CN113687161B - Flywheel pulse power supply large inertia load characteristic simulation device - Google Patents
Flywheel pulse power supply large inertia load characteristic simulation device Download PDFInfo
- Publication number
- CN113687161B CN113687161B CN202110963101.9A CN202110963101A CN113687161B CN 113687161 B CN113687161 B CN 113687161B CN 202110963101 A CN202110963101 A CN 202110963101A CN 113687161 B CN113687161 B CN 113687161B
- Authority
- CN
- China
- Prior art keywords
- flywheel
- motor
- load
- curve
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 153
- 238000000034 method Methods 0.000 claims abstract description 59
- 230000001133 acceleration Effects 0.000 claims abstract description 41
- 238000012360 testing method Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims description 45
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000005070 sampling Methods 0.000 claims description 18
- 239000011159 matrix material Substances 0.000 claims description 14
- 238000009826 distribution Methods 0.000 claims description 12
- 101000841267 Homo sapiens Long chain 3-hydroxyacyl-CoA dehydrogenase Proteins 0.000 claims description 11
- 102100029107 Long chain 3-hydroxyacyl-CoA dehydrogenase Human genes 0.000 claims description 11
- JJYKJUXBWFATTE-UHFFFAOYSA-N mosher's acid Chemical compound COC(C(O)=O)(C(F)(F)F)C1=CC=CC=C1 JJYKJUXBWFATTE-UHFFFAOYSA-N 0.000 claims description 11
- 230000014509 gene expression Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 5
- 230000004907 flux Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000004146 energy storage Methods 0.000 abstract description 15
- 230000008859 change Effects 0.000 abstract description 5
- 238000011217 control strategy Methods 0.000 abstract description 5
- 238000012795 verification Methods 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000011056 performance test Methods 0.000 abstract 1
- 239000000306 component Substances 0.000 description 11
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- XOFYZVNMUHMLCC-ZPOLXVRWSA-N prednisone Chemical compound O=C1C=C[C@]2(C)[C@H]3C(=O)C[C@](C)([C@@](CC4)(O)C(=O)CO)[C@@H]4[C@@H]3CCC2=C1 XOFYZVNMUHMLCC-ZPOLXVRWSA-N 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The simulation device realizes more accurate simulation of the large inertia load characteristic of the flywheel pulse power supply system by designing the change rate of the torque and the rotating speed of the simulation device along with time without depending on a torque sensor and additionally installing an auxiliary flywheel disc so as to meet the test requirement of the shortest acceleration time of the tested charging motor as a constraint condition. The device and the simulation method based on the large inertia load characteristic can provide convenient test conditions for steady state and dynamic performance verification and control strategy optimization of the charging motor of the flywheel pulse power supply system, and shorten the performance test time of the charging motor of the large inertia flywheel energy storage system such as the flywheel pulse power supply system.
Description
Technical Field
The invention relates to a flywheel pulse power supply large inertia load characteristic simulation device.
Background
The flywheel pulse power supply is a special power supply system which utilizes a large inertia flywheel to realize energy storage and can output high-power electric energy for supplying power to a load in a short time, and has very wide application. The flywheel pulse power supply mainly comprises a flywheel energy charging motor, a flywheel and a generator, the working process of the flywheel pulse power supply can be divided into two stages of energy charging and energy releasing, the energy charging stage stores mechanical energy by dragging the flywheel to accelerate rotation through the energy charging motor, the energy releasing stage releases the mechanical energy stored by the flywheel to the outside rapidly through the generator, and a single set of unit can realize hundred megawatt pulse power output. The pulse power supply system based on flywheel energy storage realizes conversion and storage from mechanical energy to electric energy by dragging the flywheel to accelerate rotation through the energy charging motor, the energy charging motor generally adopts alternating current motors such as an asynchronous motor, a synchronous motor and the like, is coaxially installed with the flywheel and a generator, and is used as a core component for realizing mutual conversion between electric energy and mechanical energy in the flywheel energy storage system, and the performance of the energy charging motor directly influences the performance of the whole flywheel energy storage system. The process of realizing flywheel charging through the rising speed of the charging motor is used as a necessary front link before discharging of the flywheel pulse power supply, the time consumption of the stage is an important factor affecting the output electric energy rapidity of the flywheel pulse power supply, and the assessment of the charging speed of the charging motor becomes a specific requirement for realizing the rapid output of a pulse power supply system.
The flywheel pulse power supply system has good advantages in terms of volume energy ratio and energy conversion efficiency, but the flywheel pulse power supply system with large inertia is large in volume and mass due to the flywheel disc, strong vibration and noise are easy to generate in the experimental process, and once mechanical faults occur, great threat can be caused to safety of peripheral equipment and personnel, and the problems cause the problems that the flywheel system with large inertia has long experimental period, high experimental cost and the like in the principle verification stage. The bench simulation test is carried out before the complete machine test of the pulse power system is carried out by the flywheel, and the method is an effective means for verifying the dynamic and static performance of the charging motor of the flywheel system. For an indoor test bed for flywheel pulse power supply performance research, a key technology is how to truly simulate the moment of inertia of a flywheel, and accurate simulation of the moment of inertia is a precondition for realizing the consistency of the working condition of the test bed and the actual operation condition of a flywheel pulse power supply system.
At present, the inertial test bed mainly has two types, namely mechanical inertia simulation and electric inertia simulation of a flywheel. The mechanical inertia simulation test bed has the problems of huge rack structure, poor inertia simulation precision, discontinuous inertia simulation and the like although the mechanical inertia simulation test bed is simple to control, and the pure mechanical inertia simulation test bed can not meet the test requirements gradually. With the progress of computer technology and motor control technology, the electric inertia simulation test bed is rapidly developed, the moment of inertia is compensated by controlling the output moment and the rotating speed of the load simulation motor in the test process, the dynamic characteristic of the test system approaches to an ideal flywheel system, and compared with pure mechanical inertia simulation, the electric inertia simulation test bed can realize accurate matching of test inertia.
The patent 201310262944.1 provides a brake electric inertia simulation test bed and an electric inertia simulation control method thereof, and aims to simulate the electric inertia of a brake based on a torque sensor, a flywheel, a dragging motor, a speed sensor and an electric inertia simulation control unit. Similarly, patent 201710104555.4 "a flywheel-generator set-based inertia simulation system", patent 201410315638.4 "a direct set-type load torque and moment of inertia simulation system and a control method thereof", and "a new dynamic simulation principle of inertia" of patent 200810114716.9 "all adopt a mode that a small inertia flywheel disc is coaxially connected with a load motor, and inertia simulation is realized by applying torque and rotation speed control to the load motor, so that additional inertia discs and torque sensors are necessary components for ensuring the operation of the system. The above-mentioned patents all construct flywheel simulation devices based on the principle of simulating mechanical inertia by using electric inertia, and although the above-mentioned simulation devices can simulate the load characteristics of a large inertia flywheel, the following problems exist in practical application. Firstly, the existing electric inertia simulation method relies on a small inertia flywheel to realize compensation of electric inertia, a small inertia flywheel disc replaces a large inertia flywheel to simplify the complexity of flywheel installation, but the existence of the small flywheel still brings trouble to shafting design, installation and protection of a simulation device; secondly, in order to realize torque control of the load motor, the electric inertia simulation device needs to measure torque information of the load simulation motor in real time, a torque sensor is generally required to be coaxially installed in order to realize torque measurement, and for a high-power flywheel simulation device, the acquisition and installation costs of the sensor are required to be considered; meanwhile, the existing method only realizes the simulation of the rotation speed and torque characteristics of the flywheel, and the test limit of the simulation device is not planned in advance on the basis of comprehensively considering the load and the power output capacity of the tested motor, so that the requirement of the charge motor loading process on the rapid acceleration index assessment cannot be met.
Therefore, the method for simulating the load characteristics of the large inertia flywheel, which meets the test requirement of the tested charge motor that the acceleration time is shortest and does not need to be added with a small inertia flywheel and a torque sensor, is designed, and has practical significance when being used for truly simulating the load characteristics of the large inertia of the charge motor under the application condition of a pulse power supply system.
Disclosure of Invention
The invention aims to overcome the problems that an existing flywheel load characteristic simulation device based on electric inertia simulation needs an auxiliary small inertia flywheel and a coaxially connected torque sensor, and the requirements for rapid acceleration index assessment in the acceleration process of dragging a load by a charging motor are not considered, and provides a flywheel pulse power supply large inertia load characteristic simulation device. The invention can meet the test requirement of the tested energy charging motor that the acceleration time is shortest when the tested energy charging motor carries the load of the large inertia flywheel, does not depend on the small inertia flywheel on the axle system and does not need to be connected with a torque sensor coaxially, can more accurately simulate the load characteristic of the large inertia flywheel in the pulse power supply system in a laboratory environment, and considers the requirement of the tested object energy charging motor on the rapid acceleration index check in the loading process. The invention provides a simulated load for the steady-state and dynamic loading process of the charging motor of the flywheel pulse power supply system and provides convenient test conditions for performance verification and control strategy optimization of the charging motor, thereby shortening the bench test verification time of the charging motor of the flywheel pulse power supply system and reducing the research and development period and research and development cost of the pulse power supply system.
The invention relates to a flywheel pulse power supply large inertia load characteristic simulation device, which comprises: the inertia simulation device controls the upper computer, the load motor, the rotating speed sensor coaxially installed on the rotor of the load motor, the load motor frequency converter for controlling the load motor, the tested charging motor and the tested charging motor frequency converter. The inertia simulation device controls the upper computer to be connected with the load motor frequency converter and the tested charging motor frequency converter through the CAN bus; the load motor frequency converter is connected with an alternating current power grid and a load motor through power cables respectively; the rotating speed sensor is arranged on the rotor shaft of the load motor, the signal output end of the rotating speed sensor is connected with the speed measurement signal input end of the load motor frequency converter, and the load motor frequency converter uploads the collected rotating speed signal to the inertia simulation device through the CAN bus to control the upper computer.
The moment of inertia of the flywheel is J, and the moment of inertia of the load motor is J m ，J>>J m The method comprises the steps of carrying out a first treatment on the surface of the The flywheel is generally arranged in the vacuum cavity, and the friction torque T f The flywheel "acceleration characteristic" described by acceleration a can be ignored as:
let t be 0 ～t 1 During a period of time, the flywheel angular velocity is determined byRising to +.>The electromagnetic torque of the flywheel acceleration driven by the charging motor is T e The energy storage characteristic of the flywheel in the speed increasing process meets the following conditions: />
Where ΔE is the increment of the energy stored by the flywheel.
In the flywheel pulse power supply system, an energy charging motor is coaxially connected with an energy storage flywheel, and the energy charging motor drives the flywheel to accelerate to complete the energy charging process of the flywheel pulse power supply system. The charging motor is usually an alternating current motor such as an induction motor and a synchronous motor and is coaxially connected with a large inertia flywheel of the pulse power supply system, so that the characteristic of torque-rotating speed in the acceleration process of the flywheel is determined by the external characteristic of the charging motor. The typical external characteristic of an ac motor can be divided into two parts, a constant torque operating region and a constant power operating region: the maximum output torque is kept unchanged when the constant torque working area works and is not changed along with the change of the rotating speed; in the constant power region, the maximum output torque is reduced along with the increase of the rotating speed, the output power is kept unchanged, and the working characteristics of the flywheel when the charging motor drags the flywheel under the two typical working modes of constant torque and constant power are respectively described below.
Mode 1: constant torque mode
t 0 ～t 1 In a period of time, the angular speed of the flywheel is changed from an initial valueRising to +.>The time spent in the acceleration process is t r ＝t 1 -t 0 In the constant torque mode, the electromagnetic torque T of the charging motor is generated in the speed increasing process e The equation of motion of the flywheel can be written according to the aforementioned "acceleration characteristics" of the flywheel and newton's second law train: />Where a is the acceleration of the flywheel, and in the constant torque mode, the "acceleration characteristic" of the flywheel may be expressed as: />
According to the flywheel motion equation, the acceleration time t of the flywheel can also be obtained r In the constant torque mode, the "acceleration time characteristic" of the flywheel can be expressed as:
wherein J is the rotational inertia of the flywheel; t is t 0 Is the initial moment of flywheel acceleration, and the angular speed of the flywheel is the momentt 1 For the moment of completion of the acceleration of the flywheel, the moment of the angular speed of the flywheel is +.>Acceleration time of flywheel: t is t r ＝t 1 -t 0 。
Mode 2: constant power mode
t 0 ～t 1 In the time period, the tested charging motor drags the flywheel angular speed to be from an initial valueRising to +.>Maximum output power P in the process of increasing speed max Remains unchanged, i.e. the function P (t) =p of the power over time during the ramp-up max =constant.
Let t be the time of the acceleration process r ，t 0 The electromagnetic torque of the time charging motor is T e0 Since the power remains unchanged during constant power operation, for any angular velocity omega,the torque output by the tested charging motor is,
in constant power mode, the "acceleration characteristic" of the flywheel can be expressed as:
Energy storage variable quantity in the flywheel speed increasing process: Δe= ≡p (t) dt=p max ∫dt＝P max t r
In combination with the energy storage characteristic equation of the flywheel given above,
in constant power mode, the "acceleration time characteristic" of the flywheel can be expressed as:
wherein J is the rotational inertia of the flywheel; omega is the angular velocity of the tested charging motor; t (T) e (omega) is the torque output by the tested charging motor when the angular speed takes the value omega; t is t 0 Corresponding to the initial moment of flywheel acceleration, the moment is the angular speed of the flywheelThe electromagnetic torque of the tested charging motor at the moment is T e0 ；t 1 Corresponding to the moment of completion of flywheel acceleration, the moment of flywheel angular velocity isa is the acceleration of the flywheel; p (t) is a function of the output power of the charging motor over time t, P (t) =p max =constant; delta E is the change amount of energy storage in the process of flywheel speed increase.
The description of the load characteristics of the inertia flywheel can be realized through the three characteristics of the energy storage characteristic, the acceleration time characteristic and the like.
The invention adopts the permanent magnet synchronous motor as a load motor, and simulates the large inertia load characteristic of the flywheel by using the permanent magnet motor. The specific implementation process is as follows: the inertia simulation device controls the upper computer to finish torque and rotation speed control instruction calculation in the control upper computer of the inertia simulation device according to the set to-be-simulated rotation inertia J and the known T-omega external characteristic curves of the load motor and the tested motor under the shortest acceleration time constraint condition; the inertia simulation device controls the upper computer to send the rotating speed instruction value to the tested energy charging motor frequency converter through the CAN bus, and the rotating speed closed-loop control function of the tested energy charging motor frequency converter is utilized to complete the rotating speed closed-loop control of the tested motor; the inertia simulation device controls the upper computer to send a torque command value to the load frequency converter through the CAN bus, the main control unit of the load frequency converter finishes the calculation of d-axis and q-axis current command values according to the torque command value, and d-axis current control software and q-axis current control software in the main control unit of the load frequency converter are used for completing the closed-loop control of current, so that the tracking of the torque command value is realized, and the torque is applied to the tested charging motor.
Taking a flywheel with moment of inertia J as an example, a tested charging motor and a load motor are both alternating current motors, wherein the load motor is a three-phase alternating current permanent magnet synchronous motor, the tested charging motor can be a permanent magnet motor, an asynchronous motor or other forms of alternating current motors, T-omega external characteristic curves of the tested charging motor and the load motor are known, and based on the preconditions, the flywheel pulse power supply large inertia load characteristic simulation method based on minimum acceleration time planning is as follows:
step 1, solving working area of flywheel pulse power source inertia simulation device and calculating torque, rotating speed and acting time
The process is completed in an inertia simulation device control upper computer.
The inertia simulation device provided by the invention can be compatible with a plurality of charging motors with different power levels in the set rotating speed and torque range, provided that the highest rotating speed and the maximum torque of the load motor can cover the tested charging motor rotating speed and torque range and enough margin is reserved when the load motor is selected. The high-inertia load simulation device is coaxially and mechanically connected with the tested charging motor through the coupler, and in order to ensure that the two motors are not overloaded, the maximum rotating speed and the maximum torque index which can be realized by the inertia simulation device are jointly determined by the T-omega external characteristics of the load motor and the tested charging motor.
Step 1: obtaining a limit operation curve of an inertia simulation device
And establishing a coordinate system by taking the rotating speed omega as a horizontal axis and the torque T as a vertical axis, drawing T-omega external characteristic curves of the load motor and the tested charging motor under the coordinate system, and acquiring the T-omega external characteristic curves of the load motor and the tested charging motor with determined types from motor factory data. The operable areas of the load motor and the tested charging motor are areas surrounded by the T-omega external characteristic curve of the motor and the transverse axis and the longitudinal axis of the coordinate system. In order to ensure that the load motor and the tested charging motor are not overloaded in the running process of the inertia simulation device, the working area of the inertia simulation device is determined by the intersection of the load motor and the working area of the tested charging motor. In particular, the boundary of the working areas of the load motor and the tested charging motor is used as the limit operation curve of the inertia simulation device, the limit operation curve represents the maximum load capacity of the inertia simulation device, and the inertia simulation device is enabled to operate along the working condition described by the curve by applying the control function on the basis of obtaining the limit operation curve of the inertia simulation device, so that the requirement of the shortest acceleration time test of the tested charging motor can be met.
The "limit running curve" of the inertia simulation apparatus generally consists of a plurality of curve segments, each curve segment can be classified as a constant torque curve or a constant power curve of the motor, the solution process is described by taking the case that the "limit running curve" of the inertia simulation apparatus of the present invention consists of three curve segments as an example, and when the number of curve segments is other values, similar processes can be adopted to solve:
the three curve segments are numbered and respectively marked as (1), (2) and (2)1). The limit operating curve of the inertia simulator consisting of curve segments (2)2, (2)0, (2)4) has the following characteristics: 1) The curve section (1) is a constant torque curve, the abscissa of the curve section is gradually increased from zero, the ordinate of the curve section is kept unchanged, and the curve section corresponds to the constant torque characteristic of constant maximum torque output in the process of increasing the motor rotating speed; 2) The curve section (2)3, 3) is a constant power curve, and the torque represented by the ordinate is reduced along with the gradual increase of the rotating speed represented by the abscissa, and corresponds to the constant power characteristic that the maximum power output in the process of increasing the rotating speed of the motor is kept unchanged; 3) The curve sections (1), (2) and (3) are connected end to form a continuous curve. The starting point and ending point of the curve segments (1), (2) and (3) can be O (0, T) e2 )、A(ω 1 ，T e2 )、B(ω 2 ，T e3 )、C(ω max ，T e4 ) The four points represent that the point A and the point B correspond to the intersection of the T-omega external characteristic curves of the load motor and the motor to be testedPoints O and C are ω=0 and ω=ω, respectively max The coordinate values of the four points, such as the O point, the A point, the B point and the C point, can be obtained by obtaining the intersection point of the expressed straight line and the T-omega external characteristic curve.
Step 2: calculating torque command value of inertia simulation device
Referring to the process of obtaining the acceleration time characteristic of the flywheel, the torque command value of the inertia simulatorTorque command value +.f that can be run along curves (1), (2), (3) by inertia simulation means>Is->The segmentation is expressed as:
wherein ω is the angular velocity of the flywheel;the torque command value is an inertia simulation device; />AndRespectively representing torque command values when the inertia simulation device runs along curves (1), (2) and (3) and the flywheel angular speed is omega; omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 Corresponding to the end position of curve (2)Torque value.
Step 3: calculating the rotating speed command value of inertia simulator
The inertia simulation device can obtain the rotation speed command value omega in the running process along the curves (1), (2) and (3) by referring to the process of obtaining the acceleration characteristic of the flywheel * The expression of (t) over time t:
wherein omega * (t) is a rotation speed command value of the inertia simulation device at the moment t; j is the rotational inertia of the flywheel; t is t r① 、t r② T r③ The duration of operation of the simulation device along the curved sections (1), (2), (3); omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 The torque value corresponding to the end position of the curve (2).
Referring to the process of obtaining the "acceleration time characteristic" of the flywheel, starting point/end point coordinates of the curve segments (1), (2), and (3) obtained in step 1 can be obtained by:
wherein t is r① 、t r② T r③ The duration of operation of the simulation device along the curved sections (1), (2), (3); j is the rotational inertia of the flywheel; omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 The torque value corresponding to the end position of the curve (2).
Based on the above process, the flywheel pulse power source inertia simulation device operation area acquisition and control instruction calculation based on minimum time planning are completed.
Process 2, controlling torque of load motor of inertia simulation apparatus
The process is completed in the main control unit of the load motor frequency converter.
Step 1: obtaining the inductance L of a load motor d 、L q Follow i d 、i q Varying functional expressions
Based on the least square principle, the dq axis component L of the load motor stator inductance is completed d 、L q Fitting of curves, and determining the value of the fitted quadratic polynomial coefficient.
The known load motor is arranged at different i d 、i q Inductance L at current d 、L q Is a value of (1):
L d1 ＝f d (i d1 ,i q1 )，L d2 ＝f d (i d2 ，i q2 )，……，L dM ＝f d (i dM ，i qM )
L q1 ＝f q (i d1 ，i q1 )，L q2 ＝f q (i d2 ，i q2 )，……，L qN ＝f q (i dN ，i qN )
respectively substituting the two-degree polynomials and representing the two-degree polynomials in a matrix form,
wherein M, N is a known positiveIntegers respectively corresponding to different i d 、i q At current L d 、L q Is the number of data points; l (L) di ＝f d (i di ，i qi ) Take the value i for the current di 、i qi D-axis inductance value of load motor stator at time, i=1, 2, …, M; l (L) qj ＝f q (i dj ,i qj ) Takes the value i for the current dj 、i qj Q-axis inductance value of the load motor stator at that time, j=1, 2, …, N.
In the above, the division matrix a= [ a ] 20 a 02 a 11 a 10 a 01 a 00 ] T 、B＝[b 20 b 02 b 11 b 10 b 01 b 00 ] T Other known quantities can be used to obtain matrix A and matrix B by matrix operation, and then L d Coefficients a of the polynomial of degree (2) 20 、a 02 、a 11 、a 10 、a 01 、a 00 And L q Coefficients b of the second order polynomial of (2) 20 、b 02 、b 11 、b 10 、b 01 、b 00 。
Step 2: obtaining a maximum torque current ratio (MTPA) based stator current d, q-axis component i d 、i q Distribution law
The torque expression of the load motor is that,
wherein T is e Torque for the load motor; i.e s Stator current for the load motor; i.e d 、i q D, q-axis components of the load motor stator current; l (L) d 、L q The inductor is a d-axis and q-axis of a load motor; n is n p Andpole pair numbers of rotor magnetic poles and rotor permanent magnet flux linkages of load motor respectively, and for load electricity with determined modelBoth are constant in terms of machine.
At load motor stator current i s When the d-axis current and the q-axis current are distributed by adopting a maximum torque current ratio (MTPA) current distribution strategy, the torque T can be caused e Take maximum value, and T e The current is satisfied when the maximum value is taken,
equation (6) is the stator current i of the load motor based on maximum torque to current ratio (MTPA) d 、i q Distribution law.
Step 3: calculating d-axis and q-axis current command values of the load motor according to the torque command
A combined type (4), a formula (5) and a formula (6),
the torque command value obtained in step 2 of procedure 1 is setSubstituted into the above, i.e. let +.>Obtaining a torque command value by solving the equation set>I of the corresponding current d And i q 。
To get i d Initial value as d-axis current commandI.e. < ->To get i q Initial value +.>I.e. < ->
In order to ensure that the load motor operates under the constant power working condition, the d-axis current instruction initial value obtained by calculation is calculatedOutput delta i of PI regulator with weak magnetic ring d Command value of d-axis current obtained by addition +.>I.e.)>Initial value of q-axis current command +.>Instruction value directly as q-axis current +.>I.e.)>The command values of d and q axis currents of the load motor are loaded on the current inner loop;
step 4: calculating to obtain a stator d and q-axis voltage command signal u of the load motor d 、u q ：
Sampling three-phase current sampling values of the load motor, which are obtained by sampling a current sampling circuit of a load motor frequency converter, through Clark and Park coordinate transformation, obtaining a current sampling value i under a d-q axis coordinate system d And i q The command value of the d-axis and q-axis components of the stator current of the load motor obtained in the step 3Respectively with the current sampling valuei d 、i q The difference is made, and stator d and q axis voltage command signals u of the load motor are obtained through the closed-loop control action of the load motor frequency converter d and q axis current controller d 、u q ，
In the above, k pd ,k id The proportional coefficient and the integral coefficient of the d-axis current regulator are respectively; k (k) pq ,k iq The q-axis current regulator proportional and integral coefficients, respectively.
Step 5: the stator voltage command signal u of the load motor obtained in the step 4 is processed d 、u q As the input of the post SVPWM link, the space vector modulation SVPWM strategy running in the main control unit of the load motor frequency converter is operated to generate 6 paths of PWM driving control signals, the PWM driving signals are output to the power driving circuit of the load motor frequency converter, and the power driving circuit is used for controlling the on-off of the three-phase full-control bridge to realize the closed-loop control of the load motor.
Process 3, controlling the rotational speed of the inertia simulation device
The inertia simulation device controls the upper computer to control the rotating speed command value omega calculated in the step 3 in the process 1 * The value is sent to the tested charging motor frequency converter through the CAN bus, and the rotation speed control of the inertia simulation device is completed by utilizing the rotation speed closed-loop control function of the tested motor frequency converter.
In summary, the invention is based on the analysis of three characteristics of the flywheel pulse power supply, such as 'energy storage characteristic', 'acceleration characteristic', and 'acceleration time characteristic', takes the shortest acceleration time as a constraint condition, and on the basis of not depending on a torque sensor and not needing to additionally install an auxiliary flywheel disc, the control upper computer of the load simulation device completes the calculation of three elements of torque, rotation speed and action time of the large inertia flywheel system, and sends the calculated rotation speed and torque command value to the measured charge motor frequency converter and the load motor frequency converter respectively. Utilize the measured charging motor frequency converter to possess The rotating speed closed-loop control function of the inertia simulation device is completed; in a main control unit of a load motor frequency converter, stator current d and q axis components i are completed based on maximum torque current ratio (MTPA) strategy d 、i q The distribution law is obtained, the conversion from the torque command value to the current command value is realized, the output torque of the load motor and the torque equivalent to the large inertia flywheel load of the tested motor at any rotating speed are completed through the closed-loop control function of the load motor frequency converter on the current, and the simulation of the large inertia flywheel torque characteristic is further realized.
Drawings
FIG. 1 is a schematic diagram of the connection between a charging motor and an energy storage flywheel of a flywheel pulse power system;
FIG. 2 is a schematic diagram of the connection between the inertia modeling apparatus and the charge motor under test;
acquisition of a limit operation curve of the inertia simulation apparatus of fig. 3;
FIG. 4 is a control schematic block diagram of an inertia modeling apparatus;
fig. 5 shows d-axis inductance L of load motor d Follow i d 、i q The change relation L of (2) d ＝f d (i d ,i q )；
Fig. 6 is a q-axis inductance L of a load motor q Follow i d 、i q The change relation L of (2) q ＝f q (i d ,i q )。
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
Fig. 1 is a schematic diagram of a connection relationship between a charging motor and an energy storage flywheel of a flywheel pulse power supply system. As shown in FIG. 1, the tested charging motor is coaxially connected with the large inertia flywheel and drives the flywheel to rotate so as to realize energy storage. The resistance moment generated in the rotation process of the flywheel is balanced with the torque output by the charging motor.
The invention adopts a large inertia load simulation device to replace a real flywheel to provide a loading test environment for the charging motor of the flywheel pulse power supply system, and the simulation device and the charging motor serving as the tested motor are coaxially and mechanically connected through a coupler, and the connection principle of the simulation device and the charging motor is shown in figure 2. The embodiment of the invention relates to a flywheel pulse power supply large inertia load characteristic simulation device, which comprises the following components: the inertia simulation device controls the upper computer, the load motor, the rotating speed sensor coaxially installed on the rotor of the load motor, the load motor frequency converter for controlling the load motor, the tested charging motor and the tested charging motor frequency converter. The inertia simulation device controls the upper computer to be connected with the load motor frequency converter and the tested charging motor frequency converter through the CAN bus; the load motor frequency converter is connected with an alternating current power grid and a load motor through power cables respectively; the rotating speed sensor is arranged on the rotor shaft of the load motor, the signal output end of the rotating speed sensor is connected with the speed measurement signal input end of the load motor frequency converter, and the load motor frequency converter uploads the collected rotating speed signal to the inertia simulation device through the CAN bus to control the upper computer.
Fig. 4 is a schematic block diagram of a control strategy of the large inertia load characteristic simulation apparatus. The control strategy of the load characteristic simulation device comprises links such as simulation characteristic calculation, current instruction calculation, current closed-loop control, flux weakening calculation, SVPWM and the like. The simulation characteristic calculation is realized in a control upper computer of the simulation device, and the output of the simulation characteristic calculation is a torque and rotating speed instruction; current instruction calculation, current closed-loop control, flux weakening calculation and SVPWM control are realized based on a load motor frequency converter main control unit; the rotation speed control of the simulation device is realized based on a rotation speed closed-loop control strategy of the main control unit of the measured charging motor frequency converter.
As shown in fig. 4, a user inputs a to-be-simulated moment of inertia J and a T- ω curve of a tested/loaded motor into a control host computer of the inertia simulation device, and the simulation control host computer completes calculation of three elements of a working area solution, torque, rotation speed and action time of the large inertia simulation device, and sends the calculated rotation speed and torque command values to a tested charge motor frequency converter and a tested/loaded motor frequency converter respectively. In a main control unit of a load motor frequency converter, stator current d and q axis components i are completed based on maximum torque current ratio (MTPA) strategy d 、i q Distribution law acquisition, conversion from torque command value to current command value and communicationThe overload motor frequency converter performs closed-loop control on current, so that the output torque of the load motor is equivalent to the torque of the tested motor under the condition that the flywheel is used as a load in real application at any rotating speed, and the simulation of the load characteristic of the large inertia flywheel is realized.
Based on the above analysis, taking the example that the tested charging motor and the load motor have characteristic curves outside the curve 1 and the curve 2 in fig. 3, the working process of the large inertia load characteristic simulation method of the present invention is described as follows:
step 1, calculating working area solving, torque, rotating speed and acting time of flywheel pulse power supply inertia simulation device
Step 1: acquisition of "limit operating curve" of inertia simulation apparatus
And the moment of inertia J to be simulated and a T-omega curve of the tested/loaded motor are input into the upper computer controlled by the inertia simulation device, and the working area of the inertia simulation device is the intersection of a graph formed by the T-omega external characteristic curve, a transverse axis and a longitudinal axis. The boundary of the working area of the inertia simulation device corresponds to a "limit operation curve" of the inertia simulation device, and as shown in fig. 3, the curve is composed of three curve segments of (1) (2) (3), etc., and the specific calculation method of the coordinates of the start point, the end point and the middle turning point of the "limit operation curve" of the inertia simulation device is as follows:
the starting point O (0, T) of the "limit operating curve e2 ) And endpoint C (omega) max ,T e4 ) Is defined by ω=0 and ω=ω, respectively max A set of solutions with smaller torque values in the intersection points of the straight line represented and the T-omega external characteristic curve is determined.
The middle two turning points A (omega 1 ,T e2 ) And B (omega) 2 ,T e3 ) The coordinates of (2) can be determined from the intersection of the two T- ω external characteristics.
The step obtains T e2 、T e3 、T e4 、ω 1 、ω 2 And omega max Is a value of (a).
Step 2: calculating torque command value of inertia simulation device
According to the "acceleration time characteristic" of the inertia flywheel,torque command value of inertia simulation device Torque command value +.f that can be run along curves (1), (2), (3) by inertia simulation means>Is->The segmentation is expressed as:
wherein ω is the angular velocity of the flywheel;the torque command value is an inertia simulation device; />AndRespectively representing torque command values when the inertia simulation device runs along curves (1), (2) and (3) and the flywheel angular speed is omega; omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 The torque value corresponding to the end position of the curve (2).
Step 3: calculating the rotating speed command value of inertia simulator
According to the acceleration characteristic of the inertia flywheel, the rotational speed command value omega of the inertia simulation device can be obtained when the inertia simulation device runs along the curves (1), (2) and (3) * The expression of (t) over time t:
wherein omega * (t) is a rotation speed command value of the inertia simulation device at the moment t; j is the rotational inertia of the flywheel; t is t r① 、t r② T r③ The duration of operation of the simulation device along the curved sections (1), (2), (3); omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 The torque value corresponding to the end position of the curve (2).
According to the acceleration time characteristic of the inertia flywheel, the coordinates of the starting point, the ending point and the middle turning point of the limit operation curve obtained in the step 1 are utilized, and the operation time is calculated by the following formula:
wherein J is the rotational inertia of the flywheel; t is t r① 、t r② T r③ The duration of operation of the simulation device along the curved sections (1), (2), (3); omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 The torque value corresponding to the end position of the curve (2).
Based on the above process, the flywheel pulse power source inertia simulation device operation area acquisition and control instruction calculation based on minimum time planning are completed.
Process 2, controlling torque of load motor of inertia simulation apparatus
Step 1: obtaining the inductance L of a load motor d 、L q Follow i d 、i q Varying functional expressions
Stator d and q axis inductance L of load motor d 、L q Can be expressed by a quadratic polynomial,
Each set of data of inductance with current as shown in fig. 5 and 6 is substituted into the above-described quadratic polynomial, respectively, and expressed as a matrix form as follows,
wherein M, N is a known positive integer, and corresponds to different i d 、i q At current L d 、L q Is the number of data points; l (L) di ＝f d (i di ,i qi ) Take the value of current (i) di ,i qi ) D-axis inductance value of load motor stator at time, i=1, 2, …, M; l (L) qj ＝f q (i dj ,i qj ) Takes the value of (i) for the current dj ,i qj ) Q-axis inductance value of the load motor stator at that time, j=1, 2, …, N.
In the above, the division matrix a= [ a ] 20 a 02 a 11 a 10 a 01 a 00 ] T 、B＝[b 20 b 02 b 11 b 10 b 01 b 00 ] T Other methods can be obtained from fig. 5 and 6, and matrix a and matrix B can be obtained by matrix operation in the load motor frequency converter, thereby obtaining L d Coefficients a of the polynomial of degree (2) 20 、a 02 、a 11 、a 10 、a 01 、a 00 And L q Coefficients b of the second order polynomial of (2) 20 、b 02 、b 11 、b 10 、b 01 、b 00 。
Step 2: obtaining a maximum torque current ratio (MTPA) based stator current d, q-axis component i d 、i q Distribution law
The torque expression of the load motor is that,
wherein T is e Torque for the load motor; i.e s Stator current for the load motor; i.e d 、i q D, q-axis components of the load motor stator current; l (L) d 、L q The inductor is a d-axis and q-axis of a load motor; n is n p Andthe pole pair numbers of the rotor magnetic poles and the rotor permanent magnet flux linkages of the load motor are respectively constant for the load motor with a determined model.
D-axis and q-axis current distribution is carried out by adopting a maximum torque current ratio (MTPA) current distribution strategy, so that the maximum torque T under unit current can be obtained e ，T e The current is satisfied when the maximum value is taken,
the stator current i of the load motor based on the maximum torque current ratio (MTPA) d 、i q Distribution law.
Step 3: calculating d-axis and q-axis current command values of the load motor according to the torque command
A simultaneous combined type (4), a combined type (5) and a combined type (6),
the torque command value obtained in step 2 of procedure 1 is setSubstituted into the above, i.e. let +.>Obtaining a torque command value by solving the equation set>I of the corresponding current d And i q 。
To get i d Initial value as d-axis current commandI.e. < ->To get i q Initial value +.>I.e. < ->
In order to ensure that the load motor operates under the constant power working condition, the d-axis current instruction initial value obtained by calculation is calculatedOutput delta i of PI regulator with weak magnetic ring d Command value of d-axis current obtained by addition +.>I.e.)>Initial value of q-axis current command +.>Instruction value directly as q-axis current +.>I.e.)>The control process is shown in fig. 4, in which command values for the d-axis current and the q-axis current of the load motor are applied to the current inner loop.
Step 4: calculating to obtain a stator d and q-axis voltage command signal u of the load motor d 、u q ：
Sampling three-phase current sampling values of the load motor, which are obtained by sampling an alternating current sampling circuit of a load motor frequency converter, through Clark and Park coordinate transformation, obtaining a current sampling value i under a d-q axis coordinate system d And i q The command value of the d-axis and q-axis components of the stator current of the load motor obtained in the step 3Respectively with the current sampling value i d 、i q The difference is made, and stator d and q axis voltage command signals u of the load motor are obtained through the closed-loop control action of the load motor frequency converter d and q axis current controller d 、u q ，
In the above, k pd ,k id The proportional coefficient and the integral coefficient of the d-axis current regulator are respectively; k (k) pq ,k iq The q-axis current regulator proportional and integral coefficients, respectively.
Step 5: the stator voltage command signal u of the load motor obtained in the step 4 is processed d 、u q As the input of the post SVPWM link, the space vector modulation SVPWM strategy running in the main control unit of the load motor frequency converter is operated to generate 6 paths of PWM driving control signals, the PWM driving signals are output to the power driving circuit of the load motor frequency converter, and the power driving circuit is used for controlling the on-off of the three-phase full-control bridge to realize the closed-loop control of the load motor.
Process 3, controlling the rotational speed of the inertia simulation device
The inertia simulation device controls the upper computer to control the rotating speed command value omega calculated in the step 3 of the process 1 * The value is sent to the tested charging motor frequency converter through the CAN bus, and the rotating speed closed-loop control function of the tested charging motor frequency converter is utilized to complete the rotating speed control of the large inertia load simulation device.
Claims (2)
1. A flywheel pulsed power supply large inertia load characteristic simulation device, the device comprising: the inertia simulation device controls the upper computer, the load motor, a rotating speed sensor coaxially arranged with a rotor of the load motor, a load motor frequency converter for controlling the load motor, a tested charging motor and a tested charging motor frequency converter; the inertia simulation device controls the upper computer to be connected with the load motor frequency converter and the tested charging motor frequency converter through the CAN bus; the load motor frequency converter is connected with an alternating current power grid and a load motor through power cables respectively; the rotating speed sensor is arranged on the rotor shaft of the load motor, the signal output end of the rotating speed sensor is connected with the speed measurement signal input end of the load motor frequency converter, and the load motor frequency converter uploads the collected rotating speed signal to the inertia simulation device through the CAN bus to control the upper computer;
the inertia simulation device controls the upper computer to complete calculation of torque and rotation speed control instructions according to the set moment of inertia J to be simulated and the T-omega external characteristic curves of the known load motor and the tested charging motor by taking the shortest acceleration time as a constraint condition, wherein a coordinate system is established by taking the angular velocity omega of the flywheel as a horizontal axis and the torque T as a vertical axis, and the T-omega external characteristic curves of the load motor and the tested charging motor are drawn under the coordinate system; the tested energy charging motor frequency converter receives a rotating speed instruction value sent by the inertia simulation device control upper computer through a CAN bus, the inertia simulation device controls the upper computer to send the rotating speed instruction value to the tested energy charging motor frequency converter through the CAN bus, and the rotating speed closed-loop control function of the tested energy charging motor frequency converter is utilized to complete the rotating speed closed-loop control of the tested energy charging motor; the load motor frequency converter receives a torque command value sent by the inertia simulation device control upper computer through the CAN bus, the load motor frequency converter finishes the calculation of d-axis current command value and q-axis current command value according to the torque command value, the inertia simulation device controls the upper computer to send the torque command value to the load motor frequency converter through the CAN bus, the main control unit of the load motor frequency converter finishes the calculation of d-axis current command value and q-axis current command value according to the torque command value, d-axis current control software and q-axis current control software in the main control unit of the load motor frequency converter are used for completing the closed-loop control of current, the tracking of the torque command value is realized, the torque is applied to the tested charging motor, and the simulation of the torque characteristic of the large inertia flywheel is realized.
2. The flywheel pulsed power supply large inertia load characteristic simulation device according to claim 1, wherein the load characteristic simulation device simulates a large inertia flywheel load characteristic as follows:
step 1, solving a working area of a flywheel pulse power supply large inertia load characteristic simulation device and calculating torque, rotating speed and acting time;
the process is completed in an upper computer controlled by an inertia simulation device;
step 1: acquiring a limit operation curve of a flywheel pulse power supply large inertia load characteristic simulation device;
the operable areas of the load motor and the tested charging motor are areas surrounded by the T-omega external characteristic curve of the motor and the transverse axis and the longitudinal axis of the coordinate system; in order to ensure that a load motor and a tested charging motor are not overloaded in the running process of the flywheel pulse power supply large inertia load characteristic simulation device, the working area of the flywheel pulse power supply large inertia load characteristic simulation device is determined by the intersection of the load motor and the working area of the tested charging motor, the boundary of the working areas of the load motor and the tested charging motor is used as the limit running curve of the flywheel pulse power supply large inertia load characteristic simulation device, and the flywheel pulse power supply large inertia load characteristic simulation device is controlled to run along the working condition described by the curve so as to meet the requirement of the shortest acceleration time test of the tested charging motor;
The limit running curve of the flywheel pulse power supply large inertia load characteristic simulation device consists of three curve sections, the three curve sections are respectively numbered and marked as (1), (2) and (2)1), the curve section (1) is a constant torque curve, the abscissa of the curve section is gradually increased from zero, the ordinate of the curve section is kept unchanged, and the curve section corresponds to the constant torque characteristic that the maximum torque output in the process of increasing the rotating speed of the motor is unchanged; the curve section (2)0, 3) is a constant power curve, and the torque represented by the ordinate is reduced along with the gradual increase of the rotating speed represented by the abscissa, and corresponds to the constant power characteristic that the maximum power output in the process of increasing the rotating speed of the motor is kept unchanged; the curve sections (1), (2) and (3) are connected end to form a continuous curve; o (0, T) for starting and ending points of curve segments (1), (2) and (3) e2 )、A(ω 1 ,T e2 )、B(ω 2 ,T e3 )、C(ω max ,T e4 ) The four points are indicated that the point A and the point B correspond to the intersection points of T-omega external characteristic curves of the load motor and the motor to be tested, and the point O and the point C are omega=0 and omega=omega respectively max The intersection point of the expressed straight line and the T-omega external characteristic curve is obtained, coordinate values of four points of an O point, an A point, a B point and a C point are obtained by solving the intersection point, and torque, rotating speed and acting time of the load motor and the tested charging motor are obtained;
step 2: calculating a torque command value of a flywheel pulse power supply large inertia load characteristic simulation device;
Torque command value of the flywheel pulse power supply large inertia load characteristic simulation deviceTorque command value (i) operated along curves (1), (2) and (3) by flywheel pulse power supply large inertia load characteristic simulation device>Is->The segments are expressed as：
Wherein ω is the angular velocity of the flywheel;a torque command value of a large inertia load characteristic simulation device of the flywheel pulse power supply;is->Respectively representing torque command values when the flywheel pulse power supply large inertia load characteristic simulation devices run along curves (1), (2) and (3) and the flywheel angular speed is omega; omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 A torque value corresponding to the end position of the curve (2);
step 3: calculating a rotating speed instruction value of a flywheel pulse power supply large inertia load characteristic simulation device;
the flywheel pulse power supply large inertia load characteristic simulation device runs along curves (1), (2) and (3) with a rotating speed command value omega * The expression of (t) over time t is:
wherein omega * (t) is a rotating speed instruction value of the flywheel pulse power supply large inertia load characteristic simulation device at the moment t; j is the rotational inertia of the flywheel; t is t r① 、t r② T r③ The simulation device is respectively along the curve sections (1) and (2),(3) Duration of operation; omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 A torque value corresponding to the end position of the curve (2);
running time t of flywheel pulse power supply large inertia load characteristic simulation device along curve segments (1), (2) and (3) r① 、t r② T r③ Calculated from the following formula:
wherein t is r① 、t r② T r③ The duration of operation of the simulation device along the curved sections (1), (2), (3); j is the rotational inertia of the flywheel; omega 1 The flywheel angular velocity corresponding to the end position of the curve (1); omega 2 The flywheel angular velocity corresponding to the end position of the curve (2); omega max The flywheel angular velocity corresponding to the end position of the curve (3); t (T) e2 A torque value corresponding to the end position of the curve (1); t (T) e3 A torque value corresponding to the end position of the curve (2);
process 2, controlling the torque of the load motor
The process is completed in a main control unit of the load motor frequency converter;
step 1: obtaining the inductance L of a load motor d 、L q Follow i d 、i q Varying functional expressions
Based on the least square principle, d and q axis components L of the load motor stator inductance are completed d 、L q Fitting a curve, and determining the value of a fitted quadratic polynomial coefficient;
d-axis and q-axis components L of stator inductance of load motor d 、L q Expressed by a second order polynomial of degree,
the known load motor is arranged at different i d 、i q Inductance L at current d 、L q The values of (2) are respectively substituted into the quadratic polynomial and expressed as a matrix form,
L d1 ＝f d (i d1 ,i q1 )，L d2 ＝f d (i d2 ,i q2 )，……，L dM ＝f d (i dM ,i qM )
L q1 ＝f q (i d1 ,i q1 )，L q2 ＝f q (i d2 ,i q2 )，……，L qN ＝f q (i dN ,i qN )
wherein M, N is a known positive integer corresponding to i respectively d 、i q At current L d 、L q Is the number of data points; l (L) di ＝f d (i di ,i qi ) Take the value i for the current di 、i qi D-axis inductance value of load motor stator at time, i=1, 2, …, M; l (L) qj ＝f q (i dj ,i qj ) Takes the value i for the current dj 、i qj Q-axis inductance value of the load motor stator at time j=1, 2, …, N;
in the above, the division matrix a= [ a ] 20 a 02 a 11 a 10 a 01 a 00 ] T 、B＝[b 20 b 02 b 11 b 10 b 01 b 00 ] T Other known quantities are obtained by matrix operationMatrix A and matrix B, and then L is obtained d Coefficients a of the polynomial of degree (2) 20 、a 02 、a 11 、a 10 、a 01 、a 00 And L q Coefficients b of the second order polynomial of (2) 20 、b 02 、b 11 、b 10 、b 01 、b 00 ；
Step 2: obtaining a maximum torque current ratio (MTPA) based stator current d, q-axis component i d 、i q Distribution law;
the torque expression of the load motor is that,
wherein T is e Torque for the load motor; i.e s Stator current for the load motor; i.e d 、i q D, q-axis components of the load motor stator current; l (L) d 、L q The inductor is a d-axis and q-axis of a load motor; n is n p Andthe pole pair numbers of the rotor magnetic poles and the rotor permanent magnet flux linkage of the load motor are respectively, and are constants for the load motor with a determined model;
At load motor stator current i s When the d-axis current and the q-axis current are distributed by using a maximum torque current ratio (MTPA) current distribution strategy, the torque T can be made to be e Take maximum value, and T e The current at maximum value satisfies:
equation (6) is the stator current i of the load motor based on maximum torque to current ratio (MTPA) d 、i q Distribution law;
step 3: calculating current command values of d and q axes of the load motor according to the torque command;
a combined type (4), a formula (5) and a formula (6),
the torque command value obtained in step 2 of procedure 1 is setSubstituted into the above, i.e. let +.>Obtaining a torque command value by solving the equation set>I of the corresponding current d And i q ；
To get i d Initial value as d-axis current commandI.e. < ->To get i q Initial value +.>I.e. < ->
In order to ensure that the load motor operates under the constant power working condition, the calculated initial value of the d-axis current instruction is obtainedOutput delta i of PI regulator with weak magnetic ring d Command value of d-axis current obtained by addition +.>I.e.)>Initial value of q-axis current command +.>Instruction value directly as q-axis current +.>I.e.)> The command values of d and q axis currents of the load motor are loaded on the current inner loop;
step 4: calculating to obtain a stator d and q-axis voltage command signal u of the load motor d 、u q ：
Sampling three-phase current sampling values of the load motor, which are obtained by sampling a current sampling circuit of a load motor frequency converter, through Clark and Park coordinate transformation, obtaining a current sampling value i under a d-q axis coordinate system d And i q The command value of the d-axis and q-axis components of the stator current of the load motor obtained in the step 3Respectively with the current sampling value i d 、i q The difference is made, and stator d and q axis voltage command signals u of the load motor are obtained through the closed-loop control action of the load motor frequency converter d and q axis current controller d 、u q ，
In the above, k pd ,k id The proportional coefficient and the integral coefficient of the d-axis current regulator are respectively; k (k) pq ,k iq The proportional coefficient and the integral coefficient of the q-axis current regulator are respectively;
step 5: the stator voltage command signal u of the load motor obtained in the step 4 is processed d 、u q As the input of the post SVPWM link, generating 6 paths of PWM driving control signals through the operation of space vector modulation SVPWM strategy operated in the main control unit of the load motor frequency converter, outputting the PWM driving signals to the power driving circuit of the load motor frequency converter, and controlling the on-off of the three-phase full control bridge through the power driving circuit to realize the closed-loop control of the load motor;
process 3, controlling the rotating speed of the flywheel pulse power supply large inertia load characteristic simulation device
The inertia simulation device controls the upper computer to control the rotating speed command value omega calculated in the step 3 in the process 1 * The value is sent to the tested charging motor frequency converter through the CAN bus, and the rotation speed control of the flywheel pulse power supply large inertia load characteristic simulation device is completed by utilizing the rotation speed closed-loop control function of the tested motor frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963101.9A CN113687161B (en) | 2021-08-20 | 2021-08-20 | Flywheel pulse power supply large inertia load characteristic simulation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963101.9A CN113687161B (en) | 2021-08-20 | 2021-08-20 | Flywheel pulse power supply large inertia load characteristic simulation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113687161A CN113687161A (en) | 2021-11-23 |
| CN113687161B true CN113687161B (en) | 2024-03-01 |
Family
ID=78581135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110963101.9A Active CN113687161B (en) | 2021-08-20 | 2021-08-20 | Flywheel pulse power supply large inertia load characteristic simulation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113687161B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116907825B (en) * | 2023-09-11 | 2024-01-16 | 湖南揽月机电科技有限公司 | Automatic checking system and method for flywheel shafting |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5687838A (en) * | 1979-12-19 | 1981-07-16 | Horiba Instr Inc | Dynamo meter |
| US6601011B1 (en) * | 1999-02-26 | 2003-07-29 | Kabushiki Kaisha Meidensha | Apparatus for measuring angular velocity variation rate of rotary axle |
| CN101674046A (en) * | 2009-09-07 | 2010-03-17 | 清华大学 | Electric current reconstructing and over-modulating device of air conditioning frequency converter and method thereof |
| CN102749853A (en) * | 2012-07-11 | 2012-10-24 | 北京交通大学 | dSPACE-based integral machine control semi-physical simulation platform of wind generating set |
| CN103078581A (en) * | 2012-11-06 | 2013-05-01 | 株洲南车时代电气股份有限公司 | Electrical inertia control system |
| CN103338003A (en) * | 2013-06-28 | 2013-10-02 | 西安交通大学 | Online simultaneous identifying method for load torque and inertia of motor |
| CN203385512U (en) * | 2013-07-19 | 2014-01-08 | 南京埃斯顿自动控制技术有限公司 | Simulation device of motor load inertia |
| CN103943009A (en) * | 2014-04-17 | 2014-07-23 | 武汉新能源接入装备与技术研究院有限公司 | Simulated wind power generation grid connection experimental system |
| CN106602960A (en) * | 2015-10-20 | 2017-04-26 | 上海三菱电梯有限公司 | Motor moment-of-inertia identification method and device and motor control device |
| CN206772601U (en) * | 2017-02-24 | 2017-12-19 | 中国铁建高新装备股份有限公司 | One kind is based on flywheel generating unit inertia simulation system |
| CN207218582U (en) * | 2017-06-23 | 2018-04-10 | 中国电力工程顾问集团华东电力设计院有限公司 | The DC bus current control system of double feedback electric engine frequency conversion speed-adjusting system |
| CN207304427U (en) * | 2017-09-07 | 2018-05-01 | 中国石油天然气集团公司 | A kind of simulation model of high-pressure frequency-conversion driving induction machine |
| CN108303875A (en) * | 2017-12-31 | 2018-07-20 | 湖南沃森电气科技有限公司 | A kind of control method of electric power load for testing simulator and its system |
| CN109264586A (en) * | 2018-10-17 | 2019-01-25 | 南通航运职业技术学院 | A kind of design method of harbor quayside crane energy feedback system |
| CN111693864A (en) * | 2020-06-15 | 2020-09-22 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
-
2021
- 2021-08-20 CN CN202110963101.9A patent/CN113687161B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5687838A (en) * | 1979-12-19 | 1981-07-16 | Horiba Instr Inc | Dynamo meter |
| US6601011B1 (en) * | 1999-02-26 | 2003-07-29 | Kabushiki Kaisha Meidensha | Apparatus for measuring angular velocity variation rate of rotary axle |
| CN101674046A (en) * | 2009-09-07 | 2010-03-17 | 清华大学 | Electric current reconstructing and over-modulating device of air conditioning frequency converter and method thereof |
| CN102749853A (en) * | 2012-07-11 | 2012-10-24 | 北京交通大学 | dSPACE-based integral machine control semi-physical simulation platform of wind generating set |
| CN103078581A (en) * | 2012-11-06 | 2013-05-01 | 株洲南车时代电气股份有限公司 | Electrical inertia control system |
| CN103338003A (en) * | 2013-06-28 | 2013-10-02 | 西安交通大学 | Online simultaneous identifying method for load torque and inertia of motor |
| CN203385512U (en) * | 2013-07-19 | 2014-01-08 | 南京埃斯顿自动控制技术有限公司 | Simulation device of motor load inertia |
| CN103943009A (en) * | 2014-04-17 | 2014-07-23 | 武汉新能源接入装备与技术研究院有限公司 | Simulated wind power generation grid connection experimental system |
| CN106602960A (en) * | 2015-10-20 | 2017-04-26 | 上海三菱电梯有限公司 | Motor moment-of-inertia identification method and device and motor control device |
| CN206772601U (en) * | 2017-02-24 | 2017-12-19 | 中国铁建高新装备股份有限公司 | One kind is based on flywheel generating unit inertia simulation system |
| CN207218582U (en) * | 2017-06-23 | 2018-04-10 | 中国电力工程顾问集团华东电力设计院有限公司 | The DC bus current control system of double feedback electric engine frequency conversion speed-adjusting system |
| CN207304427U (en) * | 2017-09-07 | 2018-05-01 | 中国石油天然气集团公司 | A kind of simulation model of high-pressure frequency-conversion driving induction machine |
| CN108303875A (en) * | 2017-12-31 | 2018-07-20 | 湖南沃森电气科技有限公司 | A kind of control method of electric power load for testing simulator and its system |
| CN109264586A (en) * | 2018-10-17 | 2019-01-25 | 南通航运职业技术学院 | A kind of design method of harbor quayside crane energy feedback system |
| CN111693864A (en) * | 2020-06-15 | 2020-09-22 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
Non-Patent Citations (2)
| Title |
|---|
| Lntegrated-Power-Control-Strategy-Based Electrolytic Capacitor-Less Back-to-Back Converter for Variable Frequency Speed Control System;Danyang Bao 等;《IEEE Transactions on Industrial Electronics》;第67卷(第12期);第10065-10074页 * |
| 汽车变速器试验台电惯量模拟研究;朱斑斓;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》(第5期);第C035-524页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113687161A (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110212710B (en) | Design method of permanent magnet synchronous motor for vehicle | |
| KR100930956B1 (en) | Real time simulator of wind power system | |
| CN111693864B (en) | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor | |
| CN103427751B (en) | The apparatus and method of permagnetic synchronous motor static parameter on-line identification | |
| CN106788052B (en) | Asynchronous machine command filtering error compensation fuzzy control method based on observer | |
| Hu et al. | High-fidelity nonlinear IPM modeling based on measured stator winding flux linkage | |
| CN109194219A (en) | Based on model-free non-singular terminal sliding formwork control permanent magnet synchronous motor method and system | |
| CN113687161B (en) | Flywheel pulse power supply large inertia load characteristic simulation device | |
| Moldovan et al. | Typhoon HIL real-time validation of permanent magnet synchronous motor’s control | |
| CN114499334A (en) | Permanent magnet three-phase alternating current motor and load simulation device and control method thereof | |
| CN111857197B (en) | Three-phase alternating current motor and load simulation method and device thereof | |
| Ciornei et al. | Real-Time simulation of a complete electric vehicle based on NI VeriStand integration platform | |
| CN106462125B (en) | Device loss simulation for improved field orientation control accuracy | |
| CN108343565B (en) | Dynamic load simulation device and method for permanent magnet direct drive variable pitch system of wind turbine generator | |
| Montonen et al. | Electric drive dimensioning for a hybrid working machine by using virtual prototyping | |
| JP3428885B2 (en) | Synchronous machine simulator and synchronous machine simulation method | |
| CN108073087B (en) | Electromechanical servo system control method under multidisciplinary comprehensive simulation platform environment | |
| CN114924487B (en) | Motor simulator based on robust observer and nonlinear control and control method thereof | |
| Zha et al. | Emulating electric vehicle's mechanical inertia using an electric dynamometer | |
| CN110568774B (en) | Motor power level semi-physical simulator | |
| CN114123878A (en) | Permanent magnet three-phase alternating current motor and load simulation method and device thereof | |
| CN110673582A (en) | Control method of hardware loop test system of motor controller of pure electric bus | |
| Quintino et al. | Four-quadrant electric motor test bench with a fully programmable load profile | |
| Zhou et al. | Research on Loading System Based on SVPWM Direct Torque Control | |
| CN113722863B (en) | Dynamic characteristic simulation system of wind turbine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |