CN113271050B - Quasi-synchronous power supply control method for long-stator double-fed linear motor - Google Patents
Quasi-synchronous power supply control method for long-stator double-fed linear motor Download PDFInfo
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- H—ELECTRICITY
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- 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
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- H02P25/064—Linear motors of the synchronous type
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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
- 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
- H02P27/047—V/F converter, wherein the voltage is controlled proportionally with the frequency
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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
- 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
- H02P27/05—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 AC supply for both the rotor and the stator circuits, the frequency of supply to at least one circuit being variable
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Abstract
The invention relates to a quasi-synchronous power supply control method of a long stator double-fed linear motor, which comprises a stator side power supply control sub-method and a rotor side power supply control sub-method, wherein the stator side power supply control sub-method comprises the following steps: according to the external rotor operation speed requirement, regulating the stator power supply frequency, determining the stator power supply voltage amplitude based on the stator power supply frequency, and performing power supply control on the long stator; the method for controlling the power supply of the rotor side comprises the following steps: and obtaining an expected slip frequency according to the power supply requirement of the rotor side, obtaining a rotor side expected current according to the expected slip frequency, the levitation force and the thrust requirement, determining a rotor power supply voltage amplitude based on the rotor side expected current, and simultaneously controlling the slip frequency within a permissible amplitude limit according to the rotor side power supply device parameter, so as to maintain the long stator double-fed linear motor in a quasi-synchronous running state. Compared with the prior art, the method has the advantages of easiness in implementation, high reliability, low system complexity, rotor-stator decoupling control and the like.
Description
Technical Field
The invention belongs to the technical field of motors and control, and particularly relates to a power supply control method for a long-stator linear motor.
Background
The linear motor is electromechanical energy conversion equipment capable of directly converting electric energy into linear motion mechanical energy, and has wide application prospects in the fields of rail transit, textile industry, heavy industry and the like. The long stator linear motor can be used as a core driving part of rail transit and has great significance for the development of the traffic field. In particular to a rotor suspension linear motor with a variable air gap, which is the technical foundation of magnetic suspension rail transit.
The power supply control technology is a key in a long stator linear motor driving system.
For the linear motor electrically excited at both sides of the stator and the rotor, in order to realize long-time stable electromechanical energy conversion, the basic requirement of the linear motor power supply control is that the travelling wave magnetic fields of the stator and the rotor are mutually restrained and matched in frequency, amplitude and phase. However, for application scenes such as rail transit, the mover of the linear motor operates on a large spatial scale, and the "mover-stator decoupling control" is very valuable, otherwise, in order to realize effective motor power supply control, state information such as mover side current, position and the like must be detected, transmitted or estimated in real time with high precision, which greatly influences the reliability and robustness of high-power electromechanical energy conversion of the whole linear motor system.
The known magnetic levitation linear motor technology realizes the driving by an electrically excited synchronous motor, the direct current excitation of a rotor side, and the position and other information of the rotor are transmitted to a stator frequency converter in real time by high-frequency communication, and the stator frequency converter realizes the directional control of a motor magnetic field by adjusting the exciting current of the stator. A further problem with this solution is that separate contact or contactless mover power supply means are provided.
The linear doubly-fed motor is also called as an alternating-current excitation asynchronous motor, and is characterized in that a rotor side adopts a variable-frequency alternating-current excitation mode, and the power supply frequency and the phase of the rotor side are allowed to be controlled to meet the requirements of different power supply states of a stator side and movement state fluctuation of the rotor side. The method provides a technical basis for independent and decoupling of stator and rotor power supply control.
However, the two common long stator linear doubly-fed motor control strategies at present have the following defects:
(1) The known scheme I (German NBP technical scheme) refers to an electrically excited synchronous motor method, and the position and other information of a rotor are transmitted to a stator side frequency converter in real time through a communication channel, so that the control effect is more flexible, but the control effect inherits the defect that the rotor and the stator of the synchronous motor are tightly coupled, and the independent decoupling control of the rotor and the stator cannot be realized;
(2) In the control method of the doubly-fed linear motor studied by the second scheme (southwest traffic university and the like), stator magnetic field directional control is carried out on a rotor side, the running state of the rotor is independent, and fixed frequency and constant voltage amplitude are adopted for power supply on the stator side. The stator power supply control method has the advantages that stator power supply control is simple and efficient, but the stator power supply control method has the defects that the capacity of the rotor side frequency converter is obviously increased in order to adapt to large-range variation of slip frequency caused by stator frequency fixation; in order to accommodate a wide range of rotor speed variations, it is necessary to provide a large-capacity energy storage member on the rotor side to store rotor-side charging and discharging energy.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a quasi-synchronous power supply control method of a long-stator double-fed linear motor, which has low system complexity and can realize rotor-stator decoupling control.
The aim of the invention can be achieved by the following technical scheme:
the long-stator double-fed linear motor quasi-synchronous power supply control method is applied to a long-stator double-fed linear motor, the long-stator double-fed linear motor comprises a long stator and a rotor which are respectively and independently powered by a variable-frequency and variable-voltage alternating-current power supply device, the long stator and the rotor are arranged in a non-contact manner, the rotor is in suspension operation through an air gap normal force, the method comprises a stator side power supply control sub-method and a rotor side power supply control sub-method,
the stator side power supply control method comprises the following steps: according to the external rotor running speed requirement, regulating the stator power supply frequency, determining the stator power supply voltage amplitude based on the stator power supply frequency, and performing power supply control on the long stator to realize rotor speed closed-loop control;
the method for controlling the power supply of the rotor side comprises the following steps: and obtaining an expected slip frequency according to the power supply requirement of the rotor side, obtaining an expected current of the rotor side according to the expected slip frequency, the levitation force and the thrust requirement, determining a rotor power supply voltage amplitude value based on the expected current of the rotor side, performing power supply control on the rotor, controlling the slip frequency within a permissible amplitude limit according to the parameters of a power supply device of the rotor side, and maintaining the long stator double-fed linear motor in a quasi-synchronous running state to realize current closed loop and slip frequency double closed loop control.
Further, the regulation of the slip frequency is mainly carried out on the rotor side, when the slip frequency cannot be controlled on the rotor side and the allowable clipping is met, a control request on the rotor side is generated, and the stator side receives and responds to the control request to regulate the stator power supply frequency.
Further, the mover side power supply parameter includes a power supply capacity.
Further, in the mover-side power supply control sub-method, the desired slip frequency is obtained by an open-loop setting or closed-loop adjustment.
Further, the voltage frequency function is a positive correlation function.
Further, after the stator supply voltage amplitude is determined, the stator supply voltage amplitude is dynamically corrected based on the actual value of the stator current and a protection optimization control strategy.
Further, the protection optimization control strategy includes, but is not limited to, maximum output power protection, maximum output current protection, current source control mode, and the like.
In the rotor-side power supply control method, the state of the exciting magnetic field of the stator is detected or estimated in real time, and the rotor-side current is controlled in a closed loop mode based on a magnetic field orientation control principle.
Further, the mover is driven by a plurality of unit motors, and the power supply current of each unit motor is independently controlled, so that the specific suspension state control of the mover is realized.
Further, the specific suspension state of the mover includes a long-time suspension state, in which part of the unit motors of the plurality of unit motors are operated in a driving state and part of the unit motors are operated in a braking state, the driving force of the unit motors in the driving state is balanced with the braking force of the unit motors in the braking state, and under the constraint that the thrust force of the mover in the horizontal direction is zero, the stable non-zero adjustment of the electromagnetic suspension force in the normal direction and the power supply on the side of the mover is realized.
Compared with the prior art, the invention has the following beneficial effects:
(1) In the power supply control method, the stator power supply frequency and the voltage amplitude are determined by the expected running speed of the rotor, and the expected independent decoupling control of the rotor and the stator can be realized without depending on the real-time electric quantity state feedback of the rotor, so that the information coupling degree between the rotor and the stator is reduced, the running reliability of a system can be remarkably improved, and the realization complexity of the system is simplified;
(2) Referring to the basic concept of V/F-like constant magnetic flux control, the stator power supply frequency is adjusted according to the expected running speed of the rotor; by implementing a closed-loop control of the slip frequency by means of an effective supply power control of the rotor side, it is ensured that the rotor side slip frequency can be kept substantially within a small fluctuation range, i.e. a so-called "quasi-synchronous operating state" is maintained, since the supply power of the rotor side, i.e. the so-called slip power, is proportional to the slip frequency and the mechanical power, the slip frequency, i.e. the rotor side supply power, is limited, and the capacities of the rotor side frequency converter and the energy storage component can be significantly reduced under the same mechanical power conditions.
(3) The stator side power supply control step responds when receiving the control request of the rotor side, intervenes the stator power supply frequency, and further can ensure that the expected slip frequency and the expected rotor speed are always maintained, and further ensure that the quasi-synchronous running state is maintained.
Drawings
FIG. 1 is a schematic diagram of a quasi-synchronous power supply control method for a doubly-fed linear motor according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of example 1V/F function rule U of stator power supply s ＝f(ω s ) A schematic diagram;
fig. 3 is a schematic diagram of the results of variables when the quasi-synchronous control method is applied in embodiment 1, wherein (a) is a schematic diagram of the acceleration process of the magnetic levitation linear motor, (b) is a schematic diagram of the thrust control result of the motor, (c) is a schematic diagram of the change of the power supply frequency of the mover, (d) is a schematic diagram of the change of the charging power of the mover side, and (e) is a schematic diagram of the change of the electric quantity of the energy storage device of the mover side;
FIG. 4 is a schematic diagram showing long-term static floating of a mover in example 2.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
Example 1
The embodiment provides a quasi-synchronous power supply control method of a long-stator double-fed linear motor, wherein the long-stator double-fed linear motor comprises a long stator and a rotor which are respectively and independently powered, the long stator and the rotor are arranged in a non-contact mode, namely, no wired or contact information and power transmission paths exist between the rotor and the stator, the rotor is suspended to operate through an air gap normal force, the control principle of a stator side and a rotor side in the method is shown in a figure 1, and the stator and the rotor are powered by a variable frequency Variable Voltage (VVF) alternating current power supply device in the method.
The method comprises a stator side power supply control sub-method and a rotor side power supply control sub-method, wherein the stator side power supply control sub-method comprises the following steps: according to the external rotor running speed requirement, regulating the stator power supply frequency, determining the stator power supply voltage amplitude based on the stator power supply frequency, and performing power supply control on the long stator to realize rotor speed closed-loop control; the method for controlling the power supply of the rotor side comprises the following steps: and obtaining an expected slip frequency according to the power supply requirement of the rotor side, obtaining an expected current of the rotor side according to the expected slip frequency, the levitation force and the thrust requirement, determining a rotor power supply voltage amplitude value based on the expected current of the rotor side, performing power supply control on the rotor, controlling the slip frequency within a permissible amplitude limit according to the parameters of a power supply device of the rotor side, and maintaining the long stator double-fed linear motor in a quasi-synchronous running state to realize current closed loop and slip frequency double closed loop control.
The control principle of the stator side is as follows:
stator side according to mover desired rate
And detecting the actual velocity v of the obtained mover r By adjusting the stator supply frequency omega s Thereby completing the closed loop control of the mover rate. In the embodiment, as shown in fig. 2, the stator supply voltage amplitude U s As a dependent variable, the frequency ω is supplied by the stator s Determined as a linear V/F function:
U s ＝f(ω s )＝kω s +U 0
after the stator power supply voltage amplitude is determined, necessary dynamic correction is carried out on the stator power supply voltage amplitude based on the stator current actual value and the protection optimization control strategy, and then power supply control is carried out on the long stator. Protection optimization control strategies include, but are not limited to, maximum output power protection, maximum output current protection, current source control modes, and the like.
The mover side power supply control principle is as follows:
according to the formula:
can be according to the requirements of the mover side power supply
Open loop gives the desired slip frequency +.>
According to the desired slip frequency
Desired suspension force->
And thrust requirement->
Detecting or estimating stator excitation magnetic field state in real time, and calculating to obtain expected mover current vector based on magnetic field orientation control principle>
Forming complete slip frequency omega based on stator magnetic field orientation to realize current closed loop f And (5) closed loop control. Desired slip frequency +.>
May be achieved by an open loop setting or a closed loop adjustment.
The regulation of the slip frequency is mainly carried out on the rotor side, when the slip frequency cannot be controlled by the rotor side and the allowable clipping is met, a control request of the rotor side is generated, and the stator side receives and responds to the control request to regulate the stator power supply frequency. The control request on the mover side is generated by: determining current rotor side slip frequency amplitude limitation according to parameters such as capacity of rotor alternating current power supply device
And power supply clipping->
When the rotor side cannot maintain the slip frequency omega f Generating a control request on the rotor side for a stator power supply frequency omega under the condition that the limit is allowed s Intervention, and thus ensuring that the desired slip frequency is maintained at all times>
"and desired promoter Rate>
I.e. maintain a so-called "quasi-synchronous operating state".
The rotor is driven by a plurality of unit motors, and the power supply current of each unit motor is independently controlled, so that the levitation force control of the rotor is realized.
Referring to fig. 2, the above-described method may be implemented by a control system including a power supply frequency adjustment module 11, a stator power supply voltage calculation module 12, a long stator VVVF power supply 13, a mover speed detection module 14, a stator current feedback correction module 15, a mover-side power supply adjustment module 21, a mover-side desired current calculation module 22, a mover-side power supply current adjustment module 23, a stator magnetic field observation or detection module 24, and a mover VVVF power supply 25. The control process of the control system is as follows:
stator side: the power supply frequency adjusting module 11 detects the mover velocity v in real time according to the mover velocity detecting module 14 r Desired rate of mover
Obtaining the stator power supply frequency omega s The method comprises the steps of carrying out a first treatment on the surface of the The stator supply voltage calculation module 12 calculates the stator supply voltage according to ω s Calculating the power supply voltage amplitude U of the stator s The calculation function adopts a preselected V/F function rule U s ＝f(ω s ) The method comprises the steps of carrying out a first treatment on the surface of the Stator supply voltage amplitude U obtained through calculation s Adjusting the power supply parameters of the long stator VVF power supply device 13; the stator current feedback correction module 15 detects and dynamically corrects the stator current, and realizes functions such as protection and current source control.
Mover side: the rotor-side power supply adjustment module 21 is configured to adjust the rotor-side power supply according to the rotor-side power supply demand
Mover power P measured in real time er "give" by open loop setting or closed loop adjustment "Desired slip frequency +.>
", the mover-side desired current calculating module 22 +_based on the desired slip frequency>
Desired suspension force->
And thrust requirement->
And the stator magnetic field observation or detection module 24 performs detection and estimation on the current running state, and calculates the expected rotor current vector +.>
The closed-loop current regulation of the mover VVF power supply device 25 is completed, and the complete slip frequency omega is formed on the basis f And (5) closed loop control. />
The embodiment introduces a quasi-synchronous power supply control method of a long stator double-fed linear motor by combining a specific double-fed linear motor magnetic levitation prototype machine parameter. The parameters of the unit motor are as follows: stator resistance is 0.433 omega, mover resistance is 0.86 omega, stator self-inductance is 85.4mH, mover self-inductance is 68.4mH, mutual inductance is 59.8mH, pole distance is 0.157m, and pole pair number is 5. The magnetic levitation mover is driven by 10 unit motors together, and the total mass of the levitation is 40 tons.
The working condition is set as that the magnetic levitation linear motor is accelerated from an initial 10m/s uniform motion state to a 15m/s uniform motion state, as shown in fig. 3 (a); the thrust control result of each unit motor is shown in fig. 3 (b).
In the operation of the magnetic levitation motor, the average power of the needed rotor-side power supply equipment is required to be 26kW, so as to maintain the constant electric quantity of the rotor-side energy storage device and the total charging power of the rotor-side
The demand was set to 26kW as shown in fig. 3 (c); according to movementSub-side power requirement, calculating out the desired slip frequency +.>
As shown in fig. 3 (d); the actual charging power P at the rotor side is adjusted uniformly and slowly by correcting the slip rate control in the actual control because the slip rate is expected to change greatly in the switching process of the rotor uniform speed and the acceleration er The charging power is not completely required to follow the rotor side, but the electric quantity of the rotor side energy storage device is not influenced to be maintained in a stable range on a large time scale; as shown in fig. 3 (e), the electric quantity of the mover side energy storage device is 20kw·h at the initial moment, and the electric quantity of the energy storage device is controlled within an allowable fluctuation range in the process from constant speed to acceleration to constant speed.
Example 2
This embodiment focuses on how to achieve "long-term stationary floating" of the mover.
As shown in fig. 4, the mover may be divided into two groups of unit motors, and the power supply current of each group of unit motors is independently controlled to make the unit motor 1 work in a driving state and the unit motor 2 work in a braking state; control such that the current amplitude I of the mover-side unit motor 1 r1 Current amplitude I of unit motor 2 r2 Equal:
I r1 ＝I r2
and controls the guaranteed current vector i r1 With stator current i s Included angle alpha of (2) 1 Current vector i r2 With stator current i s Included angle alpha of (2) 2
The phase is opposite:
α 1 ＝-α 2
according to the relation between current and thrust:
it is known that the driving force of the unit motor 1 in the driving state is balanced with the braking force of the unit motor 2 in the braking state, i.e., the requirement is satisfied
F x1 ＝-F x2
And at this time, according to the normal force formula:
it is known that the number of the components,
F z1 ＝F z2
the normal force of the unit motor 1 in the driving state is equal to the normal force of the unit motor 2 in the braking state, and then the stable non-zero adjustment of the electromagnetic levitation force in the normal direction is realized under the constraint that the thrust force of the mover in the horizontal direction is zero.
At this time, the mover and the stator are in a relatively static state, and the effective power supply formula at the mover side:
it is known that the unit motor 1 in the driving state absorbs electromagnetic power from the stator side to charge the vehicle-mounted energy storage device, and the unit motor 2 in the braking state outputs electromagnetic power with equal amplitude to the stator side, so that energy circulates between the rotor side and the stator side; and can be controlled by adjusting the supply frequency omega f To adjust the amount of transmitted energy.
Further, alpha can also be adjusted 1 And alpha is 2 The absolute values of the two power supply modules are unequal, and the regulation of the power supply power of the rotor side is realized.
In the long-time static floating state, part of unit motors of the unit motors work in a driving state, other unit motors work in a braking state, the driving force of the unit motors in the driving state is balanced with the braking force of the unit motors in the braking state, and under the constraint that the thrust force of the mover in the horizontal direction is zero, the stable non-zero adjustment of the electromagnetic suspension force in the normal direction and the mover side power supply is realized.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (8)
1. The quasi-synchronous power supply control method for the long-stator double-fed linear motor is applied to the long-stator double-fed linear motor, the long-stator double-fed linear motor comprises a long stator and a rotor which are respectively and independently powered by a variable-frequency and variable-voltage alternating-current power supply device, the long stator and the rotor are arranged in a non-contact mode, and the rotor is in suspension operation through an air gap normal force, and is characterized by comprising a stator side power supply control sub-method and a rotor side power supply control sub-method,
the stator side power supply control method comprises the following steps: according to the external rotor running speed requirement, regulating the stator power supply frequency, determining the stator power supply voltage amplitude based on the stator power supply frequency, and performing power supply control on the long stator to realize rotor speed closed-loop control;
the method for controlling the power supply of the rotor side comprises the following steps: the method comprises the steps of obtaining expected slip frequency according to the power supply requirement of a rotor side, detecting or estimating the state of a stator exciting magnetic field in real time according to the expected slip frequency, levitation force and thrust requirement, obtaining the expected current of the rotor side based on a magnetic field orientation control principle, determining the amplitude of the power supply voltage of the rotor based on the expected current of the rotor side, performing power supply control on the rotor, controlling the slip frequency within the allowable amplitude limit according to the parameters of a power supply device of the rotor side, maintaining the long stator doubly-fed linear motor in a quasi-synchronous running state, and realizing current closed loop and slip frequency double closed loop control.
2. The method for quasi-synchronous power supply control of a long stator doubly-fed linear motor according to claim 1, wherein the adjustment of the slip frequency is based on a rotor side, and when the slip frequency cannot be controlled by the rotor side to meet the allowable clipping, a control request of the rotor side is generated, and the stator side receives and responds to the control request to adjust the stator power supply frequency.
3. The method of claim 1, wherein the mover-side power supply parameter includes a power supply capacity.
4. The method for quasi-synchronous power supply control of a long stator doubly-fed linear motor according to claim 1, wherein the desired slip frequency is obtained by an open loop setting or a closed loop adjustment.
5. The method of claim 1, wherein the stator supply voltage magnitude is given by a voltage frequency function, and the voltage frequency function is a positive correlation function.
6. The method for quasi-synchronous power supply control of a long stator doubly-fed linear motor according to claim 1, wherein after determining the stator power supply voltage amplitude, the stator power supply voltage amplitude is dynamically modified based on a stator current actual value and a protection optimization control strategy.
7. The method of claim 6, wherein the protection optimization control strategy comprises maximum output power protection, maximum output current protection, or current source control mode.
8. The method for quasi-synchronous power supply control of a long stator doubly-fed linear motor according to claim 1, wherein the mover is driven by a plurality of unit motors, the power supply current of each unit motor is independently controlled to realize specific levitation state control of the mover, the specific levitation state of the mover comprises a long-time levitation state in which part of the unit motors of the plurality of unit motors are operated in a driving state and part of the unit motors are operated in a braking state, the driving force of the unit motors in the driving state is balanced with the braking force of the unit motors in the braking state, and stable non-zero adjustment of the electromagnetic levitation force in the normal direction and the power supply power at the side of the mover is realized under the constraint that the thrust applied to the horizontal direction of the mover is zero.
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|---|---|---|---|---|
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