CN113676110B - Front-stage decoupling control method for electro-magnetic doubly salient motor driving and charging integrated system - Google Patents
Front-stage decoupling control method for electro-magnetic doubly salient motor driving and charging integrated system Download PDFInfo
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- CN113676110B CN113676110B CN202110879642.3A CN202110879642A CN113676110B CN 113676110 B CN113676110 B CN 113676110B CN 202110879642 A CN202110879642 A CN 202110879642A CN 113676110 B CN113676110 B CN 113676110B
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac 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
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac 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
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac 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 with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac 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 with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
- H02M3/1582—Buck-boost converters
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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
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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
- H02P2201/00—Indexing scheme relating to controlling arrangements characterised by the converter used
- H02P2201/09—Boost converter, i.e. DC-DC step up converter increasing the voltage between the supply and the inverter driving the motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a decoupling control method of a front-stage DC/DC converter of an electric excitation doubly salient motor driving and charging integrated system, wherein the front-stage DC/DC converter is connected with a switch S by the switch S 1 、S 2 And S is 4 、S 6 The duty ratio of the transformer is adjusted to work in a Buck-Boost mode, a double-edge modulation strategy is adopted to respectively control a direct-current side bus and exciting current, and a switching cycle is divided into three working modes according to the state of an exciting winding: the system comprises an excitation winding discharging mode, an excitation winding energy storage mode and a follow current mode, wherein the excitation winding energy storage mode and the discharging mode respectively control excitation current and bus voltage, and the follow current mode is used for realizing decoupling control of excitation current control and bus voltage. The invention can effectively control the exciting current and bus voltage in the front-stage DC/DC converter of the system, and improve the dynamic and steady state performance of the drive and charge integrated system.
Description
Technical Field
The invention relates to a decoupling control method of a front-stage DC/DC converter of an electro-magnetic doubly salient motor driving and charging integrated system, and belongs to the field of motor systems and control.
Background
With the rapid popularization of electric vehicles, solutions of low-cost high-performance motor drive systems and lightweight and fast vehicle-mounted chargers are receiving more and more attention. Due to the four-quadrant working characteristic of the motor driving converter, the electric automobile driving and charging integrated system can effectively utilize the motor driving controller and the motor winding to reconstruct into a power battery charger so as to realize higher power density.
When the armature winding inductance value of the permanent magnet synchronous motor is too small and is used as the inductance of the net side filter, the net side current harmonic wave is larger in a charging mode, and the permanent magnet-free motor with the larger armature winding inductance value can effectively restrain the net side current harmonic wave. In order to ensure the safety and low noise of the electric automobile, the driving motor cannot output electromagnetic torque in a charging mode. In the solution of multiplexing the permanent magnet synchronous motor driver to reconstruct the vehicle-mounted charger, a multiphase winding structure is needed to eliminate the output torque in the charging mode, so that excessive devices, complex systems and high cost are caused. The drive charging integration system solution based on the induction motor and the switched reluctance motor also needs to design a complex armature winding structure according to the motor operation principle to eliminate electromagnetic torque. The motor system without the exciting winding also needs to be additionally provided with a DC/DC converter to realize a battery charging strategy.
An electrically excited doubly-salient motor is similar in construction to a switched reluctance motor, but has separate field and armature windings, which provides more possibilities for a reconfigurable on-board charger. The electric excitation doubly salient motor driving and charging integrated system based on the split excitation windings multiplexes the excitation windings to serve as a filter inductor of a front-stage DC/DC converter, and in a charging mode, a rear-stage inverter and a motor armature winding are reconstructed into a three-phase PWM rectifier to realize network-side power factor correction, and the front-stage DC/DC converter controls the two sections of excitation windings to realize constant current charging with equal current and opposite current, so that torque output is eliminated. In the driving mode, the pre-stage DC/DC converter needs to control exciting current and bus voltage simultaneously, so that the control mode is different from that of a traditional buck-boost converter. The patent number ZL20171445250.6 discloses a control strategy that the front-stage buck-boost converter in the system is feasible from the power angle, but the method cannot completely decouple excitation current control and bus voltage control, hysteresis exists in control response, control effect is affected, and unstable possibility exists under the dynamic working condition of the system. Therefore, how the system decouples the excitation current control and the bus voltage control in the front-stage DC/DC converter is important for system stability and motor output performance.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a decoupling control method of a front-stage DC/DC converter of an electro-magnetic doubly salient motor driving and charging integrated system, which realizes stable control of the front-stage DC/DC converter on exciting current and bus voltage and improves dynamic and steady state performance of the driving and charging integrated system.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the electric excitation doubly salient motor driving and charging integrated system comprises a storage battery, a DC/DC converter, a three-phase bridge inverter and an electric excitation doubly salient motor, wherein the storage battery is connected with the input end of the DC/DC converter, the output end of the DC/DC converter is connected with the input end of the three-phase bridge inverter, an excitation winding of the electric excitation doubly salient motor is multiplexed to the DC/DC converter, a three-phase armature winding of the electric excitation doubly salient motor is arranged into an open structure, one end of the three-phase armature winding is connected with the output end of the three-phase bridge inverter, and the other end of the three-phase armature winding is connected with a charge-discharge change-over switch K1; the DC/DC converter adopts a buck-boost topology form and is composed of six switching tubes S1-S6, two diodes D1-D2, two sections of exciting windings F1 and F2 of an electro-magnetic doubly-salient motor, a switch K2 and a capacitor C1, wherein the midpoints of two bridge arms formed by connecting the two switching tubes S1 and S2 with the two diodes D1 and D2 in series are respectively connected to one ends of the two sections of exciting windings F1 and F2 of the electro-magnetic doubly-salient motor, the midpoints of two bridge arms formed by the other four switching tubes S3-S6 are respectively connected to the other ends of the two sections of exciting windings F1 and F2 of the electro-magnetic doubly-salient motor, the switch K2 is positioned between the two groups of bridge arms, and the capacitor C1 is positioned on the output side of the DC/DC converter.
The decoupling control method of the front-stage DC/DC converter of the electro-magnetic doubly-salient motor drive and charge integrated system comprises the following steps: in the electric excitation doubly salient motor driving and charging integrated system, a front-stage DC/DC converter and a rear-stage three-phase inverter for driving the electric excitation doubly salient motor are cascaded, the front-stage DC/DC converter realizes the control of the bus voltage on the direct current side obtained in the system and the exciting current obtained by the electric excitation doubly salient motor, and a double-edge modulation strategy is adopted for controlling a switch S 1 、S 2 And S is 4 、S 6 Duty ratio control is performed, and one switching cycle is divided into three working modes according to the state of an excitation winding: exciting windingThe system comprises an electric mode, an excitation winding energy storage mode and a follow current mode, wherein the excitation winding energy storage mode and the discharge mode respectively control excitation current and bus voltage, and the follow current mode is used for decoupling control of excitation current control and bus voltage. The decoupling control method effectively realizes decoupling control of exciting current and bus voltage in the front-stage DC/DC converter, and improves dynamic and steady state performance of the electro-magnetic doubly salient motor driving and charging integrated system.
Further, the front-stage DC/DC converter adopts a double-edge modulation strategy to switch S 1 、S 2 And S is 4 、S 6 Duty ratio control is performed, namely:
switch tube S 1 、S 2 To increase the sawtooth carrier and duty ratio d 2 Comparison of duty cycle d 2 Output d from exciting current loop 2 ' bus voltage ring output d 1 Decoupling the compensation output d 1 ' addition, duty cycle d 2 S when larger than carrier 1 、S 2 Conduction and S when the output of control loop is smaller than carrier wave 1 、S 2 Turning off;
switch tube S 4 、S 6 A falling sawtooth carrier is compared with the duty cycle (1-d 1 ) Comparing the duty cycle (1-d 1 ) Output d from bus voltage ring 1 To obtain the duty cycle (1-d 1 ) S when larger than carrier 4 、S 6 Conduction and S when the output of control loop is smaller than carrier wave 4 、S 6 Turning off;
due to the switch S 1 、S 2 And S is 4 、S 6 When all are turned off, the exciting current change rate is larger, and the double-edge modulation strategy aims to reduce the switch S 1 、S 2 And S is 4 、S 6 The state duty cycle of both off to achieve low ripple excitation current control.
After the double-edge modulation strategy, the front stage DC/DC converter is divided into three working modes in one switching period, wherein S 1 、S 2 Conduction, S 4 、S 6 Turn off with corresponding duty ratio d 1 At this time, the exciting current path is a storage battery-exciting winding-bus capacitor, and the DC side bus is used when the exciting current is reducedThe line voltage rises, called the field winding discharge mode; when S is 1 、S 2 Conduction, S 4 、S 6 On, corresponding duty cycle d 2 The passage of exciting current is a storage battery-exciting winding, the exciting current rises and the bus voltage drops, and the exciting current is in an energy storage mode; when S is 1 、S 2 Turn off, S 4 、S 6 On, corresponding duty cycle d 3 At this time, excitation current flows through S 4 、S 6 And diode D 1 、D 2 The corresponding exciting current amplitude is kept constant, the direct current bus voltage is reduced, and the follow current is in a follow current mode, and the exciting current control and the bus voltage control are mutually independent due to the existence of the working mode.
Duty ratio d of energy storage mode of exciting winding 2 Is divided into two parts:
wherein d is 1 The duty cycle of the excitation winding discharge mode is set.
The excitation current state space equation is reduced to:
thus d is regulated by PI controller 2 The' closed loop control excitation current is independent of bus voltage and control thereof, and decoupling is realized.
The excitation current is given preferentially, and the excitation current is considered to be constant in a bus voltage state space equation, so that the bus voltage state space equation is simplified into:
adjusting d by PI controller 1 The bus voltage is closed loop controlled.
The decoupling control method is due to existence of a freewheel modeThe excitation current control and the bus voltage control are mutually independent, and when the follow current mode does not exist, the energy storage mode duty ratio d of the excitation winding is needed 2 And discharge mode d 1 The duty cycle is subjected to an over-modulation process. Thus, when d 1 +d 2 >1, the following steps:
compared with the prior art, the invention has the following beneficial effects:
1. compared with the control strategy of the traditional double-tube buck-boost converter, the control strategy for decoupling the exciting current and the bus voltage can control the stability of the exciting current and the bus voltage at the same time.
2. Compared with a control strategy proposed from the power angle, the decoupling control strategy provided by the invention can decouple excitation current control and bus voltage control, greatly inhibit the cross influence of motor load change on the excitation current, and improve the dynamic steady state performance of the system.
Drawings
Fig. 1 is a schematic diagram of a decoupling control method of a front-stage DC/DC converter of an electrically excited doubly salient motor driving and charging integrated system;
FIG. 2 is a waveform of the rotational speed of an electro-magnetic doubly salient motor;
FIG. 3 is a waveform of the current of the A-phase armature winding of the electrically excited doubly salient motor;
FIG. 4 is an electromagnetic torque waveform of an electro-magnetic doubly salient motor;
fig. 5 is a waveform of exciting current on the exciting winding F1;
FIG. 6 is a detailed waveform of the exciting current on the exciting winding F1 at the loading moment;
FIG. 7 is a detailed waveform of the exciting current on the unloading momentary exciting winding F1;
fig. 8 is a waveform of exciting current on the exciting winding F2;
FIG. 9 is a busbar voltage waveform;
FIG. 10 is a detailed waveform of the loading transient bus voltage;
fig. 11 is an unloading momentary bus voltage detail waveform.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The conventional double-tube buck-boost converter usually works in buck mode, boost mode and buck-boost mode, but the common control mode is to control the output voltage, and the current processing of the inductive energy storage element is only used for optimizing the system performance. In the electro-magnetic doubly-salient motor system applied in the patent, a pre-stage buck-boost converter is required to control both bus voltage and exciting current, and a special design control strategy is required to implement control.
The dual edge modulation strategy is also applied in conventional buck-boost converters, with the purpose of increasing the direct transmission power ratio to reduce device stress and increase system efficiency. In the system, the modulation strategy can eliminate the mode that both the upper pipe and the lower pipe are turned off, and the excitation current change rate of the model is maximum, so that the double-edge modulation strategy is beneficial to stabilizing the excitation current. After the double-edge modulation strategy, one of the three modes of the system is a follow current mode, exciting current in the mode is kept unchanged, bus voltage is reduced, and the other two modes respectively enable the bus voltage and the exciting current to rise. Therefore, the possibility of controlling the exciting current and the bus voltage according to modes exists after the front-stage buck-boost converter is subjected to double-edge modulation, the existence of the follow current mode provides feasibility for decoupling of the exciting current control and the bus voltage control, stable control of the exciting current and the bus voltage is finally realized, the stability of a system is improved, and the method has good research significance.
The invention relates to a front-stage DC/D of an electro-magnetic doubly salient motor driving and charging integrated systemThe decoupling control method of the C converter is applied to an electric excitation doubly salient motor driving and charging integrated system based on split excitation windings, a front-stage DC/DC converter is cascaded with a three-phase inverter for driving a rear-stage electric excitation doubly salient motor, the front-stage DC/DC converter realizes control of direct-current side bus voltage and excitation current obtained by the electric excitation doubly salient motor in the system, and a switch S is controlled by adopting a double-edge modulation strategy 1 、S 2 And S is 4 、S 6 Duty ratio control is performed, and one switching cycle is divided into three working modes according to the state of an excitation winding: the system comprises an excitation winding discharging mode, an excitation winding energy storage mode and a follow current mode, wherein the excitation winding energy storage mode and the discharging mode respectively control excitation current and bus voltage, and the follow current mode is used for decoupling control of excitation current control and bus voltage. The system architecture and control strategy is schematically shown in FIG. 1.
Wherein, a front-stage double-tube buck-boost converter (DC/DC converter) adopts a double-edge modulation strategy and a switch tube S 1 、S 2 To increase the sawtooth carrier and duty ratio d 2 Comparison of duty cycle d 2 Output d from exciting current loop 2 ' bus voltage ring output d 1 Decoupling the compensation output d 1 ' addition, duty cycle d 2 S when larger than carrier 1 、S 2 Conduction and S when the output of control loop is smaller than carrier wave 1 、S 2 Turning off;
switch tube S 4 、S 6 A falling sawtooth carrier is compared with the duty cycle (1-d 1 ) Comparing the duty cycle (1-d 1 ) Output d from bus voltage ring 1 To obtain the duty cycle (1-d 1 ) S when larger than carrier 4 、S 6 Conduction and S when the output of control loop is smaller than carrier wave 4 、S 6 Turning off;
due to the switch S 1 、S 2 And S is 4 、S 6 When all are turned off, the exciting current change rate is larger, and the double-edge modulation strategy aims to reduce the switch S 1 、S 2 And S is 4 、S 6 The state duty cycle of both off to achieve low ripple excitation current control.
After the dual-edge modulation strategy has been applied,the pre-stage DC/DC converter is divided into three working modes in one switching period, wherein S 1 、S 2 Conduction, S 4 、S 6 Turn off with corresponding duty ratio d 1 At this time, the exciting current path is a storage battery-exciting winding-bus capacitor, and when the corresponding exciting current is reduced, the voltage of the bus at the direct current side is increased, which is called an exciting winding discharging mode; when S is 1 、S 2 Conduction, S 4 、S 6 On, corresponding duty cycle d 2 The passage of exciting current is a storage battery-exciting winding, the exciting current rises and the bus voltage drops, and the exciting current is in an energy storage mode; when S is 1 、S 2 Turn off, S 4 、S 6 On, corresponding duty cycle d 3 At this time, excitation current flows through S 4 、S 6 And diode D 1 、D 2 The corresponding exciting current amplitude is kept constant, the direct current bus voltage is reduced, and the follow current is in a follow current mode, and the exciting current control and the bus voltage control are mutually independent due to the existence of the working mode.
The state space average equation of the buck-boost converter after column writing double-edge modulation is as follows:
the excitation current differential equation contains d 1 And u c The amounts in the two voltage control loops, and thus there is actually also coupling.
When the excitation current differential equation is sorted, it is found that:
can be d 2 Is divided into two parts, one part is used for controlling exciting current, the other part is used for compensating bus voltage and d 1 The changing effect of (2):
d 2 ＝d 2 '+d 1 '
the excitation current differential equation can be simplified to a first order system:
the principle is that d is caused by the voltage drop of a bus 1 Increase the discharge time of exciting current, correspondingly increase d 2 And the energy storage of the partial duty ratio compensation exciting winding does not influence the average value of exciting current. Thus d is regulated by PI controller 2 The' closed loop control excitation current is independent of bus voltage and control thereof, and decoupling is realized.
The excitation current is given preferentially, and the excitation current is considered to be constant in a bus voltage state space equation, so that the bus voltage state space equation is simplified into:
adjusting d by PI controller 1 The bus voltage is closed loop controlled.
The decoupling control method is characterized in that excitation current control and bus voltage control are mutually independent due to existence of a follow current mode, and when the follow current mode does not exist, the energy storage mode duty ratio d of an excitation winding is required 2 And discharge mode d 1 The duty cycle is subjected to an over-modulation process. Thus, when d 1 +d 2 >1, the following steps:
examples
And carrying out Matlab/Simulink simulation on the electric excitation doubly salient motor driving and charging integrated system and the corresponding working conditions thereof according to the specific implementation mode. The parameters of the electro-magnetic doubly salient motor are as follows: the resistance value of each exciting winding is 0.4 omega, the inductance value of each exciting winding is 13mH, the resistance value of the armature winding is 0.1 omega, and the inductance value of the armature winding is 5.6mH. The simulation working conditions are as follows: the voltage of the storage battery is 72V, the voltage of the bus is 120V, the given rotating speed of the motor is 200rpm, the motor is accelerated to improve the loading of the output power equivalent front-stage DC/DC converter when the load torque is 1 N.m, and the motor is decelerated to reduce the unloading of the output power equivalent front-stage DC/DC converter when the load torque is 0.5 s.
The waveform of the motor state of the electro-magnetic doubly salient motor driving and charging integrated system is shown in figures 2-4, wherein figure 2 is the waveform of the motor rotating speed, and the waveform accords with the working condition setting that the acceleration starts at 0.5s and the deceleration starts at 0.7 s; FIG. 3 is a phase A armature winding current waveform, showing an armature current increase at 0.5s, and a rapid armature current decrease at 0.7s, consistent with the load current state of the prior DC/DC converter during loading and unloading; fig. 4 shows the electromagnetic torque waveform of the motor, the rated torque is reached at 0.5s, and the electromagnetic torque is rapidly reduced due to speed reduction at 0.7s, so that the electromagnetic torque meets the working condition setting.
The exciting current waveform and the bus voltage waveform in the front-stage DC/DC converter of the electro-magnetic doubly-salient motor driving and charging integrated system are shown in figures 5-11, and figures 5-7 are the exciting current waveform on the exciting winding F1 and the instantaneous detailed waveform of loading and unloading respectively, so that the average value of the exciting current before loading is 6A, the peak-to-peak value is 0.0275A, and the steady-state performance is good; the exciting current rises by about 0.09A and quickly returns to steady state when loaded, the average value of the exciting current after loading is 6A, and the peak-to-peak value is 0.0525A; the exciting current is almost unchanged during unloading, the average value is 6A, and the peak-to-peak value is 0.0293A. The excitation current control can keep good control effect in the steady state and the loading and unloading dynamic process. The exciting winding F2 is symmetrical to the exciting winding F1, and has a waveform very similar to that of the exciting current as shown in fig. 8.
Fig. 9 to 11 are bus voltage waveforms and instantaneous loading and unloading detail waveforms, respectively, and it can be seen that the average value of the bus voltage before loading is 120V, the peak-to-peak value is 0.116V, and the steady state performance is good; the bus voltage drops by about 1.6V and quickly recovers to a steady state when loading, the average value of the bus voltage after loading is 120V, and the peak-to-peak value is 0.454V; when the load is unloaded, the bus voltage is increased by about 1.3V due to the feedback of the motor energy, the steady state is restored after 0.1s, the average value of the bus voltage after the load is still 120V, and the peak-to-peak value is 0.0853V. The voltage control of the bus can also keep a good control effect in the steady state and loading and unloading dynamic processes.
The bus voltage is inevitably influenced in the loading and unloading process of the front-stage DC/DC converter, and the bus voltage fluctuation almost has no influence on exciting current, so that decoupling of exciting current control and bus voltage control is verified.
The test example verifies that the variable bus voltage working condition switching table optimizing direct torque control strategy provided by the invention can enable the motor to be driven normally within a wide bus voltage variation range, and compared with a motor system adopting a traditional offline switching table control strategy, the motor system adopting the control strategy provided by the invention has more stable output performance.
The foregoing is merely a preferred embodiment of the present invention and it is intended that equivalents and modifications thereof within the spirit and scope of the principles of the invention will suggest themselves to those skilled in the art.
Claims (5)
1. The decoupling control method of the front-stage DC/DC converter of the electric excitation doubly salient motor driving and charging integrated system comprises a storage battery, a DC/DC converter, a three-phase bridge inverter and an electric excitation doubly salient motor, wherein the storage battery is connected with the input end of the DC/DC converter, the output end of the DC/DC converter is connected with the input end of the three-phase bridge inverter, the exciting winding of the electric excitation doubly salient motor is reused for the DC/DC converter, the three-phase armature winding of the electric excitation doubly salient motor is arranged into an open structure, one end of the three-phase armature winding is connected with the output end of the three-phase bridge inverter, and the other end of the three-phase armature winding is connected with a charge-discharge switch K1; the DC/DC converter adopts a buck-boost topology form and consists of six switching tubes S1-S6, two diodes D1-D2, two sections of exciting windings F1 and F2 of an electric excitation doubly salient motor, a switch K2 and a capacitor C1, wherein the midpoints of two bridge arms formed by connecting the two switching tubes S1 and S2 with the two diodes D1 and D2 in series are respectively connected to one ends of the two sections of exciting windings F1 and F2 of the electric excitation doubly salient motor, and the midpoints of two bridge arms formed by the other four switching tubes S3-S6 are respectively connected to the two sections of excitation of the electric excitation doubly salient motorThe other ends of windings F1 and F2, a switch K2 is positioned between two groups of bridge arms, a capacitor C1 is positioned at the output side of a DC/DC converter, and the DC/DC converter is characterized in that the DC/DC converter realizes the control of the bus voltage at the DC side and the excitation current of an electro-excited doubly salient motor in a system, and a double-edge modulation strategy is adopted for a switch tube S 1 、S 2 And S is 4 、S 6 Performing duty ratio control, wherein the duty ratio is determined by the output of the exciting current loop PI regulator and the output of the bus voltage loop PI regulator;
according to the state of the exciting winding, one switching period is divided into three working modes: (1) s is S 1 、S 2 Conduction, S 4 、S 6 The switch is turned off, the exciting current path is a storage battery-exciting winding-bus capacitor, when the exciting current is correspondingly reduced, the voltage of the bus at the direct current side is increased, the discharging mode of the exciting winding is called, and the corresponding duty ratio is d 1 ；②S 1 、S 2 Conduction, S 4 、S 6 The conduction and excitation current passage is a storage battery-excitation winding, the excitation current rises and the bus voltage drops, the excitation winding energy storage mode is called, and the corresponding duty ratio is d 2 ；③S 1 、S 2 Turn off, S 4 、S 6 Conducting, exciting current flows through S 4 、S 6 And diode D 1 、D 2 Freewheeling, corresponding to the constant exciting current amplitude while the voltage of the DC bus decreases, called freewheeling mode, corresponding to a duty cycle d 3 The method comprises the steps of carrying out a first treatment on the surface of the The excitation winding energy storage mode and the discharge mode respectively control excitation current and direct-current side bus voltage, and the follow current mode is used for decoupling control of excitation current control and direct-current side bus voltage;
energy storage mode duty ratio d of excitation winding 2 Output d by bus voltage ring PI regulator 1 And an excitation current loop PI regulator output d 2 ' comprehensive decision:
wherein u is c For the DC side capacitor voltage, u b Is a storage batteryA voltage.
2. The decoupling control method for the front-stage DC/DC converter of the electro-magnetic doubly-salient motor drive and charge integrated system as claimed in claim 1, wherein the switch S is modulated by adopting a double-edge modulation strategy 1 、S 2 And S is 4 、S 6 The duty ratio control is performed, specifically:
switch tube S 1 、S 2 Combining the rising sawtooth carrier with d 2 Comparison, d 2 S is greater than the rising sawtooth carrier 1 、S 2 Conduction, otherwise S 1 、S 2 Turning off;
switch tube S 4 、S 6 Combining the falling sawtooth carrier with (1-d) 1 ) Comparison, (1-d 1 ) S is greater than the falling sawtooth carrier 4 、S 6 Conduction, otherwise S 4 、S 6 And (5) switching off.
3. The decoupling control method of the front-stage DC/DC converter of the electro-magnetic doubly-salient motor drive and charge integrated system according to claim 1, wherein the method comprises the following steps: excitation current closed loop PI regulator output d 2 The' corresponding amplitude is obtained by:
wherein i is L The exciting current is L, and the exciting winding inductance is L.
4. The decoupling control method of the front-stage DC/DC converter of the electro-magnetic doubly-salient motor drive and charge integrated system according to claim 1, wherein the method comprises the following steps:
excitation winding discharge mode duty ratio d 1 Obtained by the following formula:
wherein u is c Is the direct-current side capacitance voltage, i L The exciting current is C, the capacitance value of the direct current side capacitor, and R is the equivalent output resistance of the DC/DC converter.
5. The decoupling control method of the front-stage DC/DC converter of the electro-magnetic doubly-salient motor drive and charge integrated system according to claim 1, wherein the method comprises the following steps:
duty cycle d of discharge mode of exciting winding when freewheel mode is not present 1 And duty cycle d of the excitation winding energy storage mode 2 Overmodulation, i.e. when d 1 +d 2 >1, let:
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