CN113193801A - High-speed motor simulator control system and high-speed motor simulator - Google Patents

High-speed motor simulator control system and high-speed motor simulator Download PDF

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CN113193801A
CN113193801A CN202110426152.8A CN202110426152A CN113193801A CN 113193801 A CN113193801 A CN 113193801A CN 202110426152 A CN202110426152 A CN 202110426152A CN 113193801 A CN113193801 A CN 113193801A
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current
motor
compensation
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CN113193801B (en
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蒋栋
谢元浩
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • H02P6/34—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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a high-speed motor simulator control system and a high-speed motor simulator, and belongs to the field of power electronics. The high-speed motor simulator solves the problem of signal transmission delay through special hardware design and delay compensation algorithm design of software, and realizes accurate simulation of a high-speed motor. The method comprises the following steps: the compensation control module receives the measured three-phase current and voltage average value and generates compensation voltage and compensation current under dq coordinates; the motor model calculation module calculates a motor model in real time by using the compensation voltage and the compensation current to generate a reference current, the rotating speed of the simulated motor and the position of a rotor; the current control module executes a current control algorithm according to the reference current and the compensation current to generate a PWM duty ratio; the virtual encoder simulates a photoelectric encoder and encodes the position and the rotating speed of a rotor of the simulated motor; the synchronous signal generating module generates a PWM carrier synchronous pulse signal; and the PWM module receives the synchronous signal and the PWM duty ratio and modulates and generates a driving pulse.

Description

High-speed motor simulator control system and high-speed motor simulator
Technical Field
The invention belongs to the technical field of power electronics, and particularly relates to a high-speed motor simulator control system and a high-speed motor simulator.
Background
The motors used in traffic systems are usually required to operate at higher rotational speeds, which puts higher demands on the motor itself and its drive system. On the other hand, in the field of electrified transportation, both dynamic and steady-state performance of the motor drive system is of critical importance in order to ensure reliable operation of the vehicle. In the development of motor drive systems, a real set of motor counter-dragging platforms are usually required to test and verify the performance of the motor drive systems. However, such a counter-towing platform is very heavy and requires a large installation space; once the towing platform is built, parameters of the towing platform cannot be changed, and a motor needs to be redesigned in the test of new equipment; in addition, the electric machine used in the electric traffic system generally has the characteristics of large power, large power density and high rotating speed, and is difficult to manufacture. This greatly increases the development cost and the development period of the motor drive apparatus.
In order to test a motor driving system more conveniently, a learner provides a concept of 'power level hardware-in-the-loop simulation', a real-time simulator is used for calculating a physical model of an object in real time, a power amplifier is connected with a device to be tested, and port characteristics of the object are simulated in real time so as to realize performance test of the device to be tested, and when the simulated object is a motor, the device is also called as a motor simulator. The method of testing the converter to be tested by using the motor simulator formed by the power electronic converter is gradually widely used.
When the motor driving system is actually tested by using the simulator, the simulator controller and the driving controller are controlled independently, so that signal exchange is needed between the simulator controller and the driving controller, and the simulation accuracy of the motor model is influenced due to the delay of the signal exchange, so that the performance of the motor driving system to be tested cannot be correctly reflected. Especially, when the object to be simulated is a high-speed motor, the influence is more obvious when the rotating speed is higher, the same time delay can cause larger electrical angle error, and the system performance is seriously influenced, so that the simulation accuracy needs to be ensured by compensating the time delay.
Disclosure of Invention
Aiming at the defects and improvement requirements of the prior art, the invention provides a high-speed motor simulator control system and a high-speed motor simulator, aiming at ensuring that the delay time of the two signals is known and remains unchanged on hardware, adding phase angle delay compensation to a control layer and ensuring the simulation accuracy.
To achieve the above object, according to a first aspect of the present invention, there is provided a high-speed motor simulator control system including: the device comprises a compensation control module, a motor model calculation module, a current control module, a virtual encoder, a synchronous signal generation module and a PWM module;
the compensation control module is used for compensating the measured three-phase current output by the motor driving converter to be measured and the average value of the three-phase voltage in the switching period, generating compensation voltage and compensation current in a dq coordinate system and transmitting the compensation voltage and the compensation current to the motor model calculation module, and transmitting the compensation current to the current control module;
the motor model calculation module is used for calculating a motor model in real time by using the compensation voltage and the compensation current, generating a reference current and transmitting the reference current to the current control module, and generating the rotating speed and the rotor position of the simulated motor and transmitting the rotating speed and the rotor position to the virtual encoder;
the current control module is used for executing a current control algorithm according to the reference current and the compensation current, generating a PWM duty ratio and transmitting the PWM duty ratio to the PWM module;
the virtual encoder is used for simulating a photoelectric encoder, encoding the position and the rotating speed of a rotor of the simulated motor and outputting an orthogonal encoding signal to the motor driving controller;
the synchronous signal generating module is used for generating a PWM carrier synchronous pulse signal and outputting the PWM carrier synchronous pulse signal to the motor driving controller and the PWM module simultaneously so as to ensure that the PWM carrier phases of the motor driving controller and the motor simulator control system are synchronous;
and the PWM module is used for modulating and generating a driving pulse according to the synchronous signal and the PWM duty ratio and transmitting the driving pulse to the motor analog converter.
Preferably, the compensation control module is configured to receive the measured three-phase voltage average value and the measured three-phase current, execute a compensation control algorithm, generate a compensation voltage, a first compensation current, and a second compensation current in a dq coordinate system, transmit the compensation voltage, the first compensation current, and the second compensation current to the motor model calculation module, and transmit the second compensation current to the current control module;
the motor model calculation module comprises a circuit model calculation module and a mechanical model calculation module, the circuit model calculation module is used for receiving compensation voltage and first compensation current, generating reference current and transmitting the reference current to the current control module, and the mechanical model calculation module is used for receiving second compensation current, generating the rotating speed and the rotor position of the simulated motor and transmitting the rotating speed and the rotor position to the virtual encoder;
the current control module is used for executing a current control algorithm according to the reference current and the second compensation current to generate a PWM duty ratio and transmitting the PWM duty ratio to the PWM module;
the virtual encoder is used for simulating a photoelectric encoder, encoding the position and the rotating speed of the rotor of the simulated motor and outputting A, B, Z three encoding signals to the motor drive controller.
Preferably, the three-phase voltage pulse width capturing module includes: the device comprises a divider resistor, a differential amplifier, a comparator, a pulse width capturing module and a calculation processing module;
the voltage dividing resistor is used for dividing the three-phase chopped wave voltage output by the motor driving converter to be detected to obtain a signal level voltage quantity and transmitting the signal level voltage quantity to the differential amplifier;
the differential amplifier is used for converting the divided floating ground differential voltage into a single-ended voltage and transmitting the single-ended voltage to the comparator;
the comparator is used for comparing the single-ended voltage with the threshold voltage, outputting a logic signal 1 when the upper tube of the corresponding bridge arm is conducted, outputting a logic signal 0 when the lower tube of the corresponding bridge arm is conducted, and transmitting the output signal to the pulse width capturing module;
the pulse width capturing module is used for capturing the pulse width of each phase of signal output by the comparator, starting the timer to work when the signal rises, stopping counting when the signal falls, saving the current timer count value, and clearing the current timer count value to wait for the next rising edge after the current timer count value is transmitted to the compensation control module;
and the calculation processing module is used for calculating the voltage average value of the current switching period according to the timer counting value of the current switching period and transmitting the voltage average value to the compensation control module when the next switching period starts.
Has the advantages that: the invention is calculated by the three-phase voltage pulse width capturing module, the motor to be tested drives the average value of the three-phase voltage in the switching period of the converter, and the accurate collection of the average value of the voltage in each switching period can be realized because the edge of the chopped wave voltage can be detected and counted by the timer; the voltage average value of the current switching period is always transmitted to the compensation control module at the beginning of the next period, so that the voltage sampling delay time is always fixed to be one switching period.
Preferably, the virtual encoder includes: the device comprises a code calculation module, a code updating module, a waveform generation module and an error detection compensation module;
the code calculation module is used for calculating a code counting period, a code comparison value and a code counter updating coefficient of A, B paths of signals to be updated according to the rotating speed, the rotor position, the position code error signal and the rotor position in the previous calculation period in the current calculation period; calculating a coding phase value of a B path signal to be updated; calculating the code counting period, the code comparison value and the code counter value of the Z-path code signal to be updated when the position of the rotor passes through zero, and transmitting all the parameter values to be updated to a code updating module;
the encoding updating module is used for respectively updating the period registers and the comparison value registers of the A path and the B path of the waveform generating module at the beginning of the next calculation period according to the encoding counting period and the encoding comparison value of the A, B paths of signals expected to be updated in the current calculation period; updating a phase register of the B path of the waveform generation module at the beginning of the next calculation period according to the encoding phase value of the B path of signal updated in the current calculation period; updating the counter values of the A-path module and the B-path module of the waveform generation module respectively at the beginning of the next calculation period according to the A, B-path signal coding counter updating coefficients expected to be updated by the current calculation period and the A, B-path counter value of the waveform generation module received at the beginning of the next calculation period; respectively updating a cycle register, a comparison value register and a counter of the Z path of the waveform generation module at the beginning of the next calculation period according to the code counting period, the code comparison value and the code counter value of the Z path of the code signal expected to be updated in the current calculation period;
the waveform generation module is used for sending A, B, Z three paths of coding signals to the motor drive controller and the error detection compensation module according to A, B, Z paths of period registers, comparison value registers, phase registers and counter values of the waveform generation module;
the error detection compensation module is used for receiving A, B, Z three paths of coding signals, receiving the rotor position signal of the analog motor before two calculation periods, obtaining an actually measured rotor position signal by decoding according to the three paths of coding signals when the current calculation period starts, and transmitting a position coding error signal to the coding calculation module in the current calculation period.
Has the advantages that: the control method of the optimal virtual encoder ensures that the transmission of the rotating speed signal always delays the calculation cycles of two simulator control systems because the rotating speed and the rotor position signal are received in the current cycle and the output of the encoder is updated in the next cycle, thereby providing convenience for delay compensation; an error detection compensation module is preferably added, and because the actually output measured rotor position is compared with the calculated rotor position and the position coding error signal is transmitted to the coding calculation module, the time accumulated error compensation of the coding update module is completed, the accurate coding output of the rotor position is realized, and the simulation accuracy is improved.
Preferably, the encoding calculation module implements encoding by:
s1: calculating the coding counting period of A, B paths of signals to be updated, wherein the calculation formula is as follows:
Figure BDA0003029637350000051
wherein, TBAAnd TBBRespectively representing the code count periods, T, of the A and B signals to be updatedsIndicating the length of the calculation period, fsysRepresenting the simulator control system clock frequency, N representing the number of encoder lines, Delta theta representing the position encoding error signal, omegarRepresenting the speed of rotation of the simulated motor;
s2: calculating the code comparison value of A, B signals to be updated, all of which are 0.5 TBA(ii) a Calculating updating coefficients of a code counter of A, B paths of signals to be updated, wherein the updating coefficients are the ratio of the code counting period of the current calculating period to the code counting period of the previous calculating period; calculating the code phase value of the B path signal to be updated to be 0.75 TBA；
S3: judging whether the rotor position of the simulated motor crosses zero or not, and if so, executing the following calculation steps:
s3.1: calculating the coding counting period of the Z-path signal to be updated, wherein the calculation formula is as follows:
TBz＝2Tsfsys
s3.2: calculating the code comparison value of the Z-path signal to be updated, wherein the calculation formula is as follows:
COMPz＝TBz-0.5*TBA
s3.3: calculating the value of a coding counter of the Z-path signal to be updated, wherein the calculation formula is as follows:
Figure BDA0003029637350000061
wherein, thetak-1Calculating the rotor position for the previous cycle;
and if the position of the rotor does not have zero crossing, clearing the code counting period, the code comparison value and the code counter value of the Z-path code signal to be updated.
Has the advantages that: the coding comparison values of the A, B signals to be updated are all 0.5 TBAEnsuring the grating distribution of the simulated photoelectric encoder to be uniform, and the code phase value of the B-path signal to be updated is 0.75 × TBAAnd the orthogonality of the AB path signals is ensured.
Preferably, the waveform generation module comprises A, B, Z identical three-way waveform generation sub-modules, and the internal operating logic of each waveform generation sub-module is as follows:
the counter counts up according to the system clock, and is cleared when the value of the counter is equal to the value of the period register; when the counter value is smaller than the comparison value register value, outputting a logic low level; when the counter value is larger than the comparison value register value, outputting a logic high level;
the logic of operation between the waveform generation submodules is as follows:
and the A-path waveform generation submodule sends out a synchronization pulse when the value of the comparator is equal to the value of the periodic register and transmits the synchronization pulse to the B-path waveform generation submodule, and the B-path waveform generation submodule loads the value of the phase register into the counter after receiving the synchronization pulse.
Has the advantages that: the invention optimizes the waveform generation mode of the virtual encoder, and realizes the orthogonal encoding of the rotor position and the rotating speed due to the synchronization between the A-path submodule and the B-path submodule and the updating of the phase register.
Preferably, the compensation control module includes:
a rotor position update module for storing the current rotor position theta generated by the motor modelkFirst three calculation cycles of rotor position θk-1、θk-2、θk-3Will be (theta)k-2+θk-3) /2 to the voltage coordinate transformation module to convert thetak-2Transmitting to a current coordinate transformation module;
a voltage coordinate transformation module for transforming (theta)k-2+θk-3) The/2 is used as a d-axis angle, the three-phase voltage is converted into a dq coordinate system, and a compensation voltage is generated and transmitted to a motor model calculation module;
a current coordinate transformation module for transforming thetak-2As the d-axis angle, a three-phase current source is switched to a dq coordinate system to generate a second compensation current idq(k) The current is transmitted to a motor model calculation module and a current control module;
a current average value calculation module for storing the i output by the current coordinate transformation moduledq(k-1), and (i)dq(k)+idq(k-1))/2 is delivered to the motor model calculation module as a first compensation current.
To achieve the above object, according to a second aspect of the present invention, there is provided a high-speed motor simulator for testing a motor drive converter, comprising the high-speed motor simulator control system and the motor simulation converter as described in the first aspect;
the high-speed motor simulator control system is used for controlling the motor simulation converter to simulate the characteristics of a motor port.
Preferably, the motor analog converter is connected with the alternating current side of the motor driving converter to be tested through a three-phase air-core reactor.
Has the advantages that: the invention preferably selects the three-phase air-core reactor to connect the alternating current sides of the motor simulation converter and the motor driving converter to be tested, and because the air-core inductor does not have an iron core, the linearity can be kept in a wider frequency range, and the simulation accuracy of the high-speed motor can be further improved.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
(1) the invention adopts a synchronous signal generation module, a voltage pulse width capture unit and a virtual encoder on hardware, on one hand, the measurement of a voltage signal and the delay time of the feedback of a position signal are ensured to be known and kept unchanged, and on the other hand, the simulation accuracy can be improved, specifically, 1) the invention generates a PWM carrier wave synchronous pulse signal through the synchronous signal generation module and simultaneously outputs the PWM carrier wave synchronous pulse signal to a motor drive controller and a PWM module. Because the PWM carrier phases of the motor drive controller and the motor simulator control system are synchronous, the control time sequences of the motor drive controller and the simulator control system are synchronous according to the switching period, which is the premise of determining the delay time; 2) the invention simulates the photoelectric encoder through the virtual encoder, encodes the rotor position and the rotating speed of the simulated motor, and outputs the encoded signal to the motor driving controller, compared with the current method of transmitting the rotating speed and the position signal in series or in parallel, the invention can simulate the external characteristics of the tested motor more truly, and the fixed delay time of the position signal transmission can be ensured due to the special design of the time sequence of the position encoding; 3) according to the invention, the PWM pulse width output by the switching period of the motor driving converter to be measured is acquired through the three-phase voltage pulse width capturing module, the voltage average value in the switching period of the motor driving converter to be measured is calculated and transmitted to the compensation control module, the pulse width of each switching period is accurately acquired, the error of PWM voltage measurement is reduced, and compared with the traditional low-pass filtering method, the time sequence of the voltage pulse width capturing module is controllable, the lag phase angle of the voltage measurement is not influenced by the rotating speed of the simulated motor, and the voltage measurement delay time can be fixed.
In addition, the motor driving converter to be tested and the motor simulation converter are controlled by completely independent controllers, and the motor driving controller and the motor simulator control system are connected only by synchronous signals and coded position signals, so that the motor simulator control system can be independent of the motor driving controller, a unified controller is avoided, software and hardware of the system to be tested are not required to be additionally changed when the motor driving system is tested, and the testing convenience is greatly improved.
(2) The invention provides a compensation control method, which adds phase angle delay compensation, and the same voltage or current signal after the phase angle compensation is added is always transformed in a simulator control system and a motor drive controller according to the same coordinate system, thereby theoretically completely eliminating the influence of the signal transmission delay between the motor drive controller and the motor simulator control system on the simulation accuracy, and obtaining obvious accuracy improvement effect when the motor rotating speed is higher because the same delay can cause larger angle error when the simulated motor rotating speed is higher.
(3) The invention provides a motor simulator for testing a motor driving converter, which adopts the motor simulator control system to control the motor simulating converter to simulate the characteristics of a motor port, can be directly matched with different motor driving converters to be tested for use, is simple and easy to build, can replace a real motor to preliminarily verify the performance of the motor driving converter to be tested, and has convenience in testing.
Drawings
FIG. 1 is a block diagram of a high speed motor simulation apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a voltage pulse width capture module in a motor simulator control system provided by an example of the present invention;
FIG. 3 is a flow chart illustrating operation of a virtual encoder in a motor simulator control system according to an embodiment of the present invention;
FIG. 4 is a timing diagram illustrating control of an embodiment of the present invention;
FIG. 5 is a block flow diagram of a motor simulator control system according to an embodiment of the present invention;
in the figures, the reference numerals have the following meanings: the system comprises a direct current power supply 1, a motor driving converter to be tested 2, a three-phase reactor 3, a motor simulation converter 4, a motor driving controller 5 and a motor simulator control system 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
FIG. 1 is a block diagram of a high speed motor simulation apparatus according to an embodiment of the present invention. As shown in fig. 1, the high-speed motor simulation device includes a dc power supply 1, a dc power supply 2, a motor driving converter 3 to be tested, a three-phase reactor 4, a motor simulation converter 5, a motor driving controller 6, and a motor simulator control system. The device is mainly characterized by two points: firstly, the motor drive converter to be tested is connected with the motor simulation converter through a common direct current bus, and the alternating current side is connected with the three-phase reactor. The circuit structure can enable the power of the whole system to circularly flow in the simulation process, and the direct current power supply only provides energy loss in the switching process; and secondly, the motor driving controller and the motor simulator control system are mutually independent and are connected only through a synchronous signal and a coded position signal. The motor driving controller consists of a current measuring module, a rotating speed measuring and decoding module, a motor control algorithm calculating module, a PWM module and a switch driving module; the motor simulator control system is composed of a three-phase voltage pulse width capture module, a three-phase line current measurement module, a motor model calculation module, a current control module, a virtual encoder module, a synchronous signal generation module, a PWM module and a compensation control module.
In the device shown in fig. 1, the alternating-current chopped voltage output by the motor driving converter is collected by the motor simulator control system and used as the input voltage calculated by a motor model, and the process has time delay; the rotating speed and position signals obtained by the motor simulator control system are encoded by the virtual encoder, then are detected and decoded by the motor drive controller and are applied to motor control, and the process also has time delay. The two signal transmission delays affect the performance of the simulator system, and especially when the simulated rotating speed is high, the same delay time causes a larger electrical angle error, so that the simulation accuracy is reduced, even the system is unstable, and the test cannot be performed.
In one aspect, the invention provides a high-speed motor simulation device based on a power electronic converter, which is used for simulating the external characteristics of a motor so as to test a motor driving converter. The high-speed motor simulation device can realize the simulation of the motor with a wide rotating speed range, and particularly has an obvious simulation accuracy improvement effect when the rotating speed is higher. The high-speed motor simulation device comprises: the system comprises a direct-current power supply, a three-phase reactor, a motor driving converter to be tested, a motor simulation converter, a motor driving controller and a motor simulator control system.
The direct current sides of the motor driving converter to be tested and the motor simulation converter are connected to the direct current power supply together, and the alternating current sides of the motor driving converter to be tested and the motor simulation converter are connected through the three-phase reactor.
And the direct current power supply is used for providing electric energy for the simulation device and compensating the loss in the simulation process.
The three-phase reactor is used as a filter inductor for filtering high-frequency fluctuation of three-phase current. Preferably, the three-phase reactor is an air core reactor to maintain linearity over a wider frequency range.
And the motor to be tested drives the converter and is used for executing high-frequency switching action and outputting current to drive the motor.
The motor simulation converter is used for executing high-frequency switching action, simulating the electric port characteristic of the motor and feeding back the energy output by the motor driving converter to be tested to the direct-current bus.
The motor driving controller is used for executing a motor control algorithm and providing a PWM (Pulse Width Modulation) control instruction for the motor driving converter to be tested.
The motor simulator control system is used for detecting three-phase voltage and current, calculating a motor model, executing current control and providing a PWM control instruction for the motor simulation converter.
Furthermore, the motor driving converter to be measured and the motor simulation converter are both of a three-phase bridge structure and are composed of six switching tubes and a supporting capacitor on a direct current side, and the midpoint of a direct current bus needs to be led out for voltage measurement.
Further, the motor drive controller includes: the device comprises a three-phase current detection module, a rotating speed measurement decoding module, a control algorithm calculation module, a PWM module and a switch driving module.
Further, the motor simulator control system includes: the device comprises a three-phase voltage pulse width capturing module, a three-phase line current measuring module, a motor model calculating module, a current control module, a virtual encoder module, a synchronous signal generating module, a PWM module and a compensation control module.
And the three-phase current measuring module is used for measuring the three-phase current at the output end of the motor driving converter to be measured and transmitting the three-phase current to the compensation control module.
The three-phase voltage pulse width capturing module is directly connected between the midpoint of the direct current bus of the motor driving converter to be tested and the corresponding phase of the alternating current side, collects the PWM pulse width output by the switching period of the motor driving converter to be tested, calculates the average voltage value in the switching period of the motor driving converter to be tested, and transmits the average voltage value to the compensation control module.
And the compensation control module is used for receiving the three-phase voltage average value and the three-phase current, implementing a compensation control algorithm and generating the voltage and the current under the compensated dq coordinate system, wherein the voltage and the current comprise a compensation voltage, a first compensation current and a second compensation current. And the compensation voltage, the first compensation current and the second compensation current are transmitted to the motor model calculation module, and the second compensation current is transmitted to the current control module.
The motor model calculation module is used for calculating a motor model in real time by using the compensated voltage and current and comprises a circuit model calculation module and a mechanical model calculation module, wherein the circuit model calculation module receives the compensation voltage and the first compensation current and generates a reference current to be transmitted to the current control module, the mechanical model calculation module receives the second compensation current and generates the torque, the rotating speed and the rotor position of the simulated motor, and the rotating speed and the rotor position of the simulated motor are transmitted to the virtual encoder.
And the current control module is used for executing a current control algorithm according to the reference current and the second compensation current to generate a PWM duty ratio and transmitting the PWM duty ratio to the PWM module.
The virtual encoder module is used for simulating a photoelectric encoder to encode the simulated position signal of the motor, outputting A, B, Z three paths of encoding signals to the motor drive controller, and directly connecting with the rotating speed measuring and decoding module of the motor drive controller.
And the synchronous signal generation module is connected with the PWM modules of the motor drive controller and the motor simulator control system and is used for generating PWM carrier synchronous pulses and outputting PWM carrier synchronous pulse signals to the motor drive controller and the PWM modules simultaneously so as to ensure that the PWM carrier phases of the motor drive controller and the motor simulator control system are strictly synchronous.
And the PWM module is used for receiving the synchronous signal and the PWM duty ratio, modulating, generating a driving pulse and transmitting the driving pulse to the motor analog converter.
Fig. 2 is a schematic block diagram of a voltage pulse width capture module in a motor simulator control system according to an example of the invention (for example phase a only, with identical configuration for each of the three phases). As shown in fig. 2, the three-phase voltage pulse width capturing module includes: the device comprises a divider resistor, a differential amplifier, a comparator, a pulse width capture module and a calculation processing module. And the voltage dividing resistor is used for dividing the three-phase chopped wave voltage output by the motor driving converter to be detected to obtain a signal level voltage quantity and transmitting the signal level voltage quantity to the differential amplifier. And the differential amplifier is used for converting the floating differential voltage after voltage division into single-ended voltage and transmitting the single-ended voltage to the comparator, so that strong electric interference is isolated. The comparator is used for comparing the single-ended voltage with the threshold voltage, outputting a logic signal 1 when the upper tube of the corresponding bridge arm is conducted, outputting a logic signal 0 when the lower tube of the corresponding bridge arm is conducted, and transmitting the output signal to the pulse width capturing module. The pulse width capturing module is used for capturing the pulse width of each phase of signal output by the comparator, the timer starts to work when the signal rises, stops counting when the signal falls, stores the current timer counting value, and clears the current timer counting value to wait for the next rising edge after the current timer counting value is transmitted to the compensation control module. And the calculation processing module is used for calculating the voltage average value of the current switching period according to the timer counting value of the current switching period and transmitting the voltage average value to the compensation control module when the next switching period starts.
Fig. 3 is a flowchart illustrating the operation of the virtual encoder. As shown in fig. 3, the virtual encoder includes: the device comprises a code calculation module, a code updating module, a waveform generation module and an error detection compensation module.
The code calculation module is used for calculating a code counting period, a code comparison value and a code counter updating coefficient of A, B paths of signals to be updated according to the rotating speed, the rotor position, the position code error signal and the rotor position in the previous calculation period in the current calculation period; calculating a coding phase value of a B path signal to be updated; and when the rotor position passes through zero, calculating the code counting period, the code comparison value and the code counter value of the Z-path code signal to be updated, and transmitting all the parameter values to be updated to the code updating module.
The encoding updating module is used for respectively updating the period registers and the comparison value registers of the A path and the B path of the waveform generating module at the beginning of the next calculation period according to the encoding counting period and the encoding comparison value of the A, B paths of signals expected to be updated in the current calculation period; updating a phase register of the B path of the waveform generation module at the beginning of the next calculation period according to the encoding phase value of the B path of signal updated in the current calculation period; updating the counter values of the A-path module and the B-path module of the waveform generation module respectively at the beginning of the next calculation period according to the A, B-path signal coding counter updating coefficients expected to be updated by the current calculation period and the A, B-path counter value of the waveform generation module received at the beginning of the next calculation period; and respectively updating a cycle register, a comparison value register and a counter of the Z path of the waveform generation module at the beginning of the next calculation period according to the code counting period, the code comparison value and the code counter value of the Z path of the code signal expected to be updated in the current calculation period.
The waveform generation module is used for sending A, B, Z three paths of coding signals to the motor drive controller and the error detection compensation module according to A, B, Z paths of period registers, comparison value registers, phase registers and counter values of the waveform generation module.
The error detection compensation module is used for receiving A, B, Z three paths of coding signals, receiving the rotor position signal of the analog motor before two calculation periods, obtaining an actually measured rotor position signal by decoding according to the three paths of coding signals when the current calculation period starts, and transmitting a position coding error signal to the coding calculation module in the current calculation period.
The coding calculation module realizes coding by the following modes:
s1: calculating the coding counting period of A, B paths of signals to be updated, wherein the calculation formula is as follows:
Figure BDA0003029637350000141
wherein, TBAAnd TBBRespectively indicate to be updatedCode counting period, T, of the A and B signalssIndicating the length of the calculation period, fsysRepresenting the simulator control system clock frequency, N representing the number of encoder lines, Delta theta representing the position encoding error signal, omegarRepresenting the speed of rotation of the motor being simulated.
S2: calculating the code comparison value of A, B signals to be updated, all of which are 0.5 TBA(ii) a Calculating updating coefficients of a code counter of A, B paths of signals to be updated, wherein the updating coefficients are the ratio of the code counting period of the current calculating period to the code counting period of the previous calculating period; calculating the code phase value of the B path signal to be updated to be 0.75 TBA。
S3: judging whether the rotor position of the simulated motor crosses zero or not, and if so, executing the following calculation steps:
s3.1: calculating the coding counting period of the Z-path signal to be updated, wherein the calculation formula is as follows:
TBz＝2Tsfsys
s3.2: calculating the code comparison value of the Z-path signal to be updated, wherein the calculation formula is as follows:
COMPz＝TBz-0.5*TBA
s3.3: calculating the value of a coding counter of the Z-path signal to be updated, wherein the calculation formula is as follows:
Figure BDA0003029637350000151
wherein, thetak-1Calculating the rotor position for the previous cycle;
and if the position of the rotor does not have zero crossing, clearing the code counting period, the code comparison value and the code counter value of the Z-path code signal to be updated.
The waveform generation module includes the same A, B, Z three-way waveform generation submodule. The internal operating logic of each waveform generation submodule is as follows: the counter counts up according to the system clock, and is cleared when the value of the counter is equal to the value of the period register; when the counter value is smaller than the comparison value register value, outputting a logic low level; when the counter value is greater than the compare value register value, a logic high level is output. The logic of operation between the waveform generation submodules is as follows: and the A-path waveform generation submodule sends out a synchronization pulse when the value of the comparator is equal to the value of the periodic register and transmits the synchronization pulse to the B-path waveform generation submodule, and the B-path waveform generation submodule loads the value of the phase register into the counter after receiving the synchronization pulse.
Based on the above configuration and design, the operation timing sequence of the motor simulation apparatus of the present invention when applied to the test of the motor drive converter is shown in fig. 4. In each carrier cycle, the motor drive controller and the motor simulator controller need to perform iterative calculations for the cycle. The motor drive controller is in the k period with duty ratio dA(k) And modulating the phase A and outputting PWM voltage. This PWM voltage is detected by the motor simulator controller on its falling edge, and is at in FIG. 43And obtaining the average voltage of the phase A of the kth period of the motor driving converter to be tested through internal calculation. The voltage is used for calculation of a motor model in the (k + 1) th carrier wave period, so that the acquisition of the three-phase voltage has a delay of one switching period. Delta t of motor simulator controller in kth period2The rotation speed omega is obtained by internal calculationkAnd position thetak(ii) a According to the control mode of the virtual encoder, at t as shown in FIG. 44Time of day, virtual encoder module by ωkUpdating the encoded signal; motor drive controller at t6The rotational speed omega is measured at any momentkAnd a position signal thetakThe position and speed signals are used as input to the motor control algorithm during the (k + 2) th cycle, so that the rotor position signal is delivered with a fixed delay corresponding to two switching cycles. Therefore, when the high-speed motor simulator provided by the embodiment of the invention is used for testing the motor driving converter to be tested, the delay time of signal transmission is known and fixed, and a foundation is laid for the design of a compensation algorithm.
In another aspect, the present invention provides a motor simulation method including signal transmission delay compensation, the method including the steps of:
step 1: and connecting all parts of the high-speed motor simulation device and starting the device. The synchronous signal generation module sends out a narrow pulse at the beginning of each carrier cycle, and the motor drive controller and the motor simulator control system receive the narrow pulse as a synchronous signal of the PWM carrier.
Step 2: the motor driving controller detects three-phase current in a current simulator system at the beginning of each carrier period, detects position coding signals output by a virtual encoder module of the motor simulator control system, decodes the position coding signals to obtain the position and the rotating speed, and outputs duty ratio according to a specific motor driving control algorithm to drive the motor.
And step 3: the motor simulator control system calculates the motor model and current controller at the beginning of each carrier cycle. At the beginning of each carrier cycle, the motor simulator control system samples the three-phase current in the current simulator system. In the current carrier period, the motor simulator control system obtains the chopping voltage sent by the motor driving converter to be tested through the three-phase voltage pulse width capture module, and obtains the three-phase voltage average value of the current carrier period through calculation. At the beginning of the next carrier cycle, the voltage average is used as the input for the motor model calculation.
And 4, step 4: the motor simulator control system detects the three-phase current detected in the current carrier period according to the coordinate angle thetaiConversion to dqiIn the coordinate system, dq is obtainediCurrent vector i in coordinate systemdq(k) In that respect Simultaneously saving the current vector i obtained in the last carrier perioddq(k-1) and calculating idq(k) And idqAverage value of (k-1) 'i'dq. The motor simulator control system enables the voltage average value detected in the last carrier period to be in accordance with the coordinate angle thetavConversion to dqvIn the coordinate system, dq is obtainedvVoltage vector u in coordinate systemdq。
And 5: the motor model calculation module of the motor simulator control system uses the dq obtained in the step 4vVoltage vector u in coordinate systemdqAnd processed current vector average value i'dqAs input quantity, the motor is obtained through real-time calculation of a discrete mathematical model of the motorSimulating the command current of the converter, wherein the command current is matched with the current vector i obtained in the step 4 in the current control moduledq(k) And performing PI regulation after comparison, changing the output duty ratio according to the result of the PI regulation, and enabling the port current of the motor simulation converter to be consistent with the instruction current so as to realize the simulation of the port characteristic of the motor.
Step 6: in the current carrier period, the current vector i obtained in the step 4 is used by the control system of the motor simulatordq(k) Calculating the torque and the rotating speed of the simulated motor in real time, and integrating the rotating speed to obtain the position electrical angle thetakAnd storing the position angle value theta calculated by the first three carrier periodsk-1、θk-2、θk-3The rotation speed and the electrical angle θ calculated in the current carrier cycle (nth cycle)kEncoded by the virtual encoder module at the beginning of the N +1 th cycle and measured and decoded by the motor drive controller at the beginning of the N +2 th cycle.
Further, the angle calculation formula adopted by the three-phase current coordinate transformation in the step 4 is as follows: thetai＝θk-2。
The angle calculation formula adopted by the three-phase voltage coordinate transformation in the step 4 is as follows: thetav＝(θk-3+θk-2)/2。
Fig. 5 is a block flow diagram of a motor simulator control system in accordance with an example of the invention. The compensation control module takes the three-phase voltage and the three-phase current obtained by current measurement as input quantities, and updates the position signals theta of the previous three control periods at the beginning of each control periodk-1、θk-2、θk-3. The three-phase voltage and current are required to be converted into a dq coordinate system for operation. The angles used when the three-phase voltage is transformed into the dq coordinate system are as follows: (theta)k-3+θk-2) /2, resulting voltage vector udqDirectly used as the input quantity of the motor model calculation; the angle used when the three-phase current is converted into the dq coordinate system is thetak-2The resulting current vector idq(k) Directly used for the rotation speed and torque calculation and used as a feedback quantity of current control. The motor model calculation module calculates and obtains the rotating speed, the torque and the position and sends the rotating speed, the torque and the position to the virtual codeThe device module waits for the encoded output. In obtaining a current vector idq(k) Then, the compensation control module needs to update the current vector i of the last control perioddq(k-1). The current vector used for the computer model calculation in the current cycle may be expressed as: [ i ]dq(k)+idq(k-1)]/2. After the input quantity is obtained, the reference current is obtained through calculation of the motor model calculation module, and the current is controlled through the current control module, so that the simulation of the motor port characteristic is realized.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (9)

1. A high-speed motor simulator control system, comprising: the device comprises a compensation control module, a motor model calculation module, a current control module, a virtual encoder, a synchronous signal generation module and a PWM module;
the compensation control module is used for compensating the measured three-phase current output by the motor driving converter to be measured and the average value of the three-phase voltage in the switching period, generating compensation voltage and compensation current in a dq coordinate system and transmitting the compensation voltage and the compensation current to the motor model calculation module, and transmitting the compensation current to the current control module;
the motor model calculation module is used for calculating a motor model in real time by using the compensation voltage and the compensation current, generating a reference current and transmitting the reference current to the current control module, and generating the rotating speed and the rotor position of the simulated motor and transmitting the rotating speed and the rotor position to the virtual encoder;
the current control module is used for executing a current control algorithm according to the reference current and the compensation current, generating a PWM duty ratio and transmitting the PWM duty ratio to the PWM module;
the virtual encoder is used for simulating a photoelectric encoder, encoding the position and the rotating speed of a rotor of the simulated motor and outputting an orthogonal encoding signal to the motor driving controller;
the synchronous signal generating module is used for generating a PWM carrier synchronous pulse signal and outputting the PWM carrier synchronous pulse signal to the motor driving controller and the PWM module simultaneously so as to ensure that the PWM carrier phases of the motor driving controller and the motor simulator control system are synchronous;
and the PWM module is used for modulating and generating a driving pulse according to the synchronous signal and the PWM duty ratio and transmitting the driving pulse to the motor analog converter.
2. The high-speed motor simulator control system of claim 1, wherein the compensation control module is configured to receive the measured average value of the three-phase voltage and the three-phase current, execute a compensation control algorithm, and generate a compensation voltage, a first compensation current and a second compensation current in the dq coordinate system, and the compensation voltage, the first compensation current and the second compensation current are transmitted to the motor model calculation module and the second compensation current is transmitted to the current control module;
the motor model calculation module comprises a circuit model calculation module and a mechanical model calculation module, the circuit model calculation module is used for receiving compensation voltage and first compensation current, generating reference current and transmitting the reference current to the current control module, and the mechanical model calculation module is used for receiving second compensation current, generating the rotating speed and the rotor position of the simulated motor and transmitting the rotating speed and the rotor position to the virtual encoder;
the current control module is used for executing a current control algorithm according to the reference current and the second compensation current to generate a PWM duty ratio and transmitting the PWM duty ratio to the PWM module;
the virtual encoder is used for simulating a photoelectric encoder, encoding the position and the rotating speed of the rotor of the simulated motor and outputting A, B, Z three encoding signals to the motor drive controller.
3. The high-speed motor simulator control system of claim 1 or 2, wherein the average value of three-phase voltages in a switching period of the motor driving converter to be tested is calculated by a three-phase voltage pulse width capturing module, and the three-phase voltage pulse width capturing module comprises: the device comprises a divider resistor, a differential amplifier, a comparator, a pulse width capturing module and a calculation processing module;
the voltage dividing resistor is used for dividing the three-phase chopped wave voltage output by the motor driving converter to be detected to obtain a signal level voltage quantity and transmitting the signal level voltage quantity to the differential amplifier;
the differential amplifier is used for converting the divided floating ground differential voltage into a single-ended voltage and transmitting the single-ended voltage to the comparator;
the comparator is used for comparing the single-ended voltage with the threshold voltage, outputting a logic signal 1 when the upper tube of the corresponding bridge arm is conducted, outputting a logic signal 0 when the lower tube of the corresponding bridge arm is conducted, and transmitting the output signal to the pulse width capturing module;
the pulse width capturing module is used for capturing the pulse width of each phase of signal output by the comparator, starting the timer to work when the signal rises, stopping counting when the signal falls, saving the current timer count value, and clearing the current timer count value to wait for the next rising edge after the current timer count value is transmitted to the compensation control module;
and the calculation processing module is used for calculating the voltage average value of the current switching period according to the timer counting value of the current switching period and transmitting the voltage average value to the compensation control module when the next switching period starts.
4. A high speed motor simulator control system according to claim 2 or 3, wherein the virtual encoder comprises:
the code calculation module is used for calculating a code counting period, a code comparison value and a code counter updating coefficient of the A, B paths of signals to be updated according to the rotating speed, the rotor position, the position code error signal and the rotor position in the previous calculation period in the current calculation period; calculating a coding phase value of a B path signal to be updated; calculating the code counting period, the code comparison value and the code counter value of the Z-path code signal to be updated when the position of the rotor passes through zero, and transmitting all the parameter values to be updated to a code updating module;
the encoding updating module is used for respectively updating the period registers and the comparison value registers of the A path and the B path of the waveform generating module at the beginning of the next calculation period according to the encoding counting period and the encoding comparison value of the A, B paths of signals expected to be updated in the current calculation period; updating a phase register of the B path of the waveform generation module at the beginning of the next calculation period according to the encoding phase value of the B path of signal updated in the current calculation period; updating the counter values of the A-path module and the B-path module of the waveform generation module respectively at the beginning of the next calculation period according to the A, B-path signal coding counter updating coefficients expected to be updated by the current calculation period and the A, B-path counter value of the waveform generation module received at the beginning of the next calculation period; respectively updating a cycle register, a comparison value register and a counter of the Z path of the waveform generation module at the beginning of the next calculation period according to the code counting period, the code comparison value and the code counter value of the Z path of the code signal expected to be updated in the current calculation period;
the waveform generation module is used for sending A, B, Z three paths of coding signals to the motor drive controller and the error detection compensation module according to A, B, Z paths of period registers, comparison value registers, phase registers and counter values of the waveform generation module;
and the error detection compensation module is used for receiving A, B, Z three paths of coding signals, receiving the rotor position signal of the analog motor before two calculation periods, decoding the signals according to the three paths of coding signals to obtain an actually measured rotor position signal at the beginning of the current calculation period, and transmitting a position coding error signal to the coding calculation module in the current calculation period.
5. The high-speed motor simulator control system of claim 4 wherein the code calculation module implements the code by:
s1: calculating the coding counting period of A, B paths of signals to be updated, wherein the calculation formula is as follows:
Figure FDA0003029637340000041
wherein, TBAAnd TBBRespectively representing to-be-updatedCode count period, T, for A and B signalssIndicating the length of the calculation period, fsysRepresenting the simulator control system clock frequency, N representing the number of encoder lines, Delta theta representing the position encoding error signal, omegarRepresenting the speed of rotation of the simulated motor;
s2: calculating the code comparison value of A, B signals to be updated, all of which are 0.5 TBA(ii) a Calculating updating coefficients of a code counter of A, B paths of signals to be updated, wherein the updating coefficients are the ratio of the code counting period of the current calculating period to the code counting period of the previous calculating period; calculating the code phase value of the B path signal to be updated to be 0.75 TBA；
S3: judging whether the rotor position of the simulated motor crosses zero or not, and if so, executing the following calculation steps:
s3.1: calculating the coding counting period of the Z-path signal to be updated, wherein the calculation formula is as follows:
TBz＝2Tsfsys
s3.2: calculating the code comparison value of the Z-path signal to be updated, wherein the calculation formula is as follows:
COMPz＝TBz-0.5*TBA
s3.3: calculating the value of a coding counter of the Z-path signal to be updated, wherein the calculation formula is as follows:
Figure FDA0003029637340000042
wherein, thetak-1Calculating the rotor position for the previous cycle;
and if the position of the rotor does not have zero crossing, clearing the code counting period, the code comparison value and the code counter value of the Z-path code signal to be updated.
6. A high speed motor simulator control system as claimed in claim 4 or 5, wherein the waveform generation module comprises the same A, B, Z three-way waveform generation sub-module;
the internal operating logic of each waveform generation submodule is as follows: the counter counts up according to the system clock, and is cleared when the value of the counter is equal to the value of the period register; when the counter value is smaller than the comparison value register value, outputting a logic low level; when the counter value is larger than the comparison value register value, outputting a logic high level;
the logic of operation between the waveform generation submodules is as follows: and the A-path waveform generation submodule sends out a synchronization pulse when the value of the comparator is equal to the value of the periodic register and transmits the synchronization pulse to the B-path waveform generation submodule, and the B-path waveform generation submodule loads the value of the phase register into the counter after receiving the synchronization pulse.
7. The high-speed motor simulator control system of any of claims 2 to 6, wherein the compensation control module comprises:
a rotor position update module for storing the current rotor position theta generated by the motor modelkFirst three calculation cycles of rotor position θk-1、θk-2、θk-3Will be (theta)k-2+θk-3) /2 to the voltage coordinate transformation module to convert thetak-2Transmitting to a current coordinate transformation module;
a voltage coordinate transformation module for transforming (theta)k-2+θk-3) The/2 is used as a d-axis angle, the three-phase voltage is converted into a dq coordinate system, and a compensation voltage is generated and transmitted to a motor model calculation module;
a current coordinate transformation module for transforming thetak-2As the d-axis angle, a three-phase current source is switched to a dq coordinate system to generate a second compensation current idq(k) The current is transmitted to a motor model calculation module and a current control module;
a current average value calculation module for storing the i output by the current coordinate transformation moduledq(k-1), and (i)dq(k)+idq(k-1))/2 is delivered to the motor model calculation module as a first compensation current.
8. A high speed motor simulator for testing a motor drive converter, comprising a high speed motor simulator control system as claimed in any one of claims 1 to 7 and a motor simulation converter;
the high-speed motor simulator control system is used for controlling the motor simulation converter to simulate the characteristics of a motor port.
9. A high speed motor simulator as in claim 8 wherein the motor analog converter is connected to the ac side of the motor drive converter under test through a three phase air core reactor.
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