CN113987821A - Multi-type motor real-time simulation method and system based on FPGA - Google Patents
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Abstract
The invention relates to a multi-type motor real-time simulation method and a system based on an FPGA (field programmable gate array), wherein the real-time simulation method comprises the following steps: step 1: acquiring three-phase voltage of a motor port; step 2: carrying out Park conversion on the three-phase voltage of the motor; and step 3: determining the type of the motor and obtaining a motor switching coefficient; and 4, step 4: entering a corresponding variable differential calculation module according to the motor switching coefficient to calculate a dq variable differential equation; and 5: aiming at the data acquired in the step 4, a dq variable quantity value integration module calculates the current value of a differential variable; step 6: and performing inverse Park conversion to calculate the current three-phase current of the stator. Compared with the prior art, the method has the advantages of reducing consumption of FPGA resources, reducing the difficulty in realizing real-time simulation of a complex multi-motor system, enhancing the capability of the real-time simulation system in simulating other related power electronic systems and the like.
Description
Technical Field
The invention relates to the technical field of real-time simulation of motor systems, in particular to a multi-type motor real-time simulation method and system based on an FPGA.
Background
The motor is a key device for realizing mutual conversion of electric energy and mechanical energy, and is a key device in energy systems of wind power generation, electric vehicles and the like. The motor system controller is the core and key components of the motor device; in a traditional development and test mode, a controller of a motor system is directly tested on a physical system, but even if the controller is tested on a low-power miniature physical system, the traditional development and test mode has the challenges of high experimental cost, danger, difficulty in realizing test automation and the like.
The real-time simulator is a device for simulating the actual system behavior on a real-time hardware platform by using a mathematical model, and can test and verify the control equipment very close to the real condition by testing the controller through the real-time simulator. The method has the advantages of safety, easy realization of repeated tests and the like.
Modern motor drive systems are generally driven by frequency converters (power electronic converters), and in order to accurately simulate such power electronic systems, simulation steps of the order of 1 microsecond are generally required. Therefore, an FPGA (Field Programmable Gate Array) is adopted in general computing hardware, and high-performance real-time operation within a short time period of 1 microsecond is realized by using the hardware parallelism of the FPGA.
Meanwhile, the existing wind power generation system generally consists of a great number of wind turbines, and in order to realize accurate simulation of a wind power plant, the application requirement cannot be met by only using one equivalent motor model. Meanwhile, modern high-performance electric automobiles are gradually changed from a single driving motor to a dual-motor high-performance driving system with induction and permanent magnets. For real-time simulation of these multi-motor systems, if only one motor is simply implemented on the FPGA by one corresponding FPGA module (program), the challenge of excessive consumption of FPGA resources arises. Unlike the CPU, the FPGA is not implemented serially through the same computational resource; each computation and logic operation in the FPGA program corresponds to a corresponding hardware resource, for example, a multiplication operation in the motor model corresponds to a hardware multiplier in the FPGA. And excessive consumption of FPGA resources can reduce real-time simulation hardware resources required by other key systems on the FPGA. For example, in a wind power generation system, it is necessary to simulate a power electronic converter and a grid in addition to a motor, and in an electric vehicle, various power electronic converters such as DCAC and DCDC are also required to simulate.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides the multi-type motor real-time simulation method and system based on the FPGA, the method can reduce the consumption of FPGA resources, reduce the difficulty in realizing the real-time simulation of a complex multi-motor system and enhance the capability of the real-time simulation system in simulating other related power electronic systems.
The purpose of the invention can be realized by the following technical scheme:
a multi-type motor real-time simulation method based on FPGA comprises the following steps:
step 1: acquiring three-phase voltage of a motor port;
step 2: carrying out Park conversion on the three-phase voltage of the motor;
and step 3: determining the type of the motor and obtaining a motor switching coefficient;
and 4, step 4: entering a corresponding variable differential calculation module according to the motor switching coefficient to calculate a dq variable differential equation;
and 5: aiming at the data acquired in the step 4, a dq variable quantity value integration module calculates the current value of a differential variable;
step 6: and performing inverse Park conversion to calculate the current three-phase current of the stator.
Preferably, the step 2 specifically comprises:
the three-phase voltage V of the motor stator obtained in the stepas、VbsAnd VcsPerforming ABC to DQ conversion to obtain components u on d and q axes of a rotating coordinate systemdsAnd uqs；
The step 6 specifically comprises the following steps: and carrying out DQ-to-ABC conversion on the current value of the differential variable obtained by calculation, and calculating the current three-phase current of the stator.
Preferably, the motor types in step 3 include a permanent magnet synchronous motor and an induction motor.
More preferably, the step 4 specifically includes:
if the type of the motor model is a permanent magnet synchronous motor model, setting the motor switching coefficient K value as 0, and entering a dq variable differential calculation unit of the permanent magnet synchronous motor;
if the type of the motor model is an induction motor, setting the value of a motor switching coefficient K to be 1, and entering an induction motor dq variable differential calculation unit;
the dq variable differential calculation module calculates a differential equation didDt and diq/dt。
More preferably, the dq variable differential calculation unit of the permanent magnet synchronous motor is specifically:
the dq variable differential calculation unit of the permanent magnet synchronous motor comprises a differential equation calculation unit for d and q currents, wherein the differential equation is expressed as:
wherein u isds、uqs、idAnd iqRespectively representing stator d and q axis voltages and currents; l isd、LqThe inductors of d and q axes of the stator are provided; rs、ψf、ωeRespectively representing the resistance of a stator armature, the flux linkage of a rotor permanent magnet and the electrical angular velocity.
More preferably, the induction motor dq variable differential calculation unit specifically is:
the induction motor DQ variable differential calculation unit includes a DQ flux linkage differential calculation unit and a flux linkage-to-current calculation unit.
More preferably, the DQ flux linkage differential calculation unit specifically is:
differential equation for DQ flux linkage:
more preferably, the flux linkage to current calculating unit is specifically:
wherein M is a matrix pre-calculated by an upper computer before the real-time simulation is started; psids、ψqs、ψdr、ψqrRespectively representing stator d and q-axis magnetic chains and rotor d and q-axis magnetic chains; u. ofds、uqs、idsAnd iqsRespectively representing stator d and q axis voltages and currents; u. ofdr、uqr、idrAnd iqrRespectively representing d and q axis voltages and currents of the rotor; l iss、Lr、LmRespectively representing total inductance of the stator, total inductance of the rotor and excitation inductance; rs、RrRespectively representing stator resistance and rotor resistance; omegaref、ωeAnd angular velocity and electric angular velocity of the reference coordinate system.
Preferably, the dq variable value integration module specifically includes:
calculating a differential variable value by adopting a trapezoidal integration method:
wherein dt is the simulation step length on the FPGA; t-dt represents the last time of the FPGA and t represents the current time.
A real-time simulation system for the multi-type motor real-time simulation method based on the FPGA comprises the following steps:
the three-phase voltage sampling module is used for sampling three-phase voltage at the port of the motor;
the coordinate transformation module is used for transforming the sampled three-phase voltage from an ABC coordinate system to a DQ coordinate system;
the dq differential variable calculation module comprises a permanent magnet synchronous motor dq variable differential calculation unit and an induction motor dq variable differential calculation unit and is used for calculating a dq variable differential equation di according to the click switching coefficientdDt and diq/dt；
A dq variable numerical integration module for calculating the current value i of the differential variable by using a trapezoidal integration methodd(t) and iq(t)；
The inverse coordinate transformation module is used for converting the current value of the differential variable from a DQ coordinate system to an ABC coordinate system;
the three-phase voltage sampling module, the coordinate transformation module, the dq differential variable calculation module, the dq variable numerical integration module and the anti-coordinate transformation module are sequentially connected and are respectively integrated on the FPGA board;
the FPGA can respectively call a coordinate transformation module, a dq differential variable calculation module and a dq variable numerical integration module to process sampling data of different motors by utilizing a pipeline mechanism of the FPGA aiming at the real-time simulation condition of multiple motors, so that the support of one FPGA on the multiple motors is realized.
Compared with the prior art, the invention has the following beneficial effects:
the multi-type motor real-time simulation method and system based on the FPGA can effectively utilize the specific pipeline mechanism of the FPGA to realize the support of the same FPGA module (hardware resources) to a plurality of motors, thereby reducing the consumption of the FPGA resources, reducing the realization difficulty of the real-time simulation of a complex multi-motor system and enhancing the capability of the real-time simulation system to simulate other related power electronic systems.
Drawings
FIG. 1 is a schematic flow chart of a multi-type motor real-time simulation method based on FPGA in the present invention;
FIG. 2 is a d-q axis equivalent circuit of a permanent magnet synchronous motor under a two-phase rotating coordinate system according to an embodiment of the present invention;
wherein, fig. 2(a) is a schematic diagram of an equivalent circuit of d axis, and fig. 2(b) is a schematic diagram of an equivalent circuit of q axis;
FIG. 3 is a d-q axis equivalent circuit of the induction motor under the two-phase rotating coordinate system in the embodiment of the present invention;
wherein, fig. 3(a) is a schematic diagram of an equivalent circuit of d axis, and fig. 3(b) is a schematic diagram of an equivalent circuit of q axis;
FIG. 4 is a PMSM model topology according to an embodiment of the present invention;
FIG. 5 illustrates an exemplary sensor model topology according to the present invention;
FIG. 6 is a current waveform of a permanent magnet synchronous motor based on FPGA sampled by an oscilloscope in an embodiment of the invention;
fig. 7 is a graph of the current waveform of the FPGA-based induction motor sampled by the oscilloscope in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
For common permanent magnet synchronous and induction motors, mathematical models of the permanent magnet synchronous and induction motors are based on differential equations of DQ variables, and simulation of the permanent magnet synchronous and induction motors needs a plurality of calculation modules which are sequentially executed, such as ABC to DQ conversion, DQ variable differential calculation, DQ variable value integration, DQ to ABC inverse conversion, motor rotor motion equations and the like; the same FPGA program can support different types of motors only by selecting the DQ variable differential calculation link according to different motors.
Based on the above thought, a multi-type motor real-time simulation method based on the FPGA is provided, the flow of which is shown in fig. 1, and comprises the following steps:
step 1: obtaining three-phase voltage V of motor portas、VbsAnd Vcs；
Step 2: carrying out Park conversion on the three-phase voltage of the motor, specifically comprising the following steps:
the three-phase voltage V of the motor stator obtained in the stepas、VbsAnd VcsPerforming ABC to DQ conversion to obtain components u on d and q axes of a rotating coordinate systemdsAnd uqs；
The transformation formula from the ABC coordinate system to the DQ coordinate system is as follows:
and step 3: determining the type of a motor, and obtaining a motor switching coefficient, wherein the type of the motor comprises a permanent magnet synchronous motor and an induction motor;
and 4, step 4: entering a corresponding variable differential calculation module according to the motor switching coefficient to calculate a dq variable differential equation, which specifically comprises the following steps:
after a user loads a model into the real-time simulator, the system can automatically identify the motor model and confirm the type of the motor in the model;
if the type of the motor model is a permanent magnet synchronous motor model, setting the motor switching coefficient K value as 0, and entering a dq variable differential calculation unit of the permanent magnet synchronous motor;
if the type of the motor model is an induction motor, setting the value of a motor switching coefficient K to be 1, and entering an induction motor dq variable differential calculation unit;
the dq variable differential calculation module calculates a differential equation didDt and diq/dt；
According to the d-q axis equivalent circuit of the permanent magnet synchronous motor in the two-phase rotating coordinate system shown in fig. 2, a dq variable differential equation of the permanent magnet synchronous motor can be derived:
wherein u isds、uqs、idAnd iqRespectively representing stator d and q axis voltages and currents; l isd、LqThe inductors of d and q axes of the stator are provided; rs、ψf、ωeRespectively representing the resistance of a stator armature, the flux linkage of a rotor permanent magnet and the electrical angular velocity.
According to the d-q axis equivalent circuit of the induction motor under the two-phase rotating coordinate system shown in fig. 3, a differential equation of a DQ flux linkage of the induction motor can be derived:
differential equation for DQ flux linkage:
the flux linkage to current calculation unit is specifically:
wherein M is a matrix pre-calculated by an upper computer before the real-time simulation is started; psids、ψqs、ψdr、ψqrRespectively representing stator d and q-axis magnetic chains and rotor d and q-axis magnetic chains; u. ofds、uqs、idsAnd iqsRespectively representing stator d and q axis voltages and currents; u. ofdr、uqr、idrAnd iqrRespectively representing d and q axis voltages and currents of the rotor; l iss、Lr、LmRespectively representing total inductance of the stator, total inductance of the rotor and excitation inductance; rs、RrRespectively representing stator resistance and rotor resistance; omegaref、ωeAnd angular velocity and electric angular velocity of the reference coordinate system.
And 5: aiming at the data acquired in the step 4, a dq variable quantity value integration module calculates the current value of a differential variable;
the dq variable numerical value integration module specifically comprises:
calculating a differential variable value by adopting a trapezoidal integration method:
wherein dt is the simulation step length on the FPGA; t-dt represents the last moment of the FPGA, and t represents the current moment;
step 6: carrying out inverse Park conversion to calculate the current three-phase current of the stator;
will calculate the obtained id(t) and iq(t) carrying out DQ-to-ABC conversion, and calculating the current stator three-phase current Ia(t)、Ib(t)、Ic(t), the DQ to ABC transform formula is:
the embodiment also relates to a real-time simulation system for the method, which comprises the following steps:
the three-phase voltage sampling module is used for sampling three-phase voltage at the port of the motor;
the coordinate transformation module is used for transforming the sampled three-phase voltage from an ABC coordinate system to a DQ coordinate system;
the dq differential variable calculation module comprises a permanent magnet synchronous motor dq variable differential calculation unit and an induction motor dq variable differential calculation unit and is used for calculating a dq variable differential equation di according to the click switching coefficientdDt and diq/dt；
A dq variable numerical integration module for calculating the current value i of the differential variable by using a trapezoidal integration methodd(t) and iq(t)；
The inverse coordinate transformation module is used for converting the current value of the differential variable from a DQ coordinate system to an ABC coordinate system;
the three-phase voltage sampling module, the coordinate transformation module, the dq differential variable calculation module, the dq variable numerical integration module and the anti-coordinate transformation module are sequentially connected and integrated on the FPGA board respectively;
aiming at the real-time simulation condition of multiple motors, the FPGA can respectively call a coordinate transformation module, a dq differential variable calculation module and a dq variable numerical integration module to process sampling data of different motors, so that simultaneous processing of the multiple motors is realized.
Examples of simultaneous processing of multiple motors:
the motor simulation process with a plurality of steps is also very suitable for realizing the support of a plurality of motors by applying the characteristics of a pipeline of an FPGA; because each process actually has corresponding hardware resources, or at the same time, the coordinate transformation module is used for the motor C, the dq variable quantity differential calculation module is used for the motor B, and the dq variable quantity numerical integration module is used for the motor A, so that the three ABC motors can realize real-time simulation by using the same FPGA hardware resource, and compared with the 3 motors which realize real-time simulation by using respective FPGA hardware resources, the real-time simulation method can greatly save the FPGA hardware resource although a little bit of FPGA clock period is possibly spent.
An example of a simulation is provided below:
fig. 4 and 5 are application topological circuits of the permanent magnet synchronous machine and the induction motor built based on MATLAB/Simulink, and the two different types of motor topological circuits are simulated on the same FPGA module in real time.
FIG. 6 is a stator current waveform of a permanent magnet synchronous machine simulated in real time based on FPGA by the method, wherein the number of pole pairs of the motor is 3, the rotating speed of the motor is 1000r/s, and the torque Tm is 10 N.m; it can be seen from the oscilloscope that the current frequency of the motor is 50Hz, the current amplitude is converted into an actual value which is about 11A, and the actual value is basically consistent with the theoretical calculation result.
Fig. 7 is a stator current waveform of an induction motor which is subjected to real-time simulation based on FPGA by using the method of the present invention, wherein the number of pole pairs of the motor is 2, the rotation speed of the motor is 1400r/s at this time, the torque Tm is 200N · m, it can be seen from an oscilloscope that the current frequency of the motor is 50Hz, the current amplitude is converted into an actual value of about 75A, and the actual value is substantially consistent with a theoretical calculation result.
In conclusion, the same FPGA module (hardware resource) can be used for supporting various motors, the difficulty in realizing the real-time simulation of a complex multi-motor system is reduced, and the capability of the real-time simulation system for simulating other related power electronic systems is enhanced.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A multi-type motor real-time simulation method based on FPGA is characterized by comprising the following steps:
step 1: acquiring three-phase voltage of a motor port;
step 2: carrying out Park conversion on the three-phase voltage of the motor;
and step 3: determining the type of the motor and obtaining a motor switching coefficient;
and 4, step 4: entering a corresponding variable differential calculation module according to the motor switching coefficient to calculate a dq variable differential equation;
and 5: aiming at the data acquired in the step 4, a dq variable quantity value integration module calculates the current value of a differential variable;
step 6: and performing inverse Park conversion to calculate the current three-phase current of the stator.
2. The FPGA-based multi-type motor real-time simulation method according to claim 1, wherein the step 2 specifically comprises:
the three-phase voltage V of the motor stator obtained in the stepas、VbsAnd VcsPerforming ABC to DQ conversion to obtain components u on d and q axes of a rotating coordinate systemdsAnd uqs；
The step 6 specifically comprises the following steps: and carrying out DQ-to-ABC conversion on the current value of the differential variable obtained by calculation, and calculating the current three-phase current of the stator.
3. The FPGA-based multi-type motor real-time simulation method of claim 1, wherein the motor types in the step 3 comprise a permanent magnet synchronous motor and an induction motor.
4. The FPGA-based multi-type motor real-time simulation method according to claim 3, wherein the step 4 specifically comprises:
if the type of the motor model is a permanent magnet synchronous motor model, setting the motor switching coefficient K value as 0, and entering a dq variable differential calculation unit of the permanent magnet synchronous motor;
if the type of the motor model is an induction motor, setting the value of a motor switching coefficient K to be 1, and entering an induction motor dq variable differential calculation unit;
the dq variable differential calculation module calculates a differential equation didDt and diq/dt。
5. The FPGA-based multi-type motor real-time simulation method according to claim 4, wherein the dq variable differential calculation unit of the permanent magnet synchronous motor is specifically:
the dq variable differential calculation unit of the permanent magnet synchronous motor comprises a differential equation calculation unit for d and q currents, wherein the differential equation is expressed as:
wherein u isds、uqs、idAnd iqRespectively representing stator d and q axis voltages and currents; l isd、LqThe inductors of d and q axes of the stator are provided; rs、ψf、ωeRespectively representing the resistance of a stator armature, the flux linkage of a rotor permanent magnet and the electrical angular velocity.
6. The FPGA-based multi-type motor real-time simulation method according to claim 4, wherein the induction motor dq variable differential calculation unit is specifically:
the induction motor DQ variable differential calculation unit includes a DQ flux linkage differential calculation unit and a flux linkage-to-current calculation unit.
7. The FPGA-based multi-type motor real-time simulation method of claim 6, wherein the DQ flux linkage differential calculation unit is specifically:
differential equation for DQ flux linkage:
8. the FPGA-based multi-type motor real-time simulation method of claim 6, wherein the flux linkage to current calculation unit is specifically:
wherein M is a matrix pre-calculated by an upper computer before the real-time simulation is started; psids、ψqs、ψdr、ψqrRespectively representing stator d and q-axis magnetic chains and rotor d and q-axis magnetic chains; u. ofds、uqs、idsAnd iqsRespectively representing stator d and q axis voltages and currents; u. ofdr、uqr、idrAnd iqrRespectively representing d and q axis voltages and currents of the rotor; l iss、Lr、LmRespectively representing total inductance of the stator, total inductance of the rotor and excitation inductance; rs、RrRespectively representing stator resistance and rotor resistance; omegaref、ωeAnd angular velocity and electric angular velocity of the reference coordinate system.
9. The FPGA-based multi-type motor real-time simulation method of claim 1, wherein the dq variable numerical integration module specifically comprises:
calculating a differential variable value by adopting a trapezoidal integration method:
wherein dt is the simulation step length on the FPGA; t-dt represents the last time of the FPGA and t represents the current time.
10. A real-time simulation system for the real-time simulation method of the multiple types of motors based on the FPGA according to any one of claims 1 to 9, wherein the real-time simulation system comprises:
the three-phase voltage sampling module is used for sampling three-phase voltage at the port of the motor;
the coordinate transformation module is used for transforming the sampled three-phase voltage from an ABC coordinate system to a DQ coordinate system;
the dq differential variable calculation module comprises a permanent magnet synchronous motor dq variable differential calculation unit and an induction motor dq variable differential calculation unit and is used for calculating a dq variable differential equation di according to the click switching coefficientdDt and diq/dt；
A dq variable numerical integration module for calculating the current value i of the differential variable by using a trapezoidal integration methodd(t) and iq(t)；
The inverse coordinate transformation module is used for converting the current value of the differential variable from a DQ coordinate system to an ABC coordinate system;
the three-phase voltage sampling module, the coordinate transformation module, the dq differential variable calculation module, the dq variable numerical integration module and the anti-coordinate transformation module are sequentially connected and are respectively integrated on the FPGA board;
the FPGA can respectively call a coordinate transformation module, a dq differential variable calculation module and a dq variable numerical integration module to process sampling data of different motors by utilizing a pipeline mechanism of the FPGA aiming at the real-time simulation condition of multiple motors, so that the support of one FPGA on the multiple motors is realized.
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