CN113315251B - Tracking device and method for optimal efficiency point of wireless motor system - Google Patents

Tracking device and method for optimal efficiency point of wireless motor system Download PDF

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CN113315251B
CN113315251B CN202110604543.4A CN202110604543A CN113315251B CN 113315251 B CN113315251 B CN 113315251B CN 202110604543 A CN202110604543 A CN 202110604543A CN 113315251 B CN113315251 B CN 113315251B
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full
motor
permanent magnet
bridge
output
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CN113315251A (en
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甘醇
杨震
石昊晨
陈宇
倪锴
曲荣海
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Huazhong University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
    • H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
    • H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
    • H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
    • H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

Abstract

The invention discloses a tracking device and a tracking method for an optimal efficiency point of a wireless motor system, and belongs to the technical field of wireless power transmission. The device comprises a Bluetooth module, an optimal efficiency point control module and a phase-shifting angle controller. According to the invention, through designing coil parameters, the motor under a rated working condition meets an impedance matching condition; calculating the output voltage of the minimum full-bridge rectifier circuit meeting the running condition of the motor, estimating the output voltage of the full-bridge rectifier circuit meeting the impedance matching condition, and correspondingly controlling the d-axis current of the motor according to the magnitude relation of the two voltages. In consideration of estimation errors, a disturbance observation method is introduced to obtain output reference voltage of the full-bridge rectifier circuit, and the phase shift angle of the full-bridge inverter circuit on the transmitting side is changed to enable the output voltage of the full-bridge rectifier circuit on the receiving side to be the reference voltage, so that impedance matching conditions are met, the efficiency of two ends of a coupling coil is improved, and the system efficiency of the motor under the non-rated working condition is improved. The invention can improve the system efficiency while ensuring the normal operation of the motor.

Description

Tracking device and method for optimal efficiency point of wireless motor system
Technical Field
The invention belongs to the technical field of wireless power transmission, and particularly relates to a tracking device and a tracking method for an optimal efficiency point of a wireless motor system.
Background
As the problems of shortage of fossil energy and deterioration of ecological environment become more serious, human beings are receiving more attention to clean energy, electric energy is more widely used as clean and efficient energy, and the electric automobile industry is vigorously developed in recent years. As a future development direction of an electric vehicle, a wireless motor receives more and more attention because the wireless motor can provide a greater degree of design freedom and more flexible control for the electric vehicle.
The motor with constant rotating speed and electromagnetic torque can be regarded as a constant power load, and the motor and the inverter can be equivalent to a resistive load when viewed from the input side of the three-phase inverter, so that the equivalent load under the rated working condition can be just equal to the optimal load of the coupling coil through parameter design, the impedance matching condition is met, and the transmission efficiency at two ends of the coupling coil is the highest. At present, the wireless motor is still in a research stage, and the wireless motors mentioned in some documents have higher transmission efficiency under a rated working condition. However, in actual operation, the operation of the motor cannot be always maintained at the rated working condition, so that the equivalent load of the motor deviates from the impedance matching condition, and further the transmission power at the two ends of the coil is reduced. Therefore, a method for optimizing impedance matching and efficiency under the condition of meeting the non-rated working condition should be researched.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a tracking device and a tracking method for the optimal efficiency point of a wireless motor system, aiming at ensuring the highest transmission efficiency of two ends of a coupling coil of a wireless motor under various motor working conditions so as to ensure the efficiency of the whole system.
In order to achieve the above object, an aspect of the present invention provides an optimal efficiency point tracking apparatus for a wireless motor system, the wireless motor system is divided into a transmitting side and a receiving side, the transmitting side includes: the receiving side comprises a receiving module, a full-bridge rectifying circuit, a three-phase inverter circuit and a permanent magnet synchronous motor; the full-bridge inverter circuit is used for inverting the direct-current voltage of the direct-current power supply into square-wave voltage; the output end of the full-bridge inverter circuit is connected with the input end of the transmitting module, the transmitting module and the receiving module are SS type compensation networks and are composed of coils connected in series with compensation capacitors, the transmitting module and the receiving module are electrically isolated, and electric energy is wirelessly transmitted in an electromagnetic induction mode; the output end of the receiving module is connected with the input end of a full-bridge rectifying circuit, and the full-bridge rectifying circuit is used for rectifying alternating voltage induced by the receiving coil into direct-current voltage; the output end of the full-bridge rectification circuit is connected with the input end of a three-phase inverter circuit, and the three-phase inverter circuit is used for realizing the speed regulation control of the permanent magnet synchronous motor based on SVPWM.
The device comprises a first Bluetooth module, a second Bluetooth module, an optimal efficiency point control module and a phase-shifting angle controller, wherein the phase-shifting angle controller is connected with the first Bluetooth module at the transmitting side, and the optimal efficiency point control module is connected with the second Bluetooth module at the receiving side; the optimal efficiency point control module is used for generating a full-bridge rectifier circuit output voltage reference value; the second Bluetooth module sends an actual value of output voltage and a reference value of the output voltage of the full-bridge rectification circuit to the first Bluetooth module in a wireless transmission mode, and the phase-shift angle controller is used for processing data received by the first Bluetooth module and changing a phase-shift angle of the full-bridge inverter circuit.
Preferably, the optimal efficiency point control module is used for processing the output voltage and the output current of the full-bridge rectification circuit, the three-phase current of the motor and the motor rotating speed, and calculating the output minimum voltage U of the full-bridge rectification circuit meeting the motor running state dc_min And output voltage U of full-bridge rectification circuit satisfying impedance matching condition dc0 By comparing U dc_min And U dc0 The amplitude value selects a corresponding control strategy, the impedance matching condition is met under the condition of ensuring the running state of the motor, and the output voltage reference value U of the full-bridge rectification circuit is finally obtained ref 。
Preferably, the output minimum voltage U of the full-bridge rectification circuit dc_min And output voltage U of full-bridge rectification circuit satisfying impedance matching condition dc0 Respectively as follows:
Figure BDA0003093899800000031
wherein, U out For the output voltage of the full-bridge rectifier circuit when the motor reaches a steady operating state, I out For the output current, R, of the full-bridge rectifier circuit when the motor reaches a steady operation state n The output impedance of the full-bridge rectification circuit under the rated working condition of the motor is shown, omega is the synchronous angular velocity of the permanent magnet synchronous motor, and L q Q-axis inductance, L, for a permanent magnet synchronous machine d D-axis inductance, i, for a permanent magnet synchronous machine q Q-axis current, i, for a permanent magnet synchronous machine d D-axis current, R, for a permanent magnet synchronous machine s The phase resistance is the stator phase resistance of the permanent magnet synchronous motor, and psi is the permanent magnet flux linkage amplitude in the phase winding of the permanent magnet synchronous motor.
Preferably, the output impedance R of the full-bridge rectification circuit under the rated working condition of the motor n The coil can meet the condition of impedance matching, and the maximum transmission efficiency, R, is realized n The relationship to the coil parameters is:
Figure BDA0003093899800000032
wherein, ω is ss At the resonant angular frequency of the SS-type compensation network, M is the mutual inductance between the transmitting and receiving coils, R 1 、R 2 The resistances of the transmitting and receiving coils, respectively.
The invention also provides a wireless motor system optimal efficiency point tracking method based on the device, which comprises the following steps:
(1) controlling the output voltage of the full-bridge rectification circuit to be the amplitude of the rated voltage of the motor, and presetting a d-axis current reference value i of the permanent magnet synchronous motor d_ref Is zero;
(2) closed-loop control of d-axis current and q-axis current of the motor is realized based on SVPWM modulation method, so that the motor reaches steady state, and output voltage U of a full-bridge rectifier circuit required by impedance matching is calculated dc0 And the minimum full-bridge rectifier circuit output voltage U required by the running state of the motor is satisfied dc_min According to U dc0 And U dc_min Determining a specific optimal efficiency point tracking method to enable the wireless motor to be positionedIn the state of optimal efficiency.
Preferably, if U dc0 ≥U dc_min : the phase shift angle is changed to control the output voltage of the full-bridge rectification circuit to be U dc0 And obtaining the output reference voltage U of the full-bridge rectification circuit by a disturbance observation method ref So that the output equivalent load of the full-bridge rectifier circuit tracks the output impedance R of the full-bridge rectifier circuit under the rated working condition of the motor n ；
If U is dc_min ＞U dc0 : measuring three-phase current of the motor, calculating q-axis current of the motor, solving electromagnetic torque of the motor, and giving stator phase voltage as
Figure BDA0003093899800000041
ε 2 Solving a d-axis current reference value i of the permanent magnet synchronous motor for the voltage change step length of a disturbance observation method d_ref And (3) returning to the step (2).
Preferably, specifically analyzing the efficiency optimization method provided by the present invention, the method is divided into two stages:
the first stage is as follows: the coil parameters are designed according to the rated working condition of the motor, so that the impedance matching condition is met under the rated motor working condition.
(1) The three-phase inversion direct current side connects the direct current power supply, controls the motor under the working conditions of rated rotating speed and rated torque, measures the output impedance (pure resistance) of the full-bridge rectification circuit, and sets the load as the optimal load R n 。
(2) Aiming at the SS type compensation network, under the resonance state, the transmission efficiency at two ends of the coupling coil can be obtained as
Figure BDA0003093899800000042
Wherein R is 1 、R 2 Respectively the resistance of the transmitting and receiving coils, M the mutual inductance between the transmitting and receiving coils, R L For loads in series with the receiving coil, omega ss Is the resonant angular frequency of the SS-type compensation network. Will eta coil With respect to R L By taking the derivatives, when
Figure BDA0003093899800000043
Time, eta coil There is a maximum value, and the impedance matching condition is satisfied.
(3) Considering the influence of an uncontrolled full-bridge rectifier circuit when
Figure BDA0003093899800000044
And meanwhile, the impedance matching condition is met under the working condition of the rated motor. The coil is designed by taking the above condition as a constraint condition.
And a second stage: the motor runs under the non-rated working condition, and the output voltage of the full-bridge rectification circuit is adjusted by adopting an optimal efficiency point tracking method, so that the output impedance of the full-bridge rectification circuit is changed, and the impedance matching condition is met.
(1) When the motor is in an off-rated working condition, firstly, the output voltage of the full-bridge rectification circuit is controlled to be the amplitude of the rated voltage of the motor, and the motor is controlled to reach a stable running state by adopting a rotor magnetic field directional FOC technology based on SVPWM modulation. At this time, d-axis current i of the motor is controlled d ＝0。
(2) Measuring motor speed omega and output voltage U of full-bridge rectifier circuit out Output current I out Measuring the three-phase current i of the motor a 、i b 、i c D-and q-axis currents obtained by coordinate transformation:
Figure BDA0003093899800000051
(3) calculating output voltage U of full-bridge rectification circuit required by impedance matching dc0 And the minimum full-bridge rectifier circuit output voltage U required for meeting the motor running state dc_min ：
Figure BDA0003093899800000052
Wherein R is s Is the stator phase resistance of the permanent magnet synchronous motor, psi is the permanent magnet flux linkage amplitude in the phase winding of the permanent magnet synchronous motor, and omega is the permanent magnetSynchronous angular velocity of synchronous motors.
(4) According to U dc0 And U dc_min The specific optimal efficiency point tracking method is determined by the relationship:
if U is dc0 ≥U dc_min : the phase shift angle is changed, and the output voltage of the full-bridge rectification circuit is controlled to be U dc0 Considering the difference of loss of the three-phase inverter circuit before and after voltage regulation, U is dc0 Is an estimate. In order to ensure the control precision, the output reference voltage U of the full-bridge rectification circuit is obtained by a disturbance observation method ref So that the output equivalent load of the full-bridge rectification circuit tracks the optimal load R n And to ensure U ref ＞U dc_min 。
If U is dc_min ＞U dc0 : the condition of reaching impedance matching cannot be met while the motor is ensured to operate. In order to satisfy these two conditions simultaneously, it is necessary to control the d-axis current i of the motor d Is less than 0. Firstly, the electromagnetic torque T of the motor is solved by the q-axis current obtained by the previous calculation e ：
T e ＝1.5n p ψi q
Then, the stator phase voltages are given
Figure BDA0003093899800000061
ε 2 The voltage change step size for perturbative observation. Simultaneous electromagnetic torque equation and stator phase voltage equation:
Figure BDA0003093899800000062
can solve specific i d_ref . Controlling the d-axis current to be i through a three-phase inverter circuit d_ref . Thereafter, the above steps (2), (3) and (4) are repeated.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
(1) in some prior art at present, a wireless motor has very high transmission efficiency under rated working conditions, and the transmission efficiency under other working conditions is difficult to guarantee. According to the optimal efficiency point tracking method of the wireless motor system, the output voltage of the full-bridge rectification circuit is changed, so that the coil meets the impedance matching condition, and the transmission efficiency under the non-rated working condition is finally improved.
(2) The optimal efficiency point tracking method provided by the invention combines an estimation method and a disturbance observation method. Firstly, estimating a full-bridge rectifier circuit output voltage reference value, and then adopting a disturbance observation method on the basis of the reference value to obtain a final voltage reference value. Therefore, the adjusting speed and the adjusting precision are ensured.
(3) The optimal efficiency point tracking method provided by the invention combines the running characteristics of the motor, and performs impedance matching adjustment under the condition of ensuring the running state of the motor. Compared with impedance matching adjusting methods used in other wireless charging fields, the hardware system disclosed by the invention does not need an additional impedance matching circuit, and the hardware cost of the system is reduced.
Drawings
Fig. 1 is a tracking method of an optimal efficiency point of a wireless motor system according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a wireless motor system according to an embodiment of the present invention;
FIG. 3 is a detailed view of an optimal efficiency point control module according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating an overall method for tracking an optimal efficiency point according to an embodiment of the present invention;
fig. 5 is a flowchart of an optimal efficiency point tracking method based on a perturbation observation method according to an embodiment of the present invention.
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.
As shown in fig. 1, the present invention provides an optimal efficiency point tracking apparatus for a wireless motor system, comprising: the device comprises a direct-current power supply, a full-bridge inverter circuit, a transmitting module, a receiving module, a full-bridge rectification circuit, a three-phase inverter circuit, a permanent magnet synchronous motor, an output current sensor, an output voltage sensor, a motor current sensor, a rotating speed sensor, a Bluetooth module, an optimal efficiency point control module and a phase-shifting angle controller.
As shown in fig. 2, the full-bridge inverter circuit is composed of 4 MOSFETs, the input terminal of the full-bridge inverter circuit is connected to the dc power supply, the output terminal thereof is connected to the transmitting module, the full-bridge inverter circuit is used for inverting the dc voltage of the dc power supply into a high-frequency square wave voltage according to a certain phase shift angle, and the operating characteristics thereof are adjusted by the phase shift angle controller.
Specifically, the transmitting module and the receiving module belong to an SS type compensation network, and are composed of coupling coils connected in series with compensation capacitors, and energy is wirelessly transmitted in an electromagnetic induction mode.
Specifically, the full-bridge rectification circuit is composed of 4 diodes and a capacitor. The 4 diodes form an uncontrolled rectifier bridge, the alternating current side of which is connected with a receiving coil, and the direct current side of which is connected with a capacitor. The full-bridge rectifying circuit is used for rectifying alternating voltage induced by the receiving coil into direct current voltage.
Specifically, the three-phase inverter circuit is composed of 6 IGBTs, and speed regulation control of the permanent magnet motor based on SVPWM is achieved. The working mode is controlled by an optimal efficiency point tracking method.
Specifically, the output voltage sensor, the output current sensor, the motor current sensor and the rotation speed sensor are used for detecting the output voltage and the output current of the full-bridge rectification circuit, the motor three-phase current and the motor rotation speed.
As shown in fig. 3, the optimal efficiency point control module is configured to process the measured values and calculate an output minimum voltage U of the full-bridge rectifier circuit satisfying the operation state of the motor dc_min And estimating an output voltage U of the full-bridge rectifier circuit satisfying the impedance matching condition dc0 . Aiming at the two voltage classification discussions, the impedance matching strip is satisfied under the condition of ensuring the running state of the motorFinally obtaining the output voltage reference value U of the full-bridge rectification circuit ref 。
Specifically, the bluetooth module transmits the actual value and the reference value of the output voltage of the full-bridge rectification circuit from the receiving side to the transmitting side.
Specifically, the received data is used as an input signal of a phase-shift angle controller, and the phase-shift angle controller outputs a phase shift angle of the full-bridge inverter circuit, so that the output voltage of the full-bridge rectifier circuit becomes the voltage reference value U ref And further, the impedance matching condition is met, and the aim of efficiency optimization is achieved.
Based on the system, the efficiency optimization method provided by the invention is divided into two stages:
the first stage is as follows: and designing coil parameters according to the rated working condition of the motor. So that the impedance matching condition is met under the working condition of the rated motor.
(1) The three-phase inversion direct current side connects the direct current power supply, controls the motor under the working conditions of rated rotating speed and rated torque, measures the output impedance (pure resistance) of the full-bridge rectification circuit, and sets the load as the optimal load R n 。
(2) Aiming at the SS type compensation network, under the resonance state, the transmission efficiency at two ends of the coupling coil can be obtained as
Figure BDA0003093899800000081
Wherein R is 1 、R 2 Respectively the resistance of the transmitting and receiving coils, M the mutual inductance between the transmitting and receiving coils, R L For loads in series with the receiving coil, omega ss Is the resonant angular frequency of the SS-type compensation network. Will eta coil With respect to R L By taking the derivatives, when
Figure BDA0003093899800000082
Time, eta coil There is a maximum value, and the impedance matching condition is satisfied.
(3) Considering the influence of an uncontrolled full-bridge rectifier circuit when
Figure BDA0003093899800000091
And meanwhile, the impedance matching condition is met under the working condition of the rated motor. The coil is designed by taking the above condition as a constraint condition.
And a second stage: the motor runs under the non-rated working condition, and the output voltage of the full-bridge rectification circuit is adjusted by adopting an optimal efficiency point tracking method, so that the output impedance of the full-bridge rectification circuit is changed, and the impedance matching condition is met. The specific flow is shown in fig. 4.
(1) When the motor is in an off-rated working condition, firstly, the output voltage of the full-bridge rectification circuit is controlled to be the amplitude of the rated voltage of the motor, and the motor is controlled to reach a stable running state by adopting a rotor magnetic field directional FOC technology based on SVPWM modulation. At this time, d-axis current i of the motor is controlled d ＝0。
(2) Measuring motor speed omega and output voltage U of full-bridge rectifier circuit out Output current I out Measuring the three-phase current i of the motor a 、i b 、i c D-and q-axis currents obtained by coordinate transformation:
Figure BDA0003093899800000092
(3) calculating output voltage U of full-bridge rectification circuit required by impedance matching dc0 And the minimum full-bridge rectifier circuit output voltage U required for satisfying the motor running state dc_min ：
Figure BDA0003093899800000093
Wherein R is s The phase resistance of the permanent magnet synchronous motor stator is psi, the amplitude of the permanent magnet flux linkage in the permanent magnet synchronous motor phase winding is psi, and omega is the synchronous angular velocity of the permanent magnet synchronous motor.
(4) According to U dc0 And U dc_min The specific optimal efficiency point tracking method is determined by the relationship:
if U is dc0 ≥U dc_min : the phase shift angle is changed, and the output voltage of the full-bridge rectification circuit is controlled to be U dc0 Considering the difference of loss of the three-phase inverter circuit before and after voltage regulation, U is dc0 Is an estimate. In order to ensure the control precision, the output reference voltage U of the full-bridge rectification circuit is obtained by a disturbance observation method ref So that the output equivalent load of the full-bridge rectification circuit tracks the optimal load R n And to ensure U ref ＞U dc_min . The specific flow is shown in fig. 5.
If U is dc_min ＞U dc0 : the condition of reaching impedance matching cannot be met while the motor is ensured to operate. In order to satisfy these two conditions at the same time, it is necessary to control the d-axis current i of the motor d Is less than 0. Firstly, the electromagnetic torque T of the motor is solved according to the q-axis current obtained by calculation e ：
T e ＝1.5n p ψi q
Then, the stator phase voltages are given
Figure BDA0003093899800000101
ε 2 The voltage change step size for perturbative observation. Simultaneous electromagnetic torque equation and stator phase voltage equation:
Figure BDA0003093899800000102
for surface permanent magnet synchronous motors (SPM), there is L d ＝L q The above system of equations can be simplified as:
Figure BDA0003093899800000103
the d-axis current smaller than 0 can be solved and is marked as i d_ref Then controlling the d-axis current to be i through a three-phase inverter circuit d_ref . Thereafter, the above steps (2), (3) and (4) are repeated.
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 (4)

1. A wireless motor system optimal efficiency point tracking device is divided into a transmitting side and a receiving side, wherein the transmitting side comprises a direct current power supply, a full-bridge inverter circuit and a transmitting module, the receiving side comprises a receiving module, a full-bridge rectifier circuit, a three-phase inverter circuit and a permanent magnet synchronous motor, the full-bridge inverter circuit is used for inverting the direct current voltage of the direct current power supply into square wave voltage, the output end of the full-bridge inverter circuit is connected with the input end of the transmitting module, the transmitting module and the receiving module are SS type compensation networks and are respectively composed of coil series compensation capacitors, the transmitting module and the receiving module are electrically isolated, electric energy is wirelessly transmitted in an electromagnetic induction mode, the output end of the receiving module is connected with the input end of the full-bridge rectifier circuit, the full-bridge rectifier circuit is used for rectifying the alternating voltage induced by the receiving coil into direct current voltage, and the output end of the full-bridge rectifier circuit is connected with the input end of the three-phase inverter circuit, the three-phase inverter circuit is used for realizing the speed regulation control of the permanent magnet synchronous motor based on SVPWM modulation; it is characterized in that the preparation method is characterized in that,
the device comprises: the device comprises a first Bluetooth module, a second Bluetooth module, an optimal efficiency point control module and a phase shift angle controller; the phase shift angle controller is connected with the first Bluetooth module at the transmitting side; the optimal efficiency point control module is connected with the second Bluetooth module at the receiving side;
the optimal efficiency point control module is used for generating a full-bridge rectifier circuit output voltage reference value; the optimal efficiency point control module is used for processing the output voltage and the output current of the full-bridge rectification circuit, the three-phase current of the motor and the motor rotating speed and calculating the output minimum voltage U of the full-bridge rectification circuit meeting the motor running state dc_min And output voltage U of full-bridge rectification circuit satisfying impedance matching condition dc0 By comparing U dc_min And U dc0 The amplitude value selects a corresponding control strategy, the impedance matching condition is met under the condition of ensuring the running state of the motor, and the output voltage reference value U of the full-bridge rectification circuit is finally obtained ref (ii) a Full-bridge rectifierOutput minimum voltage U of current circuit dc_min And output voltage U of full-bridge rectification circuit satisfying impedance matching condition dc0 Respectively as follows:
Figure FDA0003731754080000011
wherein, U out For the output voltage of the full-bridge rectifier circuit when the motor reaches a steady operating state, I out For the output current, R, of the full-bridge rectifier circuit when the motor reaches a steady operation state n Is the output impedance of a full-bridge rectification circuit under the rated working condition of the motor, omega is the synchronous angular velocity of the permanent magnet synchronous motor, L q Q-axis inductance, L, for a permanent magnet synchronous machine d D-axis inductance, i, for a permanent magnet synchronous machine q Q-axis current, i, for a permanent magnet synchronous machine d D-axis current, R, for a permanent magnet synchronous machine s The phase resistance is the stator phase resistance of the permanent magnet synchronous motor, and psi is the permanent magnet flux linkage amplitude in the phase winding of the permanent magnet synchronous motor; output impedance R of full-bridge rectification circuit under rated working condition of motor n Comprises the following steps:
Figure FDA0003731754080000021
wherein, ω is ss At the resonant angular frequency of the SS-type compensation network, M is the mutual inductance between the transmitting and receiving coils, R 1 、R 2 The resistances of the transmitting coil and the receiving coil are respectively;
the second Bluetooth module sends an actual value of the output voltage of the full-bridge rectification circuit and a reference value of the output voltage to the first Bluetooth module in a wireless transmission mode;
the phase-shifting angle controller is used for processing data received by the first Bluetooth module, changing the phase-shifting angle of the full-bridge inverter circuit and controlling the output voltage of the full-bridge rectifier circuit.
2. The method for tracking the optimal efficiency point of a wireless motor system based on the device of claim 1, which comprises the following steps:
(1) controlling the output voltage of the full-bridge rectification circuit to be the amplitude of the rated voltage of the motor, and presetting a d-axis current reference value i of the permanent magnet synchronous motor d_ref Is zero;
(2) closed-loop control of d-axis current and q-axis current of the motor is realized based on SVPWM modulation method, so that the motor reaches steady state, and output voltage U of a full-bridge rectifier circuit required by impedance matching is calculated dc0 And the minimum full-bridge rectifier circuit output voltage U required by the motor running state is satisfied dc_min According to U dc0 And U dc_min Determining a specific optimal efficiency point tracking method according to the relation to enable the wireless motor to be in an optimal efficiency state;
if U is dc0 ≥U dc_min : the phase shift angle is changed to control the output voltage of the full-bridge rectification circuit to be U dc0 And obtaining the output reference voltage U of the full-bridge rectification circuit by a disturbance observation method ref So that the output equivalent load of the full-bridge rectification circuit tracks the output impedance R of the full-bridge rectification circuit under the rated working condition of the motor n ；
If U is dc_min ＞U dc0 : measuring three-phase current of the motor, calculating q-axis current of the motor, solving electromagnetic torque of the motor, and giving stator phase voltage as
Figure FDA0003731754080000031
ε 2 Solving a d-axis current reference value i of the permanent magnet synchronous motor for the voltage change step length of a disturbance observation method d_ref And returning to the step (2).
3. The method of claim 2, wherein the output minimum voltage U of the full-bridge rectifier circuit dc_min And output voltage U of full-bridge rectification circuit satisfying impedance matching condition dc0 Respectively as follows:
Figure FDA0003731754080000032
wherein, U out For the output voltage of the full-bridge rectifier circuit when the motor reaches a steady operating state, I out For the output current, R, of the full-bridge rectifier circuit when the motor reaches a steady operation state n The output impedance of the full-bridge rectification circuit under the rated working condition of the motor is shown, omega is the synchronous angular velocity of the permanent magnet synchronous motor, and L q Q-axis inductance, L, for a permanent magnet synchronous machine d D-axis inductance, i, for a permanent magnet synchronous machine q Q-axis current, i, for a permanent magnet synchronous machine d D-axis current, R, for a permanent magnet synchronous machine s Is the stator phase resistance of the permanent magnet synchronous motor, and psi is the permanent magnet flux linkage amplitude in the phase winding of the permanent magnet synchronous motor.
4. The method of claim 3, wherein the output impedance R of the full bridge rectifier circuit is set to the rated operating condition of the motor n Comprises the following steps:
Figure FDA0003731754080000033
wherein, ω is ss Is the resonance angular frequency of the SS type compensation network, M is the mutual inductance between the transmitting and receiving coils, R 1 、R 2 The resistances of the transmitting and receiving coils, respectively.
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