CN113472258A - On-vehicle machine controller of electricity excitation - Google Patents
On-vehicle machine controller of electricity excitation Download PDFInfo
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- CN113472258A CN113472258A CN202110664246.9A CN202110664246A CN113472258A CN 113472258 A CN113472258 A CN 113472258A CN 202110664246 A CN202110664246 A CN 202110664246A CN 113472258 A CN113472258 A CN 113472258A
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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
- 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
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses an electric excitation vehicle-mounted motor controller, which comprises an electric excitation vehicle-mounted motor system (1), a support vector machine current controller (2), a weak magnetic angle controller (3), an excitation current controller (4), a rotating speed adjusting module (5), a control current calculating module (6), an mt/alpha beta coordinate transformation module (7), a control voltage saturation module (8) and an excitation flux linkage observation module (9); according to the invention, by constructing the support vector machine current controller, the process of complex parameter tuning of the traditional two current loop PI controllers is avoided, the current tracking capability is improved, the control jitter and the current harmonic wave are reduced, and the performance of a control system is further improved.
Description
Technical Field
The invention belongs to the field of vehicle-mounted motor control, and particularly relates to a high-performance electrically-excited vehicle-mounted motor controller.
Background
The new energy automobile industry represented by pure electric automobiles is developed rapidly, and the new energy automobile industry has significance in reducing air pollution, ensuring energy safety of China, promoting sustainable development, promoting strategic development of automobile industry and the like. Electric drive systems have also received increasing attention as the heart of pure electric vehicles. At present, a driving motor in the pure electric vehicle market is mainly divided into an asynchronous motor and a synchronous motor, and the driving motor and the asynchronous motor respectively have the characteristics. The asynchronous motor rotor has simple and reliable structure, is widely used in industry, but has lower power factor and efficiency. Synchronous motors can be divided into electrically excited synchronous motors and permanent magnet synchronous motors. The rotor magnetic field of the electrically excited synchronous motor is provided by the exciting winding, and the electrically excited synchronous motor has the characteristics of high order, nonlinearity and strong coupling, so the control difficulty is higher, but the electrically excited synchronous motor has the advantages of adjustable power factor, high efficiency, high torque control precision and the like, so the electrically excited synchronous motor is widely applied.
The control method of the synchronous motor is mainly based on magnetic field directional control and direct torque control, and along with the wide application of a microprocessor, a digital system gradually replaces an analog system, so that the control performance is improved, the cost is gradually reduced, and the magnetic field directional control is easier to realize. The performance of the speed regulating system of the electrically excited synchronous motor can be influenced by key technologies such as flux linkage observation, motor initial position detection, motor rotor position acquisition, design of a rotating speed loop and current loop double closed loop system and the like in the speed regulating system of the electrically excited synchronous motor.
Therefore, on the basis of a magnetic field directional control system, how to combine a novel control method to improve the current control and the flux linkage angle control performance of a rotor excitation winding, and aiming at the improvement of the limit rotating speed of a current control module, the current control performance is improved through a novel controller, the problem of the complex parameter optimization of the traditional magnetic field directional control current closed-loop regulator is solved, and the magnetic field directional control current closed-loop regulator has very important research significance for improving the control performance of an electric excitation synchronous motor speed regulating system.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the electrically-excited vehicle-mounted motor controller which can effectively improve the control precision of the electrically-excited vehicle-mounted motor controller, particularly the high-performance electrically-excited vehicle-mounted motor controller under the high-speed working condition.
The technical scheme of the invention comprises the following steps:
an electric excitation vehicle-mounted motor controller comprises an electric excitation vehicle-mounted motor system 1, a support vector machine current controller 2, a weak magnetic angle controller 3, an excitation current controller 4, a rotating speed adjusting module 5, a control current calculating module 6, a mt/alpha beta coordinate transformation module 7, a control voltage saturation module 8 and an excitation flux linkage observing module 9.
The input of the rotating speed adjusting module 5 comprises 2 parts, and the first part is input as a reference rotating speed n*(k) The second part inputs the rotating speed n (k) (k is a discrete sample sampling index) output and fed back by the electrically excited vehicle-mounted motor system 1 and outputs the reference control current i*(k)，
The input of the control current calculation module 6 is the reference control current i output by the rotating speed regulation module 5*(k) And a weak magnetic angle gamma (k) output by the weak magnetic angle controller 3, and the output is a reference current of a two-phase rotating coordinate system
The support vector machine current controller 2 is composed of an abc/mt coordinate transformation module 21 and a support vector machine 22. The support vector machine current controller 2 refers to the current by a two-phase rotating coordinate system
Three-phase current Iabc(k) Angle of magnetic flux linkage
As input, and as reference voltage of two-phase rotating coordinate system
The abc/mt coordinate transformation module 21 uses three-phase current Iabc(k) Angle of magnetic flux linkage
As input and output as two-phase rotating coordinate systemControlling the current imt(k) In that respect Two-phase rotating coordinate system control current imt(k) With reference current of two-phase rotating coordinate system
Differencing to obtain a control current error em(k)、et(k) In that respect Control current error em(k)、et(k) The integral calculation obtains the control current error integral sigma em(k)、∑et(k) And with the control current error em(k)、et(k) The output of the support vector machine 22 is used as the reference voltage of the two-phase rotating coordinate system
The weak magnetic angle controller 3 is composed of a voltage amplitude calculation module 31, a weak magnetic angle PI regulator 32 and a current amplitude limiting module 33. The input of the flux weakening angle controller 3 is a two-phase rotating coordinate system reference voltage
And the DC bus voltage udc(k) In that respect The voltage amplitude calculation module 31 uses a reference voltage
As input, and as output a reference voltage amplitude us(k) In that respect The weak magnetic angle PI regulator 32 uses a reference voltage amplitude us(k) And the DC bus voltage udc(k) Difference e ofu(k) As input and output as reference weak magnetic angle gamma*(k) And produces weak magnetic angle gamma (k) via the output of the clipping module 33.
Two-phase rotating coordinate system reference voltage output by support vector machine current controller 2
The two-phase static coordinate system reference voltage is output by the mt/alpha beta coordinate transformation module 7
And outputs the actual control voltage u after saturation suppression under the action of the control voltage saturation module 8αβ(k)。
The excitation flux linkage observation module 9 is composed of an abc/alpha beta coordinate transformation module 91 and a flux linkage observer 92. The excitation flux linkage observation module 9 uses the three-phase current I output by the electrically excited vehicle-mounted motor system 1abc(k) And three phase voltage uabc(k) For input, and for output, the angle of flux linkage of the exciting winding
And amplitude psif(k) In that respect Three-phase current Iabc(k) And three phase voltage uabc(k) The output of the abc/alpha beta coordinate transformation module 91 generates a two-phase stationary coordinate system current iαβ(k) And voltage uαβ(k) And as an input to the flux linkage observer 92, outputs an angle at which the flux linkage of the field winding is generated
And amplitude psif(k)。
The exciting current controller 4 is composed of an exciting flux linkage control module 41 and an exciting current PI regulator 42. The input of the exciting current controller 4 is the exciting winding flux amplitude psi output by the exciting flux linkage observation module 9f(k) And excitation current i output by the electrically excited vehicle-mounted motor systemf(k) In that respect Excitation winding flux linkage amplitude psif(k) Amplitude of flux linkage with reference
Obtaining a flux linkage amplitude difference value e by differenceψ(k) And the output of the magnetic flux linkage control module 41 is used as the input of the magnetic flux linkage control module to generate the reference excitation current
Reference exciting current
With excitation current if(k) As well as the input and output of the field current PI regulator 42Magnetic control voltage uf(k)。
The electrically excited vehicle-mounted motor system 1 is composed of a space pulse width modulation module 11, a voltage source inverter module 12, a pulse control module 14, a chopping module 15 and an electrically excited vehicle-mounted motor 13.
The electrically excited vehicle-mounted motor system 1 uses the excitation control voltage u output by the excitation current controller 4f(k) And the actual control voltage u output by the control voltage saturation module 8αβ(k) For input and output of three-phase current Iabc(k) Three-phase voltage uabc(k) Exciting current if(k) And a rotational speed n (k). The actual control voltage u of the space pulse width modulation module 11αβ(k) For input, the output generates a voltage source inverter switching signal Ta Tb Tc. The voltage source inverter module 12 switches the signal Ta TbTcFor inputting and outputting three-phase current Iabc(k) And three phase voltage uabc(k) In that respect The pulse control module 14 controls the voltage u by excitationf(k) For input, the output is a pulse control signal Tf. The chopping module 15 controls the signal T in pulsesfFor input, the generated exciting current i is outputf(k) With three-phase current Iabc(k) The output of the generator is also used as the input of the electrically excited vehicle-mounted motor 13 to generate a rotational speed signal n (k).
Further, as shown in fig. 1, the rotation speed adjusting module 5, the control current calculating module 6, and the support vector machine current controller 2 are connected in series, and the output reference voltage thereof
The local closed-loop control is formed by connecting the local closed-loop control with the weak magnetic angle controller 3 in series, the mt/alpha beta coordinate transformation module 7 and the control voltage saturation module 8 are connected in series to form a series structure, and the series structure formed by connecting the excitation flux linkage observation module 9 and the excitation current controller 4 in series is connected to the electrically-excited vehicle-mounted motor system 1 in parallel to form the electrically-excited vehicle-mounted motor controller.
The invention has the beneficial effects that:
1. by constructing the support vector machine current controller, the process of adjusting and optimizing complex parameters of the traditional two current loop PI controllers is avoided, the current tracking capability is improved, the control jitter and the current harmonic wave are reduced, and the performance of a control system is improved.
2. The flux weakening angle controller is constructed to conduct flux weakening on direct-axis current, so that the limit control rotating speed is increased, and the utilization efficiency of the inverter is improved.
3. By constructing the exciting current controller, the exciting flux linkage and the exciting current are accurately controlled, so that the exciting flux linkage and the exciting current are flexibly adjusted.
4. The control variables and the input variables required by the electrically-excited vehicle-mounted motor controller are easy to measure variables, and the control algorithm of the controller can be realized only by modular software programming, so that the engineering realization is facilitated.
Drawings
Fig. 1 shows an electrically excited vehicle-mounted motor controller including an electrically excited vehicle-mounted motor system 1, a support vector machine current controller 2, a field weakening angle controller 3, an excitation current controller 4, a rotation speed adjusting module 5, a control current calculating module 6, an mt/α β coordinate transforming module 7, a control voltage saturation module 8, and an excitation flux linkage observing module 9.
Fig. 2 shows an electrically excited vehicle-mounted motor system 1 including a space pulse width modulation module 11, a voltage source inverter module 12, a pulse control module 14, a chopper module 15, and an electrically excited vehicle-mounted motor 13 as a whole.
Fig. 3 is a support vector machine current controller 2 composed of an abc/mt coordinate transformation block 21 and a support vector machine 22.
Fig. 4 shows the field weakening angle controller 3 composed of a voltage amplitude calculation module 31, a field weakening angle PI regulator 32, and a limiting module 33.
Fig. 5 is an excitation current controller 4 composed of an excitation flux linkage control module 41 and an excitation current PI regulator 42.
Fig. 6 shows an excitation flux linkage observation module 9 including an abc/α β coordinate transformation module 91 and a flux linkage observer 92.
Detailed Description
The specific implementation mode of the invention is divided into the following 9 steps
1. Fig. 1 shows an electrically excited vehicle-mounted motor controller according to the present invention. The electric excitation vehicle-mounted motor controller comprises an electric excitation vehicle-mounted motor system 1, a support vector machine current controller 2, a weak magnetic angle controller 3, an excitation current controller 4, a rotating speed adjusting module 5, a control current calculating module 6, an mt/alpha beta coordinate transformation module 7, a control voltage saturation module 8 and an excitation flux linkage observing module 9.
The input of the rotating speed adjusting module 5 comprises 2 parts, and the first part is input as a reference rotating speed n*(k) The second part inputs the rotating speed n (k) (k is a discrete sample sampling index) output and fed back by the electrically excited vehicle-mounted motor system 1, and the reference control current i output by the rotating speed adjusting module 5*(k) As a first partial input to the control current calculation module 6. The second part of the control current calculation module 6 inputs the weak magnetic angle gamma (k) output by the weak magnetic angle controller 3, and the output of the weak magnetic angle gamma (k) is the reference current of the two-phase rotating coordinate system
And is input as a first part of the support vector machine current controller 2. The second part of the support vector machine current controller 2 inputs three-phase current I output by the electrically excited vehicle-mounted motor system 1abc(k) The third part is input as the flux linkage angle output by the excitation flux linkage observation module 9
Two-phase rotating coordinate system reference voltage output by support vector machine current controller 2
On the one hand, the DC bus voltage udc(k) The two phases are used as the input of the weak magnetic angle controller 3, and the two phases of reference voltages of the static coordinate system are output through the mt/alpha beta coordinate transformation module 7
The input of the control voltage saturation module 8 is two-phase staticReference voltage of coordinate system
The output is the actual control voltage u after saturation suppressionαβ(k) In that respect The input-output relationship of the control voltage saturation module 8 is as follows:
in the formula uminAnd umaxThe minimum value and the maximum value of the voltage of the two-phase static coordinate system are respectively.
The input of the excitation flux linkage observation module 9 is three-phase current I output by the electrically excited vehicle-mounted motor system 1abc(k) And three phase voltage uabc(k) The output is the angle of the magnetic flux linkage of the excitation winding
And amplitude psif(k) In that respect The first part of the exciting current controller 4 inputs the exciting winding flux amplitude psi output by the exciting flux observation module 9f(k) The second part is input as the exciting current i output by the electrically excited vehicle-mounted motor system 1f(k) The excitation control voltage u outputted therefromf(k) And the actual control voltage u output by the control voltage saturation module 8αβ(k) The three-phase current I is used as the input of an electrically excited vehicle-mounted motor system 1 and the output is three-phase current Iabc(k) Three-phase voltage uabc(k) Exciting current if(k) And a rotational speed n (k).
2. The input of the rotating speed adjusting module 5 is a reference rotating speed n*(k) And the rotating speed n (k) output and fed back by the electrically excited vehicle-mounted motor system 1 is output as a reference control current i*(k) In that respect The input and output relationship of the rotating speed regulating module 5 is
i*(k)＝rnk[n*(k)-n(k)]+rni∑[n*(k)-n(k)]
In the formula, rnk、rniTo adjust the module coefficients.
3. The control currentThe input of the calculation module 6 is the reference control current i output by the rotating speed regulation module 5*(k) And a weak magnetic angle gamma (k) output by the weak magnetic angle controller 3, and the output is a reference current of a two-phase rotating coordinate system
The input-output relationship of the control current calculation module 6 is as follows:
4. the input of the mt/alpha beta coordinate transformation module 7 is a two-phase rotating coordinate system reference voltage
The output is two-phase static coordinate system reference voltage
The input and output relationship of the mt/alpha beta coordinate transformation module 7 is as follows:
in the formula: magnetic chain angle
Is the angle between the m axis and the alpha axis.
5. As shown in fig. 3, the support vector machine current controller 2 is composed of an abc/mt coordinate transformation module 21 and a support vector machine 22.
The support vector machine current controller 2 refers to the current by a two-phase rotating coordinate system
Three-phase current Iabc(k) Angle of magnetic flux linkage
For input and output as two-phase rotary seatReference voltage
The abc/mt coordinate transformation module 21 uses three-phase current Iabc(k) Angle of magnetic flux linkage
For input, the output is a two-phase rotating coordinate system control current im(k)、it(k) In that respect The input-output relational expression of the abc/mt coordinate transformation module 21 is as follows:
two-phase rotating coordinate system control current imt(k) With reference current of two-phase rotating coordinate system
Differencing to obtain a control current error em(k)、et(k) In that respect Control current error em(k)、et(k) The integral calculation obtains the control current error integral sigma em(k)、∑et(k) And with the control current error em(k)、et(k) The output of the support vector machine 22 is used as the reference voltage of the two-phase rotating coordinate system
The input-output relationship of the support vector machine 22 is:
where ξ and ζ are the vector machine algorithm weight coefficients of the m-axis and the t-axis, respectively.
6. As shown in fig. 4, the flux weakening angle controller 3 is composed of a voltage amplitude calculation module 31, a flux weakening angle PI regulator 32, and an amplitude limiting module 33.
The weak magnetic angle controlThe input of the controller 3 is a two-phase rotating coordinate system reference voltage
And the DC bus voltage udc(k) In that respect The voltage amplitude calculation module 31 uses a reference voltage
As input, and as output a reference voltage amplitude us(k) In that respect The weak magnetic angle PI regulator 32 uses a reference voltage amplitude us(k) And the DC bus voltage udc(k) Difference e ofu(k) As input and output as reference weak magnetic angle gamma*(k) And produces weak magnetic angle gamma (k) via the output of the clipping module 33.
The input-output relationship of the voltage amplitude calculation module 31 is
7. Two-phase rotating coordinate system reference voltage output by support vector machine current controller 2
The two-phase static coordinate system reference voltage is output by the mt/alpha beta coordinate transformation module 7
And outputs the actual control voltage u after saturation suppression under the action of the control voltage saturation module 8αβ(k)。
8. As shown in fig. 6, the excitation flux linkage observation module 9 is composed of an abc/α β coordinate transformation module 91 and a flux linkage observer 92.
The excitation flux linkage observation module 9 uses the three-phase current I output by the electrically excited vehicle-mounted motor system 1abc(k) And three phase voltage uabc(k) For input, and for output, the angle of flux linkage of the exciting winding
And amplitude psif(k) In that respect Three-phase current Iabc(k) And three phase voltage uabc(k) The output of the abc/alpha beta coordinate transformation module 91 generates a two-phase stationary coordinate system current iαβ(k) And voltage uαβ(k) And as an input to the flux linkage observer 92, outputs an angle at which the flux linkage of the field winding is generated
And amplitude psif(k) In that respect The input-output relation of the excitation flux linkage observation module 9 is
In the formula, #α(k)、ψβ(k) Is a flux linkage under a two-phase static coordinate system, R is a rotor excitation winding, LδIs an inductance of the rotor excitation winding,
9. as shown in fig. 5, the excitation current controller 4 is composed of an excitation flux linkage control module 41 and an excitation current PI regulator 42.
The input of the exciting current controller 4 is the exciting winding flux amplitude psi output by the exciting flux linkage observation module 9f(k) And excitation current i output by the electrically excited vehicle-mounted motor systemf(k) In that respect Excitation winding flux linkage amplitude psif(k) Amplitude of flux linkage with reference
Obtaining a flux linkage amplitude difference value e by differenceψ(k) And as excitation flux linkage control module 41Input and output generating reference exciting current
Reference exciting current
With excitation current if(k) The output of the PI regulator 42 is used as the input of the excitation current regulator to generate the excitation control voltage uf(k) In that respect The input-output relations of the excitation flux linkage control module 41 and the excitation current PI regulator 42 are respectively
In the formula, rψk、rΨiIs the regulation coefficient, r, of the excitation flux linkage control moduleik、riiIs the regulating coefficient of the exciting current PI regulator.
10. As shown in fig. 2, the electrically-excited vehicle-mounted motor system 1 is composed of a space pulse width modulation module 11, a voltage source inverter module 12, a pulse control module 14, a chopper module 15, and an electrically-excited vehicle-mounted motor 13.
The electrically excited vehicle-mounted motor system 1 uses the excitation control voltage u output by the excitation current controller 4f(k) And the actual control voltage u output by the control voltage saturation module 8αβ(k) For input and output of three-phase current Iabc(k) Three-phase voltage uabc(k) Exciting current if(k) And a rotational speed n (k). The actual control voltage u of the space pulse width modulation module 11αβ(k) For input, the output generates a voltage source inverter switching signal Ta Tb Tc. The voltage source inverter module 12 switches the signal Ta TbTcFor inputting and outputting three-phase current Iabc(k) And three phase voltage uabc(k) In that respect SaidPulse control module 14 with excitation control voltage uf(k) For input, the output is a pulse control signal Tf. The chopping module 15 controls the signal T in pulsesfFor input, the generated exciting current i is outputf(k) With three-phase current Iabc(k) The output of the generator is also used as the input of the electrically excited vehicle-mounted motor 13 to generate a rotational speed signal n (k).
Further, as shown in fig. 1, the rotation speed adjusting module 5, the control current calculating module 6, and the support vector machine current controller 2 are connected in series, and the output reference voltage thereof
The local closed-loop control is formed by connecting the local closed-loop control with the weak magnetic angle controller 3 in series, the mt/alpha beta coordinate transformation module 7 and the control voltage saturation module 8 are connected in series to form a series structure, and the series structure formed by connecting the excitation flux linkage observation module 9 and the excitation current controller 4 in series is connected to the electrically-excited vehicle-mounted motor system 1 in parallel to form the electrically-excited vehicle-mounted motor controller. The support vector machine current controller 2 replaces two traditional current PI controllers, so that the current tracking capability is improved, the control jitter and the current harmonic wave are reduced, and the performance of a control system is improved. The field weakening angle controller 3 can raise the limit control rotation speed by weakening the field of the direct axis current. The excitation current controller 4 accurately controls the excitation flux linkage and the excitation current, thereby realizing flexible adjustment of the excitation flux linkage and the excitation current. The controller overcomes the problems of insufficient performance and complex current loop parameter optimization of the traditional controller, and the improvement of control precision and the perfection of a control structure realize high-performance control of the electrically excited vehicle-mounted motor controller.
Claims (6)
1. An electrically excited vehicle-mounted motor controller is characterized by comprising an electrically excited vehicle-mounted motor system (1), a support vector machine current controller (2), a flux weakening angle controller (3), an exciting current controller (4), a rotating speed adjusting module (5), a control current calculating module (6), a mt/alpha beta coordinate transformation module (7), a control voltage saturation module (8) and an exciting flux linkage observation module (9);
the rotational speed is adjustedThe input of the module (5) comprises 2 parts, and the first part is input as a reference rotating speed n*(k) The input of the second part is the rotating speed n (k) output and fed back by the electrically excited vehicle-mounted motor system (1), k is a discrete sample sampling index, and the output is a reference control current i*(k)；
The input of the control current calculation module (6) is a reference control current i output by the rotating speed regulation module (5)*(k) And a weak magnetic angle gamma (k) output by the weak magnetic angle controller (3) is a reference current of a two-phase rotating coordinate system
The support vector machine current controller (2) references the current by a two-phase rotating coordinate system
Three-phase current Iabc(k) Angle of magnetic flux linkage
As input, and as reference voltage of two-phase rotating coordinate system
Two-phase rotating coordinate system reference voltage output by a support vector machine current controller (2)
The two-phase static coordinate system reference voltage is output by an mt/alpha beta coordinate transformation module (7)
And outputs the actual control voltage u after saturation suppression under the action of a control voltage saturation module (8)αβ(k)；
The input of the flux weakening angle controller (3) is a two-phase rotating coordinate system reference voltage
And the DC bus voltage udc(k) The output generates weak magnetic angle gamma (k); the excitation flux linkage observation module (9) uses three-phase current I output by the electrically excited vehicle-mounted motor system (1)abc(k) And three phase voltage uabc(k) For input, and for output, the angle of flux linkage of the exciting winding
And amplitude psif(k) (ii) a The input of the exciting current controller (4) is the exciting winding flux linkage amplitude psi output by the exciting flux linkage observation module (9)f(k) And excitation current i output by the electrically excited vehicle-mounted motor systemf(k)；
The electrically excited vehicle-mounted motor system (1) uses the excitation control voltage u output by the excitation current controller (4)f(k) And the actual control voltage u output by the control voltage saturation module (8)αβ(k) For input and output of three-phase current Iabc(k) Three-phase voltage uabc(k) Exciting current if(k) And a rotational speed n (k).
2. The controller of claim 1, wherein the controller (2) comprises an abc/mt coordinate transformation module (21) and a support vector machine (22); the abc/mt coordinate transformation module (21) uses three-phase current Iabc(k) Angle of magnetic flux linkage
For input, the output is a two-phase rotating coordinate system control current imt(k) Two-phase rotating coordinate system control current imt(k) With reference current of two-phase rotating coordinate system
Differencing to obtain a control current error em(k)、et(k) (ii) a Control current error em(k)、et(k) The integral calculation obtains the control current error integral sigma em(k)、∑et(k) And with the control current error em(k)、et(k) The output of the two-phase rotating coordinate system reference voltage generator is used as the input of a support vector machine (22)
3. The on-board electrically-excited motor controller according to claim 1, wherein the field weakening angle controller (3) comprises a voltage amplitude calculation module (31), a field weakening angle PI regulator (32) and a limiting module (33), and the voltage amplitude calculation module (31) uses a reference voltage as the reference voltage
As input, and as output a reference voltage amplitude us(k) The weak magnetic angle PI regulator (32) uses a reference voltage amplitude us(k) And the DC bus voltage udc(k) The difference of (a) is input, and the output is a reference weak magnetic angle gamma*(k) And the weak magnetic angle gamma (k) is generated through the output of the amplitude limiting module (33).
4. The on-board electric machine controller of claim 1, characterized in that the excitation flux linkage observation module (9) is composed of an abc/α β coordinate transformation module (91) and a flux linkage observer (92), and the three-phase current I isabc(k) And three phase voltage uabc(k) Generating a two-phase stationary coordinate system current i through the output of the abc/alpha beta coordinate transformation module (91)αβ(k) And voltage uαβ(k) And as an input of a flux linkage observer (92), outputs an angle at which a flux linkage of the field winding is generated
And amplitude psif(k)。
5. The on-board motor controller of claim 1, wherein the excitation current controller (4) is composed of an excitation flux linkage control module (41) and an excitation current PI regulator (42), and the excitation winding flux linkage amplitude isThe value psif(k) Amplitude of flux linkage with reference
Obtaining a flux linkage amplitude difference value e by differenceψ(k) And the reference excitation current is generated by taking the reference excitation current as the input and the output of an excitation flux linkage control module (41)
Reference exciting current
With excitation current if(k) The output of the PI regulator (42) is used as the input of the PI regulator to generate the excitation control voltage uf(k)。
6. The controller of claim 1, wherein the electrically excited vehicle-mounted motor system (1) is composed of a space pulse width modulation module (11), a voltage source inverter module (12), a pulse control module (14), a chopper module (15) and an electrically excited vehicle-mounted motor (13); the space pulse width modulation module (11) controls the voltage u actuallyαβ(k) For input, the output generates a voltage source inverter switching signal Ta Tb TcSaid voltage source inverter module (12) switching signal Ta Tb TcFor inputting and outputting three-phase current Iabc(k) And three phase voltage uabc(k) (ii) a The pulse control module (14) controls the voltage u by excitationf(k) For input, the output is a pulse control signal TfThe chopping module (15) controls the signal T in pulsesfFor input, the generated exciting current i is outputf(k) With three-phase current Iabc(k) The output of the generator is used as the input of an electrically excited vehicle-mounted motor (13) to generate a rotation speed signal n (k).
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