
calculating kinetic energy of the motor according to the moment of inertia and the rotating speed;
comparing the rotating speed of the motor with a preset efficiency chart of the motor to determine the current efficiency value of the motor;
reading the braking time of the braking instruction, and calculating the power of the motor braking feedback energy according to the braking time and the kinetic energy;
calculating an effective value of a high-frequency injection current for absorbing the motor braking feedback energy according to formula (1),
wherein I is h For the effective value, P Fe For the core loss power of the motor, R Fe The lower limit value of the iron loss power is the power of the motor braking feedback energy;
the voltage of the high frequency injection current is calculated according to equation (2),
U h ＝K·ω h LI h ， (2)
wherein U is h Voltage of the high frequency injection current，ω h The frequency of the high-frequency injection current is obtained from the rotating speed of the motor, L is the inductance of the motor, and K is a preset adjustment coefficient;
the high frequency injection current is generated and injected into the motor.
Optionally, calculating the kinetic energy of the motor according to the rotational inertia and the rotational speed specifically includes:
the kinetic energy of the motor is calculated according to equation (3),
wherein E is m For the kinetic energy, J is the moment of inertia and ω is the rotational speed.
Optionally, comparing the rotation speed of the motor with a preset efficiency map of the motor to determine a current efficiency value of the motor specifically includes:
calculating a motor torque of the motor according to formula (4),
wherein T is the motor torque, and P is the motor power of the motor;
the efficiency value is determined in the efficiency map as a function of the rotational speed and the motor torque.
Optionally, calculating the effective value of the high frequency injection current for absorbing the motor braking feedback energy according to formula (1) specifically includes:
calculating the equivalent core loss resistance according to the formula (5),
wherein R is Fe For the equivalent iron loss resistance, P is the motor power of the motor, eta is the efficiency value of the motor, and I is the stator current of the motor。
Optionally, the frequency ω of the high frequency injection current h The value of the motor is 5 to 10 times of the rotating speed of the motor.
Optionally, the method further comprises:
vector control operations are performed on the high frequency injection current.
Optionally, the vector control operation includes at least one of coordinate transformation, PWM modulation, and inverter transformation.
In another aspect, the present invention also provides a motor brake feedback energy absorbing device based on high frequency injection, the device comprising a controller for performing a method as described in any one of the above.
In yet another aspect, the present invention also provides a high frequency injection based motor brake feedback energy absorption system comprising an apparatus as described above and a current sensor coupled to a stator of the motor.
In yet another aspect, the present invention also provides a storage medium storing instructions for reading by a machine to cause the machine to perform a method as described in any one of the above.
According to the technical scheme, the motor braking feedback energy absorbing method, device and system based on high-frequency injection provided by the invention have the advantages that under the condition that a braking instruction is received, the current data capable of absorbing motor braking feedback energy is calculated by combining the rotational inertia, the rotational speed and the stator current of the motor, and the high-frequency injection current is generated based on the calculation result, so that the technical problem that short-time energy overshoots are caused in the motor deceleration braking process under the condition that the power end of the motor comprises a two-quadrant frequency converter is avoided, and the volume and design cost of equipment are reduced.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a flow chart of a high frequency injection based motor brake feedback energy absorption method according to one embodiment of the present invention;
FIG. 2 is an exemplary diagram of an efficiency map of an electric machine according to one embodiment of the present invention; and
fig. 3 is a schematic diagram of a motor braking feedback energy absorption method based on high frequency injection according to an embodiment of the present invention.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
A flow chart of a high frequency injection based motor brake feedback energy absorption method according to one embodiment of the present invention is shown in fig. 1. In fig. 1, the method may include:
in step S10, it is determined whether a brake braking instruction (or a brake enable signal) is received.
In step S11, if it is determined that the braking instruction is received, it is determined whether the state of the battery relay is off;
in step S12, when it is determined that the state of the battery relay is off, the moment of inertia and the rotation speed of the current motor are acquired. In particular, the moment of inertia and the rotational speed may be obtained directly by a controller coupled to the motor.
In step S13, the kinetic energy of the motor is calculated from the moment of inertia and the rotational speed. In this embodiment, the manner of calculating the kinetic energy from the moment of inertia and the rotational speed may be in various forms known to those skilled in the art. In one example of the invention, this may be, for example, calculating the kinetic energy according to equation (1),
wherein E is m J is moment of inertia and ω is rotational speed.
In step S14, the rotation speed of the motor is compared with a preset efficiency map of the motor to determine a current efficiency value of the motor. In this embodiment, the efficiency map of the motor may be of a form known to those skilled in the art. In one example of the invention, the efficiency map may be, for example, as shown in FIG. 2. In fig. 2, the abscissa of the efficiency map may be used to represent the rotational speed (speed) of the motor in rpm (maximum power rotational speed), and the ordinate may be used to represent the torque (Torquc) of the motor in Nm (Nm). In this example, equation (2) may be used to calculate the motor torque of the motor,
wherein T is motor torque, and P is motor power of the motor; then determining a coordinate point in the left side of the efficiency map according to the rotating speed and the motor torque of the motor; and finally, determining the efficiency value of the motor according to the gray scale corresponding to the coordinate point in the efficiency graph.
In step S15, the braking time required for the braking instruction is read, and the power of the motor braking feedback energy is calculated according to the braking time and the kinetic energy.
In step S16, the effective value of the high frequency injection current for absorbing motor braking feedback energy is calculated according to formula (3),
wherein I is h As effective value, P Fe Is the iron loss power of the motor (the iron loss power is greater than or equal to the power of the motor braking feedback energy, preferably 1.2 times of the power of the motor braking feedback energy), R Fe The lower limit value of the iron loss power is the power of the motor braking feedback energy. The method for obtaining the equivalent iron loss resistance can be thatIn this example, the acquisition may be, for example, calculating the equivalent core loss resistance according to equation (4),
wherein R is Fe The equivalent core loss resistance, P is the motor power of the motor, eta is the efficiency value of the motor, and I is the stator current of the motor, and can be obtained by a current sensor connected with the stator of the motor.
In step S17, the voltage of the high-frequency injection current is calculated according to formula (5),
U h ＝K·ω h LI h ， (5)
wherein U is h For injecting the voltage of the current at high frequency, omega h For the frequency of the high-frequency injection current obtained from the rotational speed of the motor (the frequency omega h Can be 5 to 10 times of the fundamental wave frequency, the fundamental wave frequency can be equal to the rotating speed of the motor), L is the inductance of the motor, and K is a preset adjustment coefficient.
In step S18, a high-frequency injection current is generated and injected into the motor. Further, in this embodiment, the motor may be any form of driving device known to those skilled in the art, such as a home motor, an industrial servo motor, or the like.
In one embodiment of the invention, the mode of operation of the motor controller itself is considered. When a high-frequency injection current is injected into the motor, it is necessary to perform a vector control operation on the high-frequency injection current. For this vector control operation, at least one of, for example, coordinate transformation, PWM modulation, and inverter transformation, which are known to those skilled in the art, may be used. Preferably, the vector control operation may be, for example, as shown in fig. 3.
In another aspect, the present invention also provides a motor brake feedback energy absorption device based on high frequency injection, which may include a controller that may be used to perform a method as described in any of the above.
In a further aspect, the invention also provides a high frequency injection based motor brake feedback energy absorption system which may comprise an apparatus as described above, which may be used to perform a method as described in any of the above, and a current sensor connected to the stator of the motor, which may be used to collect the stator current of the motor.
In yet another aspect, the invention also provides a storage medium having stored thereon instructions which can be used to be read by a machine to cause the machine to perform a method as described in any of the above.
According to the technical scheme, the motor braking feedback energy absorbing method, device and system based on high-frequency injection provided by the invention have the advantages that under the condition that a braking instruction is received, the current data capable of absorbing motor braking feedback energy is calculated by combining the rotational inertia, the rotational speed and the stator current of the motor, and the high-frequency injection current is generated based on the calculation result, so that the technical problem that short-time energy overshoots are caused in the motor deceleration braking process under the condition that the power end of the motor comprises a two-quadrant frequency converter is avoided, and the volume and design cost of equipment are reduced.
The above description of the alternative embodiments of the present invention has been given in detail with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above alternative embodiments, and various simple modifications can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and these simple modifications all fall within the protection scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of embodiments of the invention are not described in detail.
In addition, any combination of the various embodiments of the present invention may be made, so long as it does not deviate from the idea of the embodiments of the present invention, and it should also be regarded as what is disclosed in the embodiments of the present invention.
Claims (10)
1. A motor braking feedback energy absorption method based on high-frequency injection, the method comprising:
judging whether a braking instruction is received or not;
judging whether the state of the battery relay is disconnected or not under the condition that a brake instruction is received;
under the condition that the state of the battery relay is judged to be disconnected, acquiring the moment of inertia and the rotating speed of the current motor;
calculating kinetic energy of the motor according to the moment of inertia and the rotating speed;
comparing the rotating speed of the motor with a preset efficiency chart of the motor to determine the current efficiency value of the motor;
reading the braking time of the braking instruction, and calculating the power of the motor braking feedback energy according to the braking time and the kinetic energy;
calculating an effective value of a high-frequency injection current for absorbing the motor braking feedback energy according to formula (1),
wherein I is h For the effective value, P Fe For the core loss power of the motor, R Fe The lower limit value of the iron loss power is the power of the motor braking feedback energy;
the voltage of the high frequency injection current is calculated according to equation (2),
U h ＝K·ω h LI h ，(2)
wherein U is h For the voltage of the high frequency injection current omega h The frequency of the high-frequency injection current is obtained from the rotating speed of the motor, L is the inductance of the motor, and K is a preset adjustment coefficient;
the high frequency injection current is generated and injected into the motor.
2. The method according to claim 1, wherein calculating the kinetic energy of the motor from the moment of inertia and the rotational speed comprises:
the kinetic energy of the motor is calculated according to equation (3),
wherein E is m For the kinetic energy, J is the moment of inertia and ω is the rotational speed.
3. The method according to claim 1, wherein comparing the rotation speed of the motor with a preset efficiency map of the motor to determine a current efficiency value of the motor comprises:
calculating a motor torque of the motor according to formula (4),
wherein T is the motor torque, P is the motor power of the motor, and omega is the rotating speed;
the efficiency value is determined in the efficiency map as a function of the rotational speed and the motor torque.
4. The method according to claim 1, wherein calculating the effective value of the high frequency injection current for absorbing the motor brake feedback energy according to formula (1) comprises:
calculating the equivalent core loss resistance according to the formula (5),
wherein R is Fe For the equivalent iron loss resistance, P is the motor power of the motor, eta is the efficiency value of the motorI is the stator current of the motor.
5. The method of claim 1, wherein the high frequency injection current has a frequency ω h The value of the motor is 5 to 10 times of the rotating speed of the motor.
6. The method according to any one of claims 1 to 5, further comprising:
vector control operations are performed on the high frequency injection current.
7. The method of claim 6, wherein the vector control operation comprises coordinate transformation or PWM modulation.
8. A motor brake feedback energy absorbing device based on high frequency injection, characterized in that the device comprises a controller for performing the method according to any of claims 1 to 7.
9. A high frequency injection based motor brake feedback energy absorption system comprising the apparatus of claim 8 and a current sensor coupled to the stator of the motor.
10. A storage medium storing instructions for reading by a machine to cause the machine to perform the method of any one of claims 1 to 7.
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| CN202010120991.2A CN111327231B (en) | 2020-02-26 | 2020-02-26 | Motor braking feedback energy absorbing method, device and system based on high-frequency injection |
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| CN202010120991.2A CN111327231B (en) | 2020-02-26 | 2020-02-26 | Motor braking feedback energy absorbing method, device and system based on high-frequency injection |
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| CN111327231B true CN111327231B (en) | 2023-08-18 |
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Effective date of registration: 20231122 Address after: 314117 Building 1, No. 29, Qingliang Avenue, Yaozhuang Town, Jiashan County, Jiaxing, Zhejiang Province Patentee after: Zhizhan New Energy (Zhejiang) Co.,Ltd. Patentee after: Zhizhan Technology (Shanghai) Co.,Ltd. Address before: 201304 floor 1-2, building 4, 1628 Lizheng Road, Pudong New Area, Shanghai Patentee before: Zhizhan Technology (Shanghai) Co.,Ltd. |