CN113411032A - Full-bandwidth electric drive system working condition simulation system and method based on voltage signal transmission - Google Patents

Full-bandwidth electric drive system working condition simulation system and method based on voltage signal transmission Download PDF

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Publication number
CN113411032A
CN113411032A CN202110731638.2A CN202110731638A CN113411032A CN 113411032 A CN113411032 A CN 113411032A CN 202110731638 A CN202110731638 A CN 202110731638A CN 113411032 A CN113411032 A CN 113411032A
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motor
current
target
module
target motor
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CN113411032B (en
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马柯
戚饫豪
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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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
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/14—Arrangements for reducing ripples from dc input or output
    • 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
    • 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
    • H02M7/539—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 with automatic control of output wave form or frequency
    • H02M7/5395—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 with automatic control of output wave form or frequency by pulse-width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a full-bandwidth electric drive system working condition simulation system and system based on voltage signal transmission, wherein a three-phase DC/AC converter at a drive side is adopted to simulate the port voltage of motor drive on the circuit level; a motor side three-phase DC/AC converter is adopted to simulate the current response of the motor on the circuit level; an electrically-driven speed regulation controller is adopted to describe the electrical behavior characteristic of a driving side; the voltage signal transmission module and the ripple suppression passive impedance network module are used for transmitting a voltage modulation signal of the driving side converter to the electric driving working condition simulation mathematical model module to describe the electrical and mechanical behavior characteristics of the target motor; and a current full-bandwidth control module is adopted to control the current response of the target motor under full frequency bands. The method realizes the full-bandwidth simulation of the target electric drive system, completely restores the electric and control behaviors of the target electric drive system, and improves the accuracy of the working condition simulation of the target electric drive system at high rotating speed.

Description

Full-bandwidth electric drive system working condition simulation system and method based on voltage signal transmission
Technical Field
The invention relates to the technical field of power electronics, in particular to a system and a method for simulating the working condition of a full-bandwidth electric drive system based on voltage signal transmission.
Background
With the introduction of concepts such as power interconnection, everything interconnection, and the like, the position of the conversion of electric energy and the application thereof becomes more important. Since the birth of the thyristor technology, the power electronic technology promoted by the thyristor technology permeates all corners of the power development history. In the fields of wind power new energy generation, electric traction, electric vehicles and the like, which combine power electronic technology with motor control, the reliability of power electronic devices is directly related to the stable operation of the whole system. Therefore, at the design and factory debugging stages of the electric drive system, the system reliability of the electric drive system and the reliability of power electronic devices in the electric drive system are tested, and the service life and the reliability of a product under a specific working condition can be effectively obtained, so that the product can be accurately found and positioned, the system guides and the cost is saved.
The concept of working condition simulation of the power electronic system is provided, and the electric and non-electric factors of the power electronic system under a specific working condition are simulated and restored through a power electronic device and a corresponding control strategy, so that the pre-reliability test is realized. The traditional method for simulating the working condition of the electric drive system is realized by carrying out closed-loop control on the sampled bus electric quantity after passing through a mathematical model of the simulated electric drive system, and has the following limitations:
1) the electric quantity passing through the mathematical model of the electric drive system is generally pulse voltage subjected to hardware low-pass sampling, and the pulse voltage has a shielding effect on high-frequency components of voltage fundamental waves, so that the bandwidth of working condition simulation of the electric drive system is reduced, and the dynamic response of the system under medium and high frequencies is slower than that of an actual system.
2) The traditional method for simulating the working condition of the electric drive system additionally introduces closed-loop control on the response physical quantity of the electric drive system, has a similar effect to hardware low-pass sampling, can be regarded as a low-pass filter, and generates disturbance on the control of the electric drive system under high frequency, so that the bandwidth of the working condition simulation of the electric drive system is reduced, and the dynamic response of the system under medium and high frequency is slower than that of an actual system.
3) When the motor operates under the working condition of a high-speed motor, the hardware low-pass sampling and closed-loop control link mentioned above jointly limit the highest electrical frequency of the working condition simulation of the electric driving system, which may cause the system instability of the electric driving system under the working condition of the high-speed motor.
At present, no explanation or report of the similar technology of the invention is found, and similar data at home and abroad are not collected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a system and a method for simulating the working condition of a full-bandwidth electric drive system based on voltage signal transmission.
According to one aspect of the invention, a full-bandwidth electric drive system working condition simulation system based on voltage signal transmission is provided, and comprises:
the driving side three-phase DC/AC converter is used for simulating the port voltage of the motor drive on the circuit level;
the motor side three-phase DC/AC converter is used for simulating the current response of the motor on the circuit level;
the ripple suppression passive impedance network module is used for suppressing the current ripple suppression of the motor of the electric drive system, and the working condition voltage drop generated by the module can be compensated by the voltage signal transmission module;
the current control passive impedance network module is used for inhibiting a direct current component and forming a current response control side with the motor side three-phase DC/AC converter through an alternating current component;
the electric drive speed regulation controller is used for describing the electric behavior characteristic of the driving side of the target electric drive system; wherein:
the electric driving speed regulation controller comprises a controller unit, a first input end, a second input end, a third input end and an output end; wherein:
the first input end is used for inputting a mechanical rotating speed reference signal of a target motor;
the second input end is used for inputting an analog rotating speed signal of the target motor;
the third input end is used for inputting a current sampling signal;
the controller unit is used for comparing and calculating a mechanical rotating speed reference signal of the target motor with a simulated rotating speed signal of the target motor, and obtaining a stator current reference signal of the target motor after an obtained calculated value passes through the rotating speed controller; comparing and calculating a stator current reference signal of the target motor with the current sampling signal, and obtaining a port voltage reference value of the target motor after the obtained calculated value passes through the current controller;
the output end is used for outputting a port voltage reference value of the target motor;
the voltage signal transmission module is used for transmitting a port voltage reference value of a target motor to the electric driving working condition analog mathematical model module and/or compensating voltage drop generated on the ripple rejection passive impedance network module;
the electric driving condition simulation mathematical model module is used for describing the electric and mechanical behaviors of the motor side of the target electric driving system and comprises the following components: the motor mathematical model processor comprises a target motor mathematical model processor, an I input end, an II input end, an III input end, an I output end, an II output end and an III output end; wherein:
the first input end is used for inputting a port voltage reference value of the compensated target motor;
the second input end is used for inputting a current sampling signal;
the third input end is used for inputting an external analog load torque signal;
the target motor mathematical model processor generates a current response reference value of the target motor according to the compensated port voltage reference value of the target motor; generating a simulated rotating speed signal of a target motor and a simulated position signal of the target motor according to the current sampling signal and the external simulated load torque signal;
the first output end is used for outputting the port voltage reference value of the compensated target motor;
the second output end is used for outputting a current response reference value of the target motor;
the third output end is used for outputting an analog rotating speed signal of the target motor;
the fourth output end is used for outputting an analog position signal of the target motor;
and the current full-bandwidth control module is used for generating a pulse width modulation switching signal of the motor side three-phase DC/AC converter by taking the compensated port voltage reference value of the target motor and the current response reference value of the target motor output by the electric driving working condition simulation mathematical model module as control references, and carrying out full-bandwidth simulation reduction on the current response reference value of the target electric driving system motor under the condition of no closed-loop control and no direct use of a differential operator.
Preferably, the driving side three-phase DC/AC converter is mainly composed of a fully-controlled or semi-controlled power semiconductor device and is replaced according to the actual condition of the driving converter of the target electric driving system; wherein:
the positive and negative input ends of the direct current side of the driving side three-phase DC/AC converter are connected with the positive and negative output ends of the direct current power supply, and the alternating current side of the driving side three-phase DC/AC converter is connected with the ripple suppression passive impedance network;
the driving side three-phase DC/AC converter is matched with the electric driving speed regulation controller and used for simulating the electric behavior of the driving side in the target electric driving system, and port voltage of a target motor at the outlet of the driving side is simulated.
Preferably, the motor side three-phase DC/AC converter is mainly composed of a fully-controlled or semi-controlled power semiconductor device, and is replaced according to the actual condition of the driving side three-phase DC/AC converter based on symmetry; wherein:
the positive and negative input ends of the direct current side of the three-phase DC/AC converter at the motor side are connected with the positive and negative output ends of the direct current power supply, and the alternating current side is connected with the current control passive impedance network module;
the motor side three-phase DC/AC converter cooperates with the current full bandwidth control module for simulating motor side electrical behavior in a target electric drive system, including a response current to a target motor at a motor side outlet.
Preferably, the ripple suppression passive impedance network module is mainly composed of passive devices, and is used for being matched with the driving side three-phase DC/AC converter to reduce alternating current bus current ripples and suppress torque fluctuation when a target electric drive system is in a high-speed motor working condition.
The working conditions of the high-speed motor are as follows: the rotational speed of the spindle of the high speed motor operates at nominal operating conditions or at higher rotational speeds, for example greater than 10000 rpm.
Preferably, the target electric drive system includes: a high-performance multi-closed-loop control electric drive system taking a current inner loop as a core.
Preferably, the closed-loop control mode of the current inner loop comprises the following steps: the classical control mode is as follows: proportional control (P), Proportional Integral (PI) control, and Proportional Integral Derivative (PID) control.
Preferably, the voltage signal transmission module selects different voltage signal transmission modes according to the cost and the actual situation to obtain the minimum transmission delay; wherein, the transmission mode comprises: CAN communication transmission, optical fiber communication transmission, upper computer interactive transmission and digital signal transmission.
Preferably, the electric driving condition simulation mathematical model module further comprises: the motor control system comprises an electromagnetic equation module for calculating a target motor current response reference value, a torque equation module for calculating target motor electromagnetic torque, a motion equation module for calculating target motor mechanical rotation speed and a position equation module for calculating target motor mechanical and electrical phase angles; wherein:
the first input end of the electric driving working condition simulation mathematical model module is connected with the electromagnetic equation module;
the second input end of the electric driving working condition simulation mathematical model module is connected with the torque equation module;
the third input end of the electric driving working condition simulation mathematical model module is connected with the motion equation module;
the first output end of the electric driving working condition simulation mathematical model module is connected with the electromagnetic equation module;
the second output end of the electric driving working condition simulation mathematical model module is connected with the electromagnetic equation module;
the third output end of the electric driving working condition simulation mathematical model module is connected with the motion equation module;
and the fourth output end of the electric driving working condition simulation mathematical model module is connected with the position equation module.
Preferably, the system further comprises a direct current power supply module for supplying direct current side electric energy to the drive side three-phase DC/AC converter and the motor side three-phase DC/AC converter; wherein:
the direct current power supply module adopts any one of the following power supply structures:
-a single dc power supply structure;
-a plurality of dc power supply series or parallel power supply configurations;
the ac network side is provided with a single-phase or three-phase transformer with adjustable transformation ratio and a rectifier, and the output of the rectifier is connected to the supply structure of the supply side.
According to another aspect of the invention, a method for simulating the working condition of a full-bandwidth electric drive system based on voltage signal transmission is provided, and comprises the following steps:
constructing a driving side three-phase DC/AC converter, and simulating the port voltage driven by the motor on the circuit level;
constructing a three-phase DC/AC converter at the motor side, and simulating the current response of the motor on the circuit level;
constructing a current control passive impedance network module, inhibiting a direct current component, and forming a current response control side with the motor side three-phase DC/AC converter through an alternating current component;
constructing a ripple suppression passive impedance network module to suppress current ripple suppression of the motor of the electric drive system;
constructing an electric drive speed regulation controller, and describing the electric behavior characteristic of the driving side of a target electric drive system; wherein: respectively inputting a mechanical rotating speed reference signal of a target motor, an analog rotating speed signal of the target motor and a current sampling signal to the electrically-driven speed regulation controller, comparing and calculating the mechanical rotating speed reference signal of the target motor and the analog rotating speed signal of the target motor by the electrically-driven speed regulation controller, and obtaining a stator current reference signal of the target motor after the obtained calculated value passes through the rotating speed controller; comparing and calculating a stator current reference signal of the target motor with the current sampling signal, and obtaining a port voltage reference value of the target motor after the obtained calculated value passes through the current controller;
constructing a voltage signal transmission module, and performing compensation calculation on a port voltage reference value of a target motor output by the motor speed regulation controller;
constructing an electric driving working condition simulation mathematical model module, and describing electric and mechanical behaviors of a motor side of a target electric driving system; the electricity drives operating mode simulation mathematics model module includes: the motor mathematical model processor is used for respectively inputting a port voltage reference value, a current sampling signal and an external simulation load torque signal of the compensated target motor into the motor mathematical model processor, and generating a current response reference value of the target motor according to the port voltage reference value of the compensated target motor; generating a simulated rotating speed signal of a target motor and a simulated position signal of the target motor according to the current sampling signal and the external simulated load torque signal;
and constructing a current full-bandwidth control module, generating a pulse width modulation switching signal of the three-phase DC/AC converter at the motor side by taking the port voltage reference value of the compensated target motor and the current response reference value of the target motor as control references, and performing full-bandwidth analog reduction on the current response reference value of the target electric drive system motor under the condition of no closed-loop control and no direct use of a differential operator.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
the invention uses the electric signal (the port voltage reference value of the target motor) of the electric driving working condition analog mathematical model module as the modulation voltage signal of the electric driving speed regulation controller, has no low-pass filtering effect, and can effectively improve the bandwidth of the electric driving system working condition analog, thereby leading the dynamic response of the electric driving system under medium and high frequency to be consistent with the actual system.
The invention replaces the current single closed loop/double closed loop control of the traditional scheme by the current full bandwidth control link, simultaneously realizes the counteraction of differential operators under the condition that the motor of the target electric drive system is inductive impedance, and can effectively improve the bandwidth of the working condition simulation of the electric drive system, thereby leading the dynamic response of the system under medium and high frequency to be consistent with the actual system.
The ripple suppression passive impedance network with the selectable structure can greatly reduce the current ripple when the motor of the electric drive system operates under the working condition of a high-speed motor. Meanwhile, the voltage transmission and compensation link can also effectively compensate the ground voltage drop caused by the ripple suppression passive impedance network, so that the accuracy of the working condition simulation of the electric drive system is improved.
According to the invention, the current response of the target electric drive system motor can be controlled on a full-bandwidth frequency band according to the outlet voltage reference value and the current response reference value of the target electric drive system motor, and because most of the target electric drive system motor is inductive load, the direct use of a differential operator can be avoided through the electric drive working condition simulation mathematical model module, thereby avoiding the introduction of error influence generated at high frequency after the discretization of the differential operator.
The invention can effectively improve the bandwidth of the working condition simulation of the electric drive system, and the steady state and dynamic response of the system under high frequency are kept highly consistent with the actual system.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a full-bandwidth electric drive system condition simulation system based on voltage signal transmission according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a system based on the operating condition of a high-speed permanent magnet synchronous motor of the full-bandwidth electric drive system operating condition simulation system based on voltage signal transmission according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a voltage compensation/transmission link according to a preferred embodiment of the present invention; wherein u issd_ref、usq_refDq-axis component, u, of reference value of motor outlet voltage of target electric drive system issued by electric drive timing controllersd_ref’、usq_refThe dq-axis component of a target electric drive system motor outlet voltage reference value of a mathematical model is input after a transmission/compensation link;
FIG. 4 is a mathematical model of an electromagnetic equation of a target PMSM under operating conditions in accordance with a preferred embodiment of the present invention; wherein u issd_ref、usq_refIs the dq-axis component, i, of the reference value of the motor outlet voltage of the target electric drive system after the transmission/compensation linksd_ref、isq_refA dq axis component of the reference value for the target electric drive system motor current response;
FIG. 5 is a mathematical model of a torque equation and a mathematical model of a motion equation of a target PMSM under operating conditions according to a preferred embodiment of the present invention; wherein isd、isqBeing the dq-axis component of the current sample, TloadIs a load torque signal, TeIs an electromagnetic torque signal, omegamIs the motor speed, θmIs the rotor position;
FIG. 6 is a schematic diagram of a current full bandwidth control link according to a preferred embodiment of the present invention; wherein u issd_ref、usq_refIs the dq-axis component, i, of the reference value of the motor outlet voltage of the target electric drive system after the transmission/compensation linksd_ref、isq_refDq-axis component, u, of a reference value for the motor current response of a target electric drive systemd_mod、uq_modA dq-axis component of a voltage modulation signal of the motor-side three-phase DC/AC converter;
fig. 7 is a flowchart of a method for simulating the operating condition of a full-bandwidth electric drive system based on voltage signal transmission according to an embodiment of the present invention.
In the figure:
1-a main structure of a full-bandwidth electric drive system working condition simulation system based on voltage signal transmission;
11-a voltage signal transmission module;
12-an electric driving working condition simulation mathematical model module;
121-an electromagnetic simulation unit of the target permanent magnet synchronous motor;
122-torque and motion simulation unit of the target permanent magnet synchronous motor;
13-current full bandwidth control module;
2-a motor side working condition simulator;
21-a motor side three-phase DC/AC converter;
22-motor side current control impedance network module;
3-a ripple rejection passive impedance network module;
4-driving side working condition simulator;
41-drive side three-phase DC/AC converter;
42-electric drive speed controller.
Detailed Description
The following examples illustrate the invention in detail: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific operation process are given. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Fig. 1 is a schematic structural diagram of a full-bandwidth electric drive system condition simulation system based on voltage signal transmission according to an embodiment of the present invention.
As shown in fig. 1, the full-bandwidth electric drive system operating condition simulation system based on voltage signal transmission provided by this embodiment may include: the device comprises a driving side three-phase DC/AC converter, a motor side three-phase DC/AC converter, a ripple rejection impedance network module, a current control passive impedance network module, an electric driving speed regulation controller, a voltage signal transmission module, an electric driving working condition analog mathematical model module and a current full-bandwidth control module; wherein:
the driving side three-phase DC/AC converter is used for simulating the port voltage of the motor drive on the circuit level;
the motor side three-phase DC/AC converter is used for simulating the current response of the motor on the circuit level;
the ripple suppression passive impedance network module is used for suppressing the current ripple suppression of the motor of the electric drive system, and the voltage drop of the generated working condition voltage can be compensated by the voltage signal transmission module;
the current control passive impedance network module is used for inhibiting a direct current component and forming a current response control side with the motor side three-phase DC/AC converter through an alternating current component;
an electric drive speed controller for characterizing an electrical behavior of a drive side of a target electric drive system, wherein:
the electric driving speed regulation controller comprises a controller unit, a first input end, a second input end, a third input end and an output end; wherein:
the first input end is used for inputting a mechanical rotating speed reference signal of a target motor;
the second input end is used for inputting the analog rotating speed signal of the target motor;
a third input terminal for inputting a current sampling signal;
the controller unit is used for comparing and calculating a mechanical rotating speed reference signal of the target motor and a simulated rotating speed signal of the target motor, and obtaining a stator current reference signal of the target motor after an obtained calculated value passes through the rotating speed controller; comparing and calculating a stator current reference signal of the target motor with a current sampling signal, and obtaining a port voltage reference value of the target motor after the obtained calculated value passes through a current controller;
the output end is used for outputting a port voltage reference value of the target motor;
the voltage signal transmission module is used for transmitting a port voltage reference value of a target motor to the electric driving working condition analog mathematical model module and/or compensating voltage drop generated on the ripple rejection passive impedance network module;
the electric driving condition simulation mathematical model module is used for describing the electric and mechanical behaviors of the motor side of the target electric driving system and comprises the following components: the motor mathematical model processor comprises a target motor mathematical model processor, an I input end, an II input end, an III input end, an I output end, an II output end and an III output end; wherein:
the first input end is used for inputting a port voltage reference value of the compensated target motor;
a second input terminal for inputting a current sampling signal;
a third input end for inputting an external analog load torque signal;
the target motor mathematical model processor generates a current response reference value of the target motor according to the compensated port voltage reference value of the target motor; generating a simulated rotating speed signal of a target motor and a simulated position signal of the target motor according to the current sampling signal and the external simulated load torque signal;
the first output end is used for outputting the compensated port voltage reference value of the target motor;
the second output end is used for outputting a current response reference value of the target motor;
the third output end is used for outputting the analog rotating speed signal of the target motor;
the fourth output end is used for outputting the analog position signal of the target motor;
and the current full-bandwidth control module is used for generating a pulse width modulation switching signal of a three-phase DC/AC converter at the motor side by taking the compensated port voltage reference value of the target motor and the current response reference value of the target motor output by the electric driving working condition simulation mathematical model module as control references, and carrying out full-bandwidth simulation reduction on the current response reference value of the target electric driving system motor under the condition of no closed-loop control and no direct use of a differential operator.
In this embodiment, as a preferred embodiment, the system further includes a DC power supply module for supplying DC-side electric energy to the driving-side three-phase DC/AC converter and the motor-side three-phase DC/AC converter; wherein:
the direct current power supply module adopts any one of the following power supply structures:
-a single dc power supply structure;
-a plurality of dc power supply series or parallel power supply configurations;
the ac network side is provided with a single-phase or three-phase transformer with adjustable transformation ratio and a rectifier, and the output of the rectifier is connected to the supply structure of the supply side.
In this embodiment, as a preferred embodiment, the driving-side three-phase DC/AC converter is mainly composed of a fully-controlled or semi-controlled power semiconductor device, and is replaced according to the actual situation of the driving converter of the target electric driving system; wherein:
the positive and negative input ends of the DC side of the three-phase DC/AC converter at the driving side are connected with the positive and negative output ends of the DC power supply, and the AC side is connected with the ripple suppression passive impedance network;
the driving side three-phase DC/AC converter is matched with the motor speed regulation controller and used for simulating the electric behavior of the driving side in the target electric driving system, including simulating the port voltage of the target motor at the outlet of the driving side.
In this embodiment, as a preferred embodiment, the motor-side three-phase DC/AC converter is mainly composed of fully-controlled or half-controlled power semiconductor devices, and is replaced according to the actual situation of the driving-side three-phase DC/AC converter based on symmetry; wherein:
the positive and negative input ends of the direct current side of the three-phase DC/AC converter at the motor side are connected with the positive and negative output ends of the direct current power supply, and the alternating current side is connected with the current control passive impedance network module;
the motor side three phase DC/AC converter cooperates with the current full bandwidth control module for simulating motor side electrical behavior in the target electric drive system, including the response current to the target motor at the motor side outlet.
In this embodiment, as a preferred embodiment, the ripple suppression passive impedance network module is mainly composed of passive devices, and is configured to cooperate with the driving-side three-phase DC/AC converter to reduce AC bus current ripple and suppress torque ripple when the target electric drive system is in a high-speed motor operating condition.
In this embodiment, the high-speed motor operating condition refers to: the rotational speed of the spindle of the high speed motor operates at nominal operating conditions or at higher rotational speeds, for example greater than 10000 rpm.
In this embodiment, as a preferred embodiment, the target electric drive system includes: a high-performance multi-closed-loop control electric drive system taking a current inner loop as a core.
In this embodiment, as a preferred embodiment, the voltage signal transmission module selects different voltage signal transmission modes according to the cost and the actual situation, so as to obtain the minimum transmission delay.
In this embodiment, as a preferred embodiment, the electric driving condition simulation mathematical model module further includes: the motor control system comprises an electromagnetic equation module for calculating a target motor current response reference value, a torque equation module for calculating a target motor electromagnetic torque, a motion equation module for calculating a target motor mechanical rotating speed and a position equation module for calculating a target motor mechanical and electrical phase angle; wherein:
the first input end of the electric driving working condition simulation mathematical model module is connected with the electromagnetic equation module;
the second input end of the electric driving working condition simulation mathematical model module is connected with the torque equation module;
the third input end of the electric driving working condition simulation mathematical model module is connected with the motion equation module;
the first output end of the electric driving working condition simulation mathematical model module is connected with the electromagnetic equation module;
the second output end of the electric driving working condition simulation mathematical model module is connected with the electromagnetic equation module;
the third output end of the electric driving working condition simulation mathematical model module is connected with the motion equation module;
and the fourth output end of the electric driving working condition simulation mathematical model module is connected with the position equation module.
The system for simulating the working condition of the full-bandwidth electric drive system based on voltage signal transmission provided by the embodiment adopts a three-phase DC/AC converter at a driving side to simulate the port voltage of motor driving on a circuit level; a motor side three-phase DC/AC converter is adopted to simulate the current response of the motor on the circuit level; an electrically-driven speed regulation controller is adopted to describe the electrical behavior characteristic of a driving side; the voltage signal transmission and compensation link is realized through the voltage signal transmission module and the ripple suppression passive impedance network module, and the voltage modulation signal of the converter at the driving side is transmitted to the electric driving working condition simulation mathematical model module to describe the electrical and mechanical behavior characteristics of the target motor; and a current full-bandwidth control module is adopted to realize a current full-bandwidth control link and control the current response of the target motor under full frequency bands. The embodiment can realize full-bandwidth simulation of the target electric drive system, completely reduce the electric and control behaviors of the target electric drive system, and improve the accuracy of working condition simulation of the target electric drive system at high rotating speed.
FIG. 2 is a schematic structural diagram of a full-bandwidth electric drive system condition simulation system based on voltage signal transmission according to a preferred embodiment of the present invention; in the preferred embodiment, the variable-frequency speed regulation working condition of the permanent magnet synchronous motor based on the working condition of the high-speed motor is simulated.
As shown in fig. 2, the preferred embodiment is a system based on the operating condition of a high-speed permanent magnet synchronous motor of a full-bandwidth electric drive system operating condition simulation system based on voltage signal transmission. The system comprises a main body structure 1 of a full-bandwidth electric drive system working condition simulation system based on voltage signal transmission, a motor side working condition simulator 2 (comprising a motor side three-phase DC/AC converter and a current control impedance network), a ripple suppression passive impedance network module 3 and a driving side working condition simulator 4 (comprising a driving side three-phase DC/AC converter and an FOC speed regulation controller).
As shown in FIG. 2, in the full-bandwidth electric drive system working condition simulation system based on voltage signal transmission:
the main body structure 1 (namely the voltage signal transmission module → the electric driving working condition simulation mathematical model module → the current full bandwidth control module) is used for simulating the current response value under the target electric driving system working condition. The input signal is the voltage modulation signal of the electric drive speed regulation controller, and the output is the voltage pulse width modulation signal of the motor side inverter. In the preferred embodiment, the main body structure 1 comprises a voltage signal transmission module 11, an electric driving condition simulation mathematical model module 12 of the target permanent magnet synchronous motor and a current full bandwidth control module 13; the electric driving condition simulation mathematic model module 12 of the target permanent magnet synchronous motor can be divided into an electromagnetic simulation unit 121 of the target permanent magnet synchronous motor for simulating the electric behavior of the motor and a torque and motion simulation unit 122 of the target permanent magnet synchronous motor for simulating the mechanical behavior of the motor.
The motor side current electronic converter 2 is used for matching with a current full-bandwidth control link and simulating and restoring the current response of the target electric drive system motor on a circuit level. In the preferred embodiment, the motor side condition simulator 2 comprises a motor side three phase DC/AC converter 21 and a current control RL network 22.
The ripple suppression passive impedance network module 3 is used for being matched with a three-phase DC/AC converter at a driving side, and reducing alternating current bus current ripples and suppressing torque fluctuation under the conditions that the motor impedance of a target electric driving system is small and the voltage of a direct current power supply side is large. In the preferred embodiment, the ripple impedance passive rejection network module network 3 is an RLC network.
And the driving side working condition simulator 4 is used for restoring a driving side inverter in the real electric drive system and a control strategy thereof and simultaneously simulating the working condition of the motor outlet voltage of the target electric drive system. In the preferred embodiment, 41 is a driving side three-phase DC/AC converter based on a driving circuit of a real permanent magnet synchronous motor, and 42 is an FOC speed regulation controller in a speed regulation system based on a real permanent magnet synchronous motor.
In some embodiments of the present invention, the electric drive speed regulation controller is used for describing the electric behavior characteristics of the driving side of the driving system, and the speed regulation controller including the rotating speed controller and the current controller and including the current inner loop can be adopted, and the application range includes a high-performance multi-closed-loop control electric drive system taking the current inner loop as the core. The controller unit compares and calculates a mechanical rotating speed reference signal of the target motor with a simulated rotating speed signal generated by the electric driving working condition simulation mathematical model module, and the calculated value passes through the rotating speed controller to obtain a stator current reference signal of the target motor; and comparing and calculating a stator current reference signal of the target motor with the current sampling signal, and obtaining a port voltage reference value of the target motor after the calculated value passes through the current controller. The input of the first input end of the electrically-driven speed regulation controller is a mechanical rotating speed reference signal of a target motor, the input of the second input end of the electrically-driven speed regulation controller is an analog rotating speed signal of the target motor, and the input of the third input end of the electrically-driven speed regulation controller is a current sampling signal; and the output of the output end of the electric driving speed regulation controller is the port voltage reference value of the target motor.
In some embodiments of the invention, the electric driving condition simulation mathematical model module is used for describing electric and mechanical behaviors of a motor side of the target electric driving system, and specifically is used for generating a current response reference value of the target motor through the electromagnetic equation module according to a port voltage reference value of the target motor; and the system is used for generating a simulated rotating speed signal of the target motor and a simulated position signal of the target motor through the torque equation module, the motion equation module and the position equation module according to the current sampling signal and the externally input simulated load torque signal. The input of the first input end of the electric driving working condition analog mathematical model module is a port voltage reference value of a target motor output by the voltage signal transmission and compensation link, the input of the second input end of the electric driving working condition analog mathematical model module is a current sampling signal, and the input of the third input end of the electric driving working condition analog mathematical model module is an externally input analog load torque signal; the output of the first output end of the electric driving working condition simulation mathematical model module is a port voltage reference value of the target motor, the output of the second output end is a current response reference value of the target motor, the output of the third output end is a simulation rotating speed signal of the target motor, and the output of the fourth output end is a simulation position signal of the target motor.
In some embodiments of the present invention, the current full bandwidth control module is configured to generate a pulse width modulation switching signal of a full-control/half-control device of a three-phase DC/AC converter on the motor side by using a target motor port voltage reference value and a current response reference value generated by a target motor mathematical model processor as control references, and perform full bandwidth simulation reduction on a target electric drive system motor current response reference value without closed-loop control and without directly using a differential operator.
In some embodiments of the present invention, the drive-side three-phase DC/AC converter is formed by a fully-controlled or semi-controlled power semiconductor device, and can be replaced according to the actual situation of the drive converter of the target electric drive system. The positive and negative input ends of the direct current side are connected with the positive and negative output ends of the direct current power supply, and the alternating current side is connected with the ripple suppression passive impedance network. And the driving side three-phase DC/AC converter is matched with the motor speed regulation controller and is used for simulating the electric behavior of the driving side in the target electric driving system, including simulating the voltage of a target motor port at the outlet of the driving side.
In some embodiments of the present invention, the motor-side three-phase DC/AC converter is composed of fully-controlled or semi-controlled power semiconductor devices, and can be replaced according to the actual situation of the driving-side three-phase DC/AC converter according to the symmetry. The positive and negative input ends of the direct current side are connected with the positive and negative output ends of the direct current power supply, and the alternating current side is connected with the current control passive impedance network. And the motor side three-phase DC/AC converter is matched with the current full-bandwidth control module and is used for simulating the electric behavior of the motor side in the target electric drive system, including simulating the response current of the target motor at the outlet of the motor side.
In some embodiments of the present invention, the ripple suppression passive impedance network module is configured to cooperate with the driving-side three-phase DC/AC converter to reduce AC bus current ripple and suppress torque ripple when the target electric drive system is in a high-speed motor operating condition.
In some embodiments of the present invention, the ripple rejection passive impedance network module is formed by a passive device, and includes a set of input terminals and output terminals; it includes: the inductor, the resistor, and the capacitor, for example, are LC filters mainly composed of the inductor and the capacitor, and the resistor may be connected in series with the inductor and the capacitor as a damper.
In some embodiments of the present invention, the current control passive impedance network module is configured to suppress a direct current component, and form a current response control side with the motor-side three-phase DC/AC converter through an alternating current component.
In some embodiments of the present invention, the current-controlled passive impedance network module is formed by a passive device, and includes a set of input terminals and output terminals; it includes: an inductor, a resistor, a capacitor, such as an LCL filter mainly composed of an inductor and a capacitor, wherein the resistor can be connected in series with the inductor and the capacitor as a damper; or an L filter which is mainly composed of an inductor, and a resistor can be used as a damper and connected with the inductor in series.
In some embodiments of the invention, the electric drive speed regulation controller is used for describing the electric behavior characteristics of the driving side of the driving system, and the application range comprises a high-performance multi-closed-loop control electric drive system taking a current inner loop as a core. Taking a permanent magnet synchronous motor as an example, the control strategy of the driving side is magnetic field directional control, and the control strategy is a motor control strategy of rotating speed outer loop closed-loop control and current inner loop closed-loop control, namely the method provided by the embodiment.
The control mode of the current inner loop closed-loop control may include: the classical control mode is as follows: proportional control (P), Proportional Integral (PI), Proportional Integral Derivative (PID) and other modern control schemes.
In some embodiments of the present invention, the voltage signal transmission module is configured to implement a transmission link, and is configured to transmit a port voltage reference value of the target motor to the electric driving condition analog mathematical model module, and/or compensate for a voltage drop generated on the ripple rejection passive impedance network module. The transmission method may include, but is not limited to, the following methods:
CAN communication transmission, optical fiber communication transmission, upper computer interactive transmission and digital signal transmission. Different voltage signal transmission modes can be selected according to cost and practical conditions so as to obtain the minimum transmission delay.
In some embodiments of the present invention, the ripple rejection passive impedance network module is configured to implement a compensation procedure, and includes a ripple rejection passive impedance network mathematical model, for example, a mathematical model of an LC filter formed by using an inductor and a capacitor as main components.
In some embodiments of the present invention, the current full bandwidth control module is configured to implement a current full bandwidth control link, and control a current response of the target electric drive system motor in a full bandwidth frequency band according to a voltage reference value and a current response reference value at an outlet of the target electric drive system motor, and because most of the target electric drive system motors are inductive loads, a differential operator can be avoided from being directly used through a mathematical model, thereby avoiding introducing an error influence caused by a high frequency after discretization of the differential operator.
The operation of the full bandwidth electric drive system condition simulation system based on voltage signal transmission in the preferred embodiment is described below.
Before the working condition simulation method is carried out, a driving side three-phase DC/AC converter and a motor speed regulation controller are required to be set, and the setting principle is selected according to an actual target electric driving system, in the preferred embodiment, the driving side inverter based on IGBT/MOSFET and the electric driving speed regulation controller based on FOC variable frequency speed regulation control are selected, wherein the closed-loop parameter selection in the electric driving speed regulation controller is consistent with the actual system.
In a first step, a voltage modulation signal u is obtained from an electric drive speed controller 42 in the drive-side condition simulator 4sd_refAnd usq_ref. The acquisition method CAN be acquired by the DSP and transmitted by communication modes such as optical fiber/CAN and the like.
In the second step, a voltage modulation signal u is obtained from the electric drive speed controller 42 in the driving side condition simulator 4sd_refAnd usq_refVia a voltage transfer/compensation element 11. The parameters can be adjusted and modified according to the ripple rejection impedance network 3, and if the ripple rejection impedance network 3 is not provided, a compensation link is not needed. As shown in FIG. 3, usd_ref、usq_refDq-axis component, u, of target electric drive system motor outlet voltage reference issued by drive controllersd_ref’、usq_ref' is the dq axis component of the target electric drive system motor outlet voltage reference value input to the mathematical model after the transmission/compensation element. In the figure, RL_LC，LLC,RC_LC,CLCRespectively, a resistance-inductance parameter and a resistance-capacitance parameter of the ripple rejection RLC network. After passing through the voltage transmission/compensation element 11, the voltage drop of the target motor outlet voltage on the ripple rejection impedance network is compensated.
Thirdly, a dq-axis component u of a target electric drive system motor outlet voltage reference value is drivensd_ref’、usq_ref' obtaining dq-axis component i of target electric drive system motor current response reference value through electromagnetic equation mathematical model 121 of target permanent magnet synchronous motorsd_ref、isq_refAs shown in fig. 4. Sampling current isd、isqObtaining an electromagnetic torque signal T through a torque equation and motion equation model 122 of the target permanent magnet synchronous motoreMotor speed ωmRotor position θmAs shown in fig. 5.
The fourth step is to make eyes feel beautifulDq-axis component u of motor outlet voltage reference value of standard electric driving systemsd_ref’、usq_ref' and dq-axis component i of target electric drive system motor current response reference valuesd_ref、isq_refObtaining a voltage modulation signal u of a motor side inverter through a current full-bandwidth control linkd_mod、uq_modAs shown in fig. 6. When the target motor can be regarded as an inductive load and the current control impedance network 22 is a resistive network, the differential operators in the current full-bandwidth control link can be mutually counteracted, and the main transfer function can be expressed as Greg(s)：
Figure BDA0003140011440000141
Wherein, Rf and Lf are resistance and inductance of the current control resistance-inductance network, and Rs and Ls are resistance and inductance of the target motor when the target motor is regarded as an inductive load.
Fifthly, modulating a voltage modulation signal u of the motor side inverterd_mod、uq_modAnd restoring to a three-phase coordinate system, acting on a switching device of the motor side inverter after pulse width modulation, and simulating and restoring the current response working condition of the target motor on the circuit level through a current control impedance network.
Fig. 7 is a flowchart of a method for simulating the operating condition of a full-bandwidth electric drive system based on voltage signal transmission according to an embodiment of the present invention.
As shown in fig. 7, the method for simulating the operating condition of the full-bandwidth electric drive system based on voltage signal transmission according to the embodiment may include the following steps:
s100, constructing a three-phase DC/AC converter at a driving side, and simulating a port voltage driven by a motor on a circuit level;
s200, constructing a three-phase DC/AC converter at the motor side, and simulating the current response of the motor on the circuit level;
s300, constructing a current control passive impedance network module, inhibiting a direct current component, and forming a current response control side with a motor side three-phase DC/AC converter through an alternating current component;
s400, constructing a ripple suppression passive impedance network module to suppress current ripple suppression of the motor of the electric drive system;
s500, constructing an electric driving speed regulation controller, and describing the electric behavior characteristic of the driving side of a target electric driving system; the electric drive speed regulation controller comprises: a rotational speed controller and a current controller; wherein: respectively inputting a mechanical rotating speed reference signal of a target motor, an analog rotating speed signal of the target motor and a current sampling signal to an electric driving speed regulation controller, comparing and calculating the mechanical rotating speed reference signal of the target motor and the analog rotating speed signal of the target motor by the electric driving speed regulation controller, and obtaining a stator current reference signal of the target motor after the obtained calculated value passes through a rotating speed controller; comparing and calculating a stator current reference signal of the target motor with a current sampling signal, and obtaining a port voltage reference value of the target motor after the obtained calculated value passes through a current controller;
s600, performing compensation calculation on a port voltage reference value of the target motor output by the electrically-driven speed regulation controller;
s700, constructing an electric driving working condition simulation mathematical model module, and describing electric and mechanical behaviors of a motor side of a target electric driving system; the electricity drives operating mode simulation mathematics model module includes: the motor mathematical model processor is used for respectively inputting a port voltage reference value, a current sampling signal and an external simulation load torque signal of the compensated target motor into the motor mathematical model processor, and generating a current response reference value of the target motor according to the port voltage reference value of the compensated target motor; generating a simulated rotating speed signal of a target motor and a simulated position signal of the target motor according to the current sampling signal and the external simulated load torque signal
And S800, constructing a current full-bandwidth control module, generating a pulse width modulation switching signal of a three-phase DC/AC converter at the motor side by taking the compensated port voltage reference value of the target motor and the current response reference value of the target motor as control references, and performing full-bandwidth simulation reduction on the current response reference value of the target electric drive system motor under the condition of no closed-loop control and no direct use of a differential operator.
The system and the method for simulating the working condition of the full-bandwidth electric driving system based on voltage signal transmission provided by the embodiment of the invention have the advantages that the electric signal of the electric driving working condition simulation mathematical model module is the modulation voltage signal of the electric driving speed regulation controller, the low-pass filtering effect is not existed, the bandwidth of the working condition simulation of the electric driving system can be effectively improved, meanwhile, the current single closed loop/double closed loop control of the traditional scheme is replaced by the current full-bandwidth control link, the differential operator cancellation is realized under the condition that the target electric driving system motor is inductive impedance, the bandwidth of the working condition simulation of the electric driving system can be effectively improved, and the dynamic response of the system under medium and high frequencies is consistent with the actual system. Finally, through the ripple suppression passive impedance network with the selectable structure, the current ripple of the electric drive system motor can be greatly reduced when the electric drive system motor operates under the working condition of a high-speed motor. Meanwhile, the voltage transmission and compensation link can also effectively compensate voltage drop caused by the ripple rejection impedance network, so that the accuracy of the working condition simulation of the electric drive system is improved.
It should be noted that, the steps in the method provided by the present invention can be implemented by using corresponding modules, devices, units, and the like in the system, and those skilled in the art can implement the step flow of the method by referring to the technical scheme of the system, that is, the embodiment in the system can be understood as a preferred example of the implementation method, and details are not described herein.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims (10)

1. A full bandwidth electric drive system condition simulation system based on voltage signal transmission, comprising:
the driving side three-phase DC/AC converter is used for simulating the port voltage of the motor drive on the circuit level;
the motor side three-phase DC/AC converter is used for simulating the current response of the motor on the circuit level;
the ripple suppression passive impedance network module is used for suppressing the current ripple suppression of the motor of the electric drive system, and the working condition voltage drop generated by the module is compensated by the voltage signal transmission module;
the current control passive impedance network module is used for inhibiting a direct current component and forming a current response control side with the motor side three-phase DC/AC converter through an alternating current component;
the electric drive speed regulation controller is used for describing the electric behavior characteristic of the driving side of the target electric drive system; wherein:
the electric driving speed regulation controller comprises a controller unit, a first input end, a second input end, a third input end and an output end; wherein:
the first input end is used for inputting a mechanical rotating speed reference signal of a target motor;
the second input end is used for inputting an analog rotating speed signal of the target motor;
the third input end is used for inputting a current sampling signal;
the controller unit is used for comparing and calculating a mechanical rotating speed reference signal of the target motor with a simulated rotating speed signal of the target motor, and obtaining a stator current reference signal of the target motor after an obtained calculated value passes through the rotating speed controller; comparing and calculating a stator current reference signal of the target motor with the current sampling signal, and obtaining a port voltage reference value of the target motor after the obtained calculated value passes through the current controller;
the output end is used for outputting a port voltage reference value of the target motor;
the voltage signal transmission module is used for transmitting a port voltage reference value of a target motor to the electric driving working condition analog mathematical model module and/or compensating voltage drop generated on the ripple rejection passive impedance network module;
the electric driving condition simulation mathematical model module is used for describing the electric and mechanical behaviors of the motor side of the target electric driving system and comprises the following components: the motor mathematical model processor comprises a target motor mathematical model processor, an I input end, an II input end, an III input end, an I output end, an II output end and an III output end; wherein:
the first input end is used for inputting a port voltage reference value of the compensated target motor;
the second input end is used for inputting a current sampling signal;
the third input end is used for inputting an external analog load torque signal;
the target motor mathematical model processor generates a current response reference value of the target motor according to the compensated port voltage reference value of the target motor; generating a simulated rotating speed signal of a target motor and a simulated position signal of the target motor according to the current sampling signal and the external simulated load torque signal;
the first output end is used for outputting the port voltage reference value of the compensated target motor;
the second output end is used for outputting a current response reference value of the target motor;
the third output end is used for outputting an analog rotating speed signal of the target motor;
the fourth output end is used for outputting an analog position signal of the target motor;
and the current full-bandwidth control module is used for generating a pulse width modulation switching signal of the motor side three-phase DC/AC converter by taking the compensated port voltage reference value of the target motor and the current response reference value of the target motor output by the electric driving working condition simulation mathematical model module as control references, and carrying out full-bandwidth simulation reduction on the current response reference value of the target electric driving system motor under the condition of no closed-loop control and no direct use of a differential operator.
2. The system for simulating the working condition of the full-bandwidth electric drive system based on the voltage signal transmission is characterized in that the driving side three-phase DC/AC converter mainly comprises a fully-controlled or semi-controlled power semiconductor device and is replaced according to the actual condition of the driving converter of the target electric drive system; wherein:
the positive and negative input ends of the direct current side of the driving side three-phase DC/AC converter are connected with the positive and negative output ends of the direct current power supply, and the alternating current side of the driving side three-phase DC/AC converter is connected with the ripple suppression passive impedance network;
the driving side three-phase DC/AC converter is matched with the electric driving speed regulation controller and used for simulating the electric behavior of the driving side in the target electric driving system, and port voltage of a target motor at the outlet of the driving side is simulated.
3. The system for simulating the working condition of the full-bandwidth electric drive system based on the voltage signal transmission is characterized in that the motor-side three-phase DC/AC converter is mainly composed of a fully-controlled or semi-controlled power semiconductor device and is replaced according to the actual condition of the driving-side three-phase DC/AC converter based on symmetry; wherein:
the positive and negative input ends of the direct current side of the three-phase DC/AC converter at the motor side are connected with the positive and negative output ends of the direct current power supply, and the alternating current side is connected with the current control passive impedance network module;
the motor side three-phase DC/AC converter cooperates with the current full bandwidth control module for simulating motor side electrical behavior in a target electric drive system, including a response current to a target motor at a motor side outlet.
4. The system for simulating operating conditions of a full-bandwidth electric drive system based on voltage signal transmission according to claim 1, wherein the ripple-reduction passive impedance network module is mainly composed of passive devices and is configured to cooperate with the driving-side three-phase DC/AC converter to reduce AC bus current ripple and suppress torque ripple when the target electric drive system is in a high-speed motor operating condition.
5. The voltage signal transmission-based full-bandwidth electric drive system condition simulation system of claim 1, wherein the target electric drive system comprises: a multi-closed-loop control electric driving system taking a current inner loop as a core.
6. The full-bandwidth electric drive system condition simulation system based on voltage signal transmission as claimed in claim 5, wherein the closed-loop control mode of the current inner loop comprises: the classical control mode is as follows: proportional control, proportional-integral control, and proportional-integral-derivative control.
7. The full-bandwidth electric drive system working condition simulation system based on voltage signal transmission as claimed in claim 1, wherein the voltage signal transmission module selects different voltage signal transmission modes according to cost and practical situation to obtain minimum transmission delay; wherein, the transmission mode comprises: CAN communication transmission, optical fiber communication transmission, upper computer interactive transmission and digital signal transmission.
8. The full-bandwidth electric drive system condition simulation system based on voltage signal transmission of claim 1, wherein the electric drive condition simulation mathematical model module further comprises: the motor control system comprises an electromagnetic equation module for calculating a target motor current response reference value, a torque equation module for calculating a target motor electromagnetic torque, a motion equation module for calculating a target motor mechanical rotating speed and a position equation module for calculating a target motor mechanical and electrical phase angle; wherein:
the electromagnetic equation module is respectively connected with a first input end, a first output end and a second output end of the electric driving working condition simulation mathematical model module;
the torque equation module is connected with a second input end of the electric driving working condition analog mathematical model module;
the motion equation module is respectively connected with a third input end and a third output end of the electric driving working condition analog mathematical model module;
and the position equation module is connected with a fourth output end of the electric driving working condition simulation mathematical model module.
9. The full bandwidth electric drive system condition simulation system based on voltage signal transmission of any one of claims 1-8, further comprising:
the direct current power supply module is used for providing direct current side electric energy for the driving side three-phase DC/AC converter and the motor side three-phase DC/AC converter; wherein:
the direct current power supply module adopts any one of the following power supply structures:
-a single dc power supply structure;
-a plurality of dc power supply series or parallel power supply configurations;
the ac network side is provided with a single-phase or three-phase transformer with adjustable transformation ratio and a rectifier, and the output of the rectifier is connected to the supply structure of the supply side.
10. A full-bandwidth electric drive system working condition simulation method based on voltage signal transmission is characterized by comprising the following steps:
constructing a driving side three-phase DC/AC converter, and simulating the port voltage driven by the motor on the circuit level;
constructing a three-phase DC/AC converter at the motor side, and simulating the current response of the motor on the circuit level;
constructing a current control passive impedance network module, inhibiting a direct current component, and forming a current response control side with the motor side three-phase DC/AC converter through an alternating current component;
constructing a ripple suppression passive impedance network module to suppress current ripple suppression of the motor of the electric drive system;
constructing an electric drive speed regulation controller, and describing the electric behavior characteristic of the driving side of a target electric drive system; wherein: respectively inputting a mechanical rotating speed reference signal of a target motor, an analog rotating speed signal of the target motor and a current sampling signal to the electrically-driven speed regulation controller, comparing and calculating the mechanical rotating speed reference signal of the target motor and the analog rotating speed signal of the target motor by the electrically-driven speed regulation controller, and obtaining a stator current reference signal of the target motor after the obtained calculated value passes through the rotating speed controller; comparing and calculating a stator current reference signal of the target motor with the current sampling signal, and obtaining a port voltage reference value of the target motor after the obtained calculated value passes through the current controller;
constructing a voltage signal transmission module, and performing compensation calculation on a port voltage reference value of a target motor output by the motor speed regulation controller;
constructing an electric driving working condition simulation mathematical model module, and describing electric and mechanical behaviors of a motor side of a target electric driving system; the electricity drives operating mode simulation mathematics model module includes: the motor mathematical model processor is used for respectively inputting a port voltage reference value, a current sampling signal and an external simulation load torque signal of the compensated target motor into the motor mathematical model processor, and generating a current response reference value of the target motor according to the port voltage reference value of the compensated target motor; generating a simulated rotating speed signal of a target motor and a simulated position signal of the target motor according to the current sampling signal and the external simulated load torque signal;
and constructing a current full-bandwidth control module, generating a pulse width modulation switching signal of the three-phase DC/AC converter at the motor side by taking the port voltage reference value of the compensated target motor and the current response reference value of the target motor as control references, and performing full-bandwidth analog reduction on the current response reference value of the target electric drive system motor under the condition of no closed-loop control and no direct use of a differential operator.
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