CN111679191A - Power hardware-in-loop simulator of permanent magnet synchronous motor - Google Patents
Power hardware-in-loop simulator of permanent magnet synchronous motor Download PDFInfo
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- CN111679191A CN111679191A CN202010605543.1A CN202010605543A CN111679191A CN 111679191 A CN111679191 A CN 111679191A CN 202010605543 A CN202010605543 A CN 202010605543A CN 111679191 A CN111679191 A CN 111679191A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The invention provides a permanent magnet synchronous motor power hardware-in-loop simulator, which is a suitable power level hardware-in-loop test platform designed for a permanent magnet synchronous motor drive controller with low speed and low power of an automobile electric accessory system. The low-speed characteristic of the motor weakens the time delay of each component of the simulator, particularly the influence caused by the action delay of the three-phase induction type voltage regulator; the low power nature of the motor allows the power output by the motor drive to be dissipated directly across a high power variable resistance load. The introduced three-phase induction type voltage regulator realizes stepless and smooth regulation of the amplitude and the phase of the voltage at the secondary winding side and inhibits the generation of harmonic waves. Compared with the existing power level motor simulator, the power level motor simulator avoids the introduction of an interface filter circuit and a power level inverter, and has the advantages of simple structure and convenient control.
Description
Technical Field
The invention relates to the technical field of hardware-in-loop testing of permanent magnet synchronous motors, in particular to a power hardware-in-loop simulator of a low-speed low-power permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is more and more widely applied to electric driving and electric accessory systems of electric automobiles due to a series of advantages of high efficiency, small volume, high power density and the like. However, with the development of the permanent magnet synchronous motor, higher requirements are also put forward for an electric drive test system in research, and the traditional mechanical test platform can not meet the test requirements gradually due to the defects of long test period, high test cost, difficult fault configuration and the like which generally exist in the work. Therefore, how to provide a power hardware-in-loop simulator for a permanent magnet synchronous motor, and especially suitable for motor characteristic simulation under low-speed and low-power conditions, is a technical problem to be solved in the art.
Disclosure of Invention
In view of this, the present invention provides a hardware-in-loop simulator for power of a permanent magnet synchronous motor, which is suitable for low-speed and low-power conditions, and specifically includes:
the device comprises a voltage and current acquisition circuit, a real-time controller, a driving circuit, a numerical control variable resistor, a protection fusing device and a three-phase induction voltage regulator;
the real-time controller consists of a motor, a rotary variable model module, a comparator and a PID (proportion integration differentiation) controller;
the voltage and current acquisition circuit is respectively used for acquiring voltage and current output by a motor driver connected with the simulator in real time and inputting the voltage and current to the real-time controller; the collected voltage is input into the motor and the rotary variable model module, expected motor driver output current is obtained through calculation, and after the comparison with the collected current is carried out through a comparator, a current difference value is input into the PID controller; voltage and current signals output by the motor driver also pass through a three-phase induction voltage regulator, a protection fusing device and a numerical control variable resistor which are connected in sequence;
the PID controller calculates and obtains an expected phase angle of a primary winding and a secondary winding of the three-phase induction voltage regulator and an expected resistance value of the numerical control variable resistor based on the current difference value, and inputs the expected phase angle and the expected resistance value into the driving circuit;
the driving circuit respectively adjusts the three-phase induction voltage regulator and the numerical control variable resistor based on the expected phase angle of the primary winding and the secondary winding of the three-phase induction voltage regulator and the expected resistance value of the numerical control variable resistor;
the motor and the rotary variable model module feed back rotary variable signals to a motor control unit connected with the motor driver in real time, and the motor and the rotary variable model module are used for adjusting power hardware of the motor driver.
Furthermore, a primary winding of the three-phase induction voltage regulator is connected with a three-phase output of the motor driver, a secondary winding of the three-phase induction voltage regulator is connected with a load, the working principle of the three-phase induction voltage regulator is equivalent to that of an asynchronous motor with a blocked rotor, the relative position of the rotor is changed through a worm gear, the phase of the induction potential of the stator and the rotor can be changed, and the adjustment of the phase of the output voltage on the side of the secondary winding is realized. According to the principle of magnetomotive force balance, the phases of the primary winding side current and the secondary winding side current are opposite when the three-phase induction type voltage regulator operates in a load mode. For a purely resistive load, the secondary winding side voltage is in phase with the current, so when the primary winding side voltage leads the secondary winding side voltage by a phase, the primary winding side current leads the voltage by pi-a.
Furthermore, the numerical control variable resistor can quickly and accurately realize the adjustment of the resistance value by controlling the number of the resistors connected in the series circuit through digital coding, and realize the quick adjustment of the current amplitude of the load circuit through the adjustment of the resistance value. Therefore, the three-phase induction voltage regulator realizes the adjustment of the power factor by adjusting the phase of the voltage and the current output by the motor driver, the numerical control high-power variable resistor realizes the adjustment of the power value by adjusting the amplitude of the load current, and the real-time power interaction of the motor simulator and the motor driver is realized.
Furthermore, the motor and the rotary variable model module can be realized in various different forms such as software, FPGA, embedded system and the like, so that better design flexibility can be provided.
Furthermore, the driving circuit is divided into two blocks, one is used for adjusting the phase of the primary winding and the secondary winding of the three-phase induction type voltage regulator and is used as a driving motor, and the other is used as a control driving circuit of the numerical control high-power variable resistor.
Compared with the prior art, the power hardware-in-loop simulator of the permanent magnet synchronous motor provided by the invention at least has the following beneficial effects:
1. a suitable power level hardware-in-loop test platform is designed for the low-speed and low-power permanent magnet synchronous motor drive controller of the automobile electric accessory system. The low-speed characteristic of the motor weakens the time delay of each component of the simulator, particularly the influence caused by the action delay of the three-phase induction type voltage regulator; the low power nature of the motor allows the power output by the motor drive to be dissipated directly across a high power variable resistance load.
2. The introduced three-phase induction type voltage regulator realizes stepless and smooth regulation of the amplitude and the phase of the voltage at the secondary winding side and inhibits the generation of harmonic waves.
3. Compared with the existing power level motor simulator, the power level motor simulator avoids the introduction of an interface filter circuit and a power level inverter, and has the advantages of simple structure and convenient control.
Drawings
FIG. 1 is a diagram illustrating the overall architecture of a simulator according to the present invention
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a power hardware-in-loop simulator of a permanent magnet synchronous motor, as shown in fig. 1, which specifically comprises:
the device comprises a voltage and current acquisition circuit 1, a real-time controller 2, a driving circuit 3, a numerical control variable resistor 4, a protection fusing device 5 and a three-phase induction voltage regulator 6;
the real-time controller 2 consists of a motor, a rotary variable model module, a comparator and a PID (proportion integration differentiation) controller;
the voltage and current acquisition circuit 1 is respectively used for acquiring voltage and current output by a motor driver connected with the simulator in real time and inputting the voltage and current to the real-time controller 2; the collected voltage is input into the motor and the rotary variable model module, expected motor driver output current is obtained through calculation, and after the comparison with the collected current is carried out through a comparator, a current difference value is input into the PID controller; voltage and current signals output by the motor driver also pass through a three-phase induction voltage regulator 6, a protection fusing device 5 and a numerical control variable resistor 4 which are connected in sequence;
the PID controller calculates an expected phase angle of a primary winding and a secondary winding of the three-phase induction voltage regulator 6 and an expected resistance value of the numerical control variable resistor 4 based on the current difference value, and inputs the expected phase angle and the expected resistance value into the driving circuit 3;
the driving circuit 3 respectively adjusts the three-phase induction voltage regulator 6 and the numerical control variable resistor 4 based on the expected phase angle of the primary and secondary windings of the three-phase induction voltage regulator 6 and the expected resistance value of the numerical control variable resistor 4;
the motor and the rotary variable model module feed back rotary variable signals to a motor control unit connected with the motor driver in real time, and the motor and the rotary variable model module are used for adjusting power hardware of the motor driver.
In a preferred embodiment of the present invention, the driving circuit is divided into two blocks, one block is used for adjusting the phase of the primary and secondary windings of the three-phase induction voltage regulator and is used as a driving motor, and the other block is used as a control driving circuit of the digital control high-power variable resistor.
In a preferred embodiment of the present invention, the real-time controller employs an FPGA board card, and is connected to the voltage and current acquisition circuit and the driving circuit through an I/O port.
The simulator of the invention specifically works as follows: the voltage and current acquisition circuit 1 acquires three-phase voltage and current output by a motor driver at the current moment and inputs the three-phase voltage and current to the real-time controller 2, wherein voltage signals are processed by a motor model in the real-time controller 2 to obtain expected current output of the motor driver, the expected current value is compared with the acquired current actual current value, a difference value is input to the PID controller, an expected phase angle of a primary winding and a secondary winding of the three-phase induction voltage regulator 6 and an expected resistance value of the numerical control high-power variable resistor 4 are obtained through calculation, the expected phase angle and the expected resistance value are specifically adjusted through the driving circuit 3, and meanwhile, a rotary variable model in the real-time controller 2 feeds back rotary variable signals to the motor controller in real time.
In order to prevent the numerical control high-power variable resistor 4 from being operated by mistake to cause the current value to be overlarge, the protection fusing device 5 cuts off the circuit when the current value is overlarge.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a PMSM power hardware is at ring simulator which characterized in that: the method specifically comprises the following steps:
the device comprises a voltage and current acquisition circuit, a real-time controller, a driving circuit, a numerical control variable resistor, a protection fusing device and a three-phase induction voltage regulator;
the real-time controller consists of a motor, a rotary variable model module, a comparator and a PID (proportion integration differentiation) controller;
the voltage and current acquisition circuit is respectively used for acquiring voltage and current output by a motor driver connected with the simulator in real time and inputting the voltage and current to the real-time controller; the collected voltage is input into the motor and the rotary variable model module, expected motor driver output current is obtained through calculation, and after the comparison with the collected current is carried out through a comparator, a current difference value is input into the PID controller; voltage and current signals output by the motor driver also pass through a three-phase induction voltage regulator, a protection fusing device and a numerical control variable resistor which are connected in sequence;
the PID controller calculates and obtains an expected phase angle of a primary winding and a secondary winding of the three-phase induction voltage regulator and an expected resistance value of the numerical control variable resistor based on the current difference value, and inputs the expected phase angle and the expected resistance value into the driving circuit;
the driving circuit respectively adjusts the three-phase induction voltage regulator and the numerical control variable resistor based on the expected phase angle of the primary winding and the secondary winding of the three-phase induction voltage regulator and the expected resistance value of the numerical control variable resistor;
the motor and the rotary variable model module feed back rotary variable signals to a motor control unit connected with the motor driver in real time, and the motor and the rotary variable model module are used for adjusting power hardware of the motor driver.
2. The simulator of claim 1, wherein: the primary winding of the three-phase induction voltage regulator is connected with the three-phase output of the motor driver, the secondary winding is connected with the load, the three-phase induction voltage regulator is equivalent to an asynchronous motor with a blocked rotor, the relative position of the rotor is changed through a worm gear, the phase of the induction potential of the stator and the rotor can be changed, and the adjustment of the phase of the output voltage at the side of the secondary winding is realized; when the primary winding side voltage leads the secondary winding side voltage in phase a, the primary winding side current leads the voltage in phase pi-a.
3. The simulator of claim 1, wherein: the numerical control variable resistor controls the number of resistors connected in the circuit in series through digital coding to realize the adjustment of resistance value, and then adjusts the power value; the three-phase induction voltage regulator realizes the adjustment of the power factor by adjusting the phase of the voltage and the current output by the motor driver, thereby realizing the real-time power interaction of the motor simulator and the motor driver.
4. The simulator of claim 1, wherein: the motor and the rotary variable model module can be realized by adopting software, FPGA and an embedded system.
5. The simulator of claim 1, wherein: the driving circuit is divided into two blocks, one block is used for adjusting the phase of the primary winding and the secondary winding of the three-phase induction voltage regulator and is used as a driving motor, and the other block is used as a control driving circuit of the numerical control variable resistor.
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| CN202010605543.1A CN111679191B (en) | 2020-06-29 | 2020-06-29 | Power hardware-in-loop simulator of permanent magnet synchronous motor |
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| CN111679191B CN111679191B (en) | 2021-07-16 |
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2020
- 2020-06-29 CN CN202010605543.1A patent/CN111679191B/en active Active
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