CN111682810A - Control method of high-voltage high-speed permanent magnet synchronous motor in high-temperature environment - Google Patents

Control method of high-voltage high-speed permanent magnet synchronous motor in high-temperature environment Download PDF

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CN111682810A
CN111682810A CN202010371727.6A CN202010371727A CN111682810A CN 111682810 A CN111682810 A CN 111682810A CN 202010371727 A CN202010371727 A CN 202010371727A CN 111682810 A CN111682810 A CN 111682810A
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voltage
current
bridge inverter
phase full
motor
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CN111682810B (en
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郝振洋
向洋
曹鑫
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0086—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for high speeds, e.g. above nominal 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
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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

Abstract

The invention discloses a control method of a high-voltage high-speed permanent magnet synchronous motor in a high-temperature environment, which adopts a two-stage topology to convert an input direct-current bus voltage into a three-phase alternating current for driving the high-speed permanent magnet synchronous motor to operate, wherein the front stage of the two-stage topology is a BUCK converter, the rear stage of the two-stage topology is a three-phase full-bridge inverter, the BUCK converter adopts voltage and current double closed-loop control, the three-phase full-bridge inverter adopts single current loop control, meanwhile, one-stage rotating speed loop control is added, the feedback of the rotating speed loop is the actual rotating speed of the motor, and the output of the. The invention realizes the control of the rotating speed of the high-speed synchronous motor under high pressure, has better dynamic performance, reduces the power tube loss of the high-speed permanent magnet synchronous motor and the inverter, and is suitable for high-temperature environment.

Description

Control method of high-voltage high-speed permanent magnet synchronous motor in high-temperature environment
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a control method of a high-speed permanent magnet synchronous motor.
Background
The high-speed permanent magnet synchronous motor has the advantages of good dynamic response performance, high efficiency and the like, avoids a traditional mechanical speed change device in a system, and improves the energy density and the efficiency of the system. In some special application fields, such as electric driving systems of armored combat vehicles, the voltage of an input direct current bus of a motor control system is high, the temperature of the working environment of a motor is high, and the traditional motor driver based on a three-phase full-bridge inverter is not suitable for the requirement of motor control under the condition. Traditional motor drive based on three-phase full-bridge inverter can't freely adjust direct current busbar voltage, can have the problem that direct current busbar voltage utilization ratio is low and the motor loss is high when motor speed is lower. Therefore, a control strategy suitable for a high-voltage high-speed permanent magnet synchronous motor at high temperature is proposed and applied.
The traditional motor controller based on the three-phase full-bridge inverter converts direct current into three-phase power for driving the motor to run by controlling the switching time and the switching sequence of six power tubes. The inductance of the high-speed permanent magnet synchronous motor is small, the direct current bus voltage cannot be adjusted by a traditional motor controller based on a three-phase full-bridge inverter, and the current ripple and harmonic waves generated in the stator of the high-speed permanent magnet synchronous motor by high-voltage PWM waves can be greatly increased under high voltage, so that the fluctuation of the rotating speed and torque of the motor is caused. The loss of the motor body can be increased by motor phase current harmonic waves caused by high-voltage PWM waves, the loss of a power tube of the controller can be increased by high voltage, and the temperature rise caused by the loss can further threaten the safe operation of the motor controller and the high-speed permanent magnet synchronous motor at high temperature.
Disclosure of Invention
In order to solve the technical problems mentioned in the background art, the invention provides a control method of a high-voltage high-speed permanent magnet synchronous motor in a high-temperature environment.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
the utility model provides a high-speed PMSM control method of high pressure under high temperature environment adopts two-stage type topology to convert input direct current busbar voltage into the three-phase alternating current of the high-speed PMSM operation of drive, the preceding stage of two-stage type topology is the BUCK converter, and the back level is three-phase full bridge inverter, the BUCK converter adopts the two closed-loop control of voltage current, three-phase full bridge inverter adopts single current loop control, increases one-level rotational speed ring control simultaneously, and the feedback of this rotational speed ring is the actual rotational speed of motor, and the output of this rotational speed ring is the input of BUCK converter voltage ring.
Further, the specific process of the control method is as follows:
given signal n of motor speedrefAfter making a difference with the motor rotating speed feedback n, the BUCK reference voltage V is output through the PI regulatorref；VrefAnd the output DC voltage V of BUCK converterdcGenerating a reference inductive current i through a PI regulator after difference is maderef；irefWith BUCK converter inductor current iLAfter difference is made, comparing the power tube with a carrier through a PI regulator, and outputting the duty ratio of a power tube in the BUCK converter; the three-phase full-bridge inverter adopts single current loop control, and d-axis reference current 0 and d-axis feedback current IdAfter difference is made, d-axis voltage U is generated through a PI regulatordAnd calculating a q-axis voltage value U by combining the modulation ratio M of the three-phase full-bridge inverterqAnd finally, outputting the switching waveforms of all power tubes in the three-phase full-bridge inverter through the SVPWM module.
Further, the modulation ratio of the three-phase full-bridge inverter is defined as the ratio of the fundamental amplitude of the output phase voltage of the three-phase full-bridge inverter to the direct-current bus voltage of one half of the three-phase full-bridge inverter.
Further, the method for determining the modulation ratio of the three-phase full-bridge inverter is as follows:
and respectively calculating a modulation ratio M1 when the total harmonic distortion of the motor phase current is minimum and a modulation ratio M2 when the loss of the power tube is minimum, if the value of M2 is more than 1, selecting M2 as a final modulation ratio, and otherwise, selecting M1 as a final modulation ratio.
Adopt the beneficial effect that above-mentioned technical scheme brought:
the control strategy of the high-voltage high-speed permanent magnet synchronous motor in the high-temperature environment based on two-stage topology and dynamic modulation ratio adjustment is adopted, the dynamic adjustment of the direct-current bus voltage of the three-phase full-bridge inverter is realized by utilizing the front-stage BUCK converter, the motor can be matched with different running states, and the negative effect of inputting high-voltage direct current is reduced. The SVPWM modulation ratio in the three-phase full-bridge inverter is optimized, so that the loss of a power tube of the controller and the loss of a high-speed permanent magnet synchronous motor body are reduced, the operation efficiency of the system is improved, and the requirement of the motor for operation at high temperature is met.
Drawings
FIG. 1 is a schematic view of a motor control system topology of the present invention;
FIG. 2 is a control loop diagram of the present invention;
FIG. 3 is a diagram illustrating the relationship between the phase current THD and the modulation ratio of the motor according to the present invention;
FIG. 4 is a block diagram of the power tube loss calculation of the present invention;
FIG. 5 is a block diagram of the modulation ratio calculation of the present invention;
description of reference numerals: n isrefSetting the rotating speed of the motor; n is motor rotating speed feedback; theta is the output motor position of the motor position sensor; vrefIs BUCK reference voltage; u shapedcInputting a DC voltage V to the BUCKdcOutputting a direct current voltage for the BUCK; i.e. irefIs BUCK current loop reference current; i.e. iLIs BUCK inductor current; d is the duty ratio of the BUCK power tube; i isdFeeding back current for d axis; u shapedIs a d-axis reference voltage; u shapeqIs a q-axis reference voltage value; m is the modulation ratio of the three-phase full-bridge inverter.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
As shown in fig. 1, a topology structure diagram of a motor control system according to the present invention is shown, wherein a power supply system supplies dc power, a dc bus voltage is reduced by a BUCK converter and then input to a three-phase full-bridge inverter, and a switching time and a switching sequence of a power tube are controlled to convert a dc power of a power supply into a three-phase ac power for driving a motor to operate, so as to drive a high-speed permanent magnet synchronous motor to operate at a given rotation speed.
Under a two-stage topology, the front-stage BUCK converter reduces the high voltage of a direct-current bus to a preset value, and the rear-stage three-phase full-bridge inverter converts the direct-current voltage output by the BUCK into alternating current to drive the high-speed permanent magnet synchronous motor to operate according to a given modulation ratio, so that the control and the regulation of the rotating speed of the high-speed permanent magnet synchronous motor are realized.
In the invention, the front-stage BUCK converter adopts voltage and current double closed-loop control, the rear-stage three-phase full-bridge inverter adopts single current loop control, and meanwhile, the first-stage rotating speed loop control is added, the feedback of the rotating speed loop is the actual rotating speed of the motor, and the output of the rotating speed loop is the input of a voltage loop of the BUCK converter. Specifically, as shown in fig. 2, the motor rotation speed gives a signal nrefAfter making a difference with the motor rotating speed feedback n, the BUCK reference voltage V is output through the PI regulatorref；VrefAnd the output DC voltage V of BUCK converterdcGenerating a reference inductive current i through a PI regulator after difference is maderef；irefWith BUCK converter inductor current iLAfter difference is made, comparing the difference with a carrier through a PI regulator, and outputting a duty ratio D of a power tube in the BUCK converter; the three-phase full-bridge inverter adopts single current loop control, and d-axis reference current 0 and d-axis feedback current IdAfter difference is made, d-axis voltage U is generated through a PI regulatordAnd calculating a q-axis voltage value U by combining the modulation ratio M of the three-phase full-bridge inverterqAnd finally, outputting the switching waveforms of all power tubes in the three-phase full-bridge inverter through the SVPWM module.
Fig. 3 is a schematic diagram showing a relationship between a motor phase current THD (total harmonic distortion) and a modulation ratio value. The output phase voltage F (t) of the three-phase full-bridge inverter can be expressed as follows by SVPWM modulation theory and a double Fourier analysis tool:
Figure BDA0002478361070000051
in the above formula, the first and second carbon atoms are,
Figure BDA0002478361070000052
is a direct current component in the harmonic expression;
Figure BDA0002478361070000053
is the fundamental component (when k is 1) and the baseband harmonic component, where A0kAnd B0kAre all coefficients;
Figure BDA0002478361070000054
as harmonic components of the carrier wave, Am0And Bm0Are all coefficients;
Figure BDA0002478361070000055
as side-band harmonic components, AmkAnd BmkAre all coefficients; the method comprises the steps of (1, 0, 2, 1.... is a three-phase full-bridge inverter modulation wave index variable); k is 0, ± 1, ± 2.. is a three-phase full-bridge inverter carrier index variable; omega1Modulating the wave angular frequency for a three-phase full-bridge inverter; omegasIs the carrier angular frequency of the three-phase full-bridge inverter.
The frequency in the above formula is k omega1+mωsThe voltage harmonic amplitudes are as follows:
Figure BDA0002478361070000056
in the above formula, Jk() Is a Bessel function of order k; j. the design is a squarei() Is a Bessel function of order i, i being a positive integer; j. the design is a square0() Is a bezier function of order 0.
And calculating the numerical relation between the motor phase voltage THD and the modulation ratio by using software. By definition, the current THD is calculated as follows:
Figure BDA0002478361070000061
in the above formula, I1The amplitude of the fundamental wave of the motor phase voltage is obtained; i.e. imkIs a frequency of k omega1+mωsThe value of the harmonic component of phase current of (a) can be obtained by using the following formula:
Figure BDA0002478361070000062
in the above formula, UmkIs the harmonic amplitude of the motor stator phase voltage; rsA phase resistor is a motor stator winding; and L is stator winding phase inductance.
As shown in fig. 3, as the modulation ratio increases, the motor phase current THD gradually decreases, reaches the lowest point, and then increases with a small amplitude as the modulation ratio increases. According to the formula, the modulation ratio M value corresponding to the lowest motor phase current THD under different given rotating speeds can be obtained, and the value is 1-1.15. It can be seen that when the modulation ratio is greater than 1, the improvement of the motor phase current THD is not obvious along with the increase of the modulation ratio, and the numerical relationship between the modulation ratio and the power tube loss should be considered.
As shown in fig. 4, which is a power tube loss calculation block diagram, power tube parameters under different working conditions are obtained through DATASHEET, and a curve is fitted to a functional relation by using data processing software. And then, the loss of the power tube under different modulation ratios is obtained by using a power tube loss calculation formula. The loss of the power tube is combined with the theoretical calculation and the simulation to establish a loss model of the power tube. Increasing the modulation ratio decreases the voltage of the BUCK output dc bus, resulting in a decrease in switching losses of the power transistor, while increasing the on-time of the power transistor due to the increased modulation ratio results in an increase in on-state losses of the power transistor. Based on the power tube data obtained in DATASHEET, a function analysis formula of the power tube loss and the modulation ratio is established, and the modulation ratio corresponding to the minimum power tube loss can be obtained.
As shown in fig. 5, a block diagram of modulation ratio calculation is shown. As can be seen from fig. 3, there is a modulation ratio M1 that minimizes the motor phase current THD. The modulation ratio M2 is calculated from the flow of fig. 4 when the power tube loss is minimum. When the loss of the power tube is minimum, the corresponding modulation ratio M2 is greater than 1, and the modulation ratio is selected as the modulation ratio of the three-phase full-bridge inverter; if the current is less than 1, the modulation ratio M1 corresponding to the minimum motor phase current THD is used as the modulation ratio of the three-phase full-bridge inverter.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.

Claims (4)

1. A control method of a high-voltage high-speed permanent magnet synchronous motor in a high-temperature environment is characterized by comprising the following steps: adopt two-stage type topology to convert input direct current bus voltage into the three-phase alternating current of the operation of the high-speed PMSM of drive, the preceding stage of two-stage type topology is the BUCK converter, and the back level is three-phase full bridge inverter, the BUCK converter adopts the two closed-loop control of voltage current, three-phase full bridge inverter adopts single current loop control, increases one-level rotational speed ring control simultaneously, and the feedback of this rotational speed ring is the actual rotational speed of motor, and the output of this rotational speed ring is the input of BUCK converter voltage ring.
2. The method for controlling the high-voltage and high-speed permanent magnet synchronous motor in the high-temperature environment according to claim 1, wherein the method comprises the following steps: the control method comprises the following specific processes:
given signal n of motor speedrefAfter making a difference with the motor rotating speed feedback n, the BUCK reference voltage V is output through the PI regulatorref；VrefAnd the output DC voltage V of BUCK converterdcGenerating a reference inductive current i through a PI regulator after difference is maderef；irefWith BUCK converter inductor current iLAfter difference is made, comparing the power tube with a carrier through a PI regulator, and outputting the duty ratio of a power tube in the BUCK converter; the three-phase full-bridge inverter adopts single current loop control, and d-axis reference current 0 and d-axis feedback current IdAfter difference is made, d-axis voltage U is generated through a PI regulatordAnd calculating a q-axis voltage value U by combining the modulation ratio M of the three-phase full-bridge inverterqAnd finally, outputting the switching waveforms of all power tubes in the three-phase full-bridge inverter through the SVPWM module.
3. The method for controlling the high-voltage and high-speed permanent magnet synchronous motor in the high-temperature environment according to claim 2, wherein the method comprises the following steps: the modulation ratio of the three-phase full-bridge inverter is defined as the ratio of the fundamental amplitude of the output phase voltage of the three-phase full-bridge inverter to the direct-current bus voltage of one half of the three-phase full-bridge inverter.
4. The method for controlling the high-voltage and high-speed permanent magnet synchronous motor in the high-temperature environment according to claim 3, wherein the method comprises the following steps: the method for determining the modulation ratio of the three-phase full-bridge inverter comprises the following steps:
and respectively calculating a modulation ratio M1 when the total harmonic distortion of the motor phase current is minimum and a modulation ratio M2 when the loss of the power tube is minimum, if the value of M2 is more than 1, selecting M2 as a final modulation ratio, and otherwise, selecting M1 as a final modulation ratio.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101529714A (en) * 2006-10-19 2009-09-09 三菱电机株式会社 Vector controller of permanent magnet synchronous motor
CN101931353A (en) * 2010-01-29 2010-12-29 梁伟 Control method for brushless direct current motor for automotive air conditioning fan
EP3068036A1 (en) * 2015-03-10 2016-09-14 LSIS Co., Ltd. Inverter for supplying load-adaptive boost voltage
CN106655913A (en) * 2016-12-22 2017-05-10 哈尔滨工业大学 Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment
CN106655949A (en) * 2016-11-18 2017-05-10 深圳市道通智能航空技术有限公司 Control system and control method of permanent magnetic synchronous motor, and unmanned aerial vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101529714A (en) * 2006-10-19 2009-09-09 三菱电机株式会社 Vector controller of permanent magnet synchronous motor
CN101931353A (en) * 2010-01-29 2010-12-29 梁伟 Control method for brushless direct current motor for automotive air conditioning fan
EP3068036A1 (en) * 2015-03-10 2016-09-14 LSIS Co., Ltd. Inverter for supplying load-adaptive boost voltage
CN106655949A (en) * 2016-11-18 2017-05-10 深圳市道通智能航空技术有限公司 Control system and control method of permanent magnetic synchronous motor, and unmanned aerial vehicle
CN106655913A (en) * 2016-12-22 2017-05-10 哈尔滨工业大学 Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment

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