CN114257155A - Method for cooperatively optimizing and controlling excitation current and armature current of electro-magnetic doubly salient motor in wide rotating speed load range - Google Patents
Method for cooperatively optimizing and controlling excitation current and armature current of electro-magnetic doubly salient motor in wide rotating speed load range Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000005284 excitation Effects 0.000 title claims abstract description 37
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 229910052742 iron Inorganic materials 0.000 claims abstract description 10
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 6
- 229910052802 copper Inorganic materials 0.000 claims abstract description 6
- 239000010949 copper Substances 0.000 claims abstract description 6
- 238000004804 winding Methods 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 7
- 238000005457 optimization Methods 0.000 abstract description 3
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- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 241000331449 Vincetoxicum pycnostelma Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/092—Converters specially adapted for controlling reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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Abstract
The invention discloses a method for cooperatively optimizing and controlling excitation current and armature current of an electro-magnetic doubly salient motor in a wide rotating speed load range, and belongs to the field of motor control. Establishing a finite element loss calculation model of the electrically excited doubly salient motor containing iron loss and copper loss, and obtaining the combination of excitation current and armature current with minimum loss under different rotating speeds and torque working conditions; taking the output of a rotating speed outer ring as torque setting, and combining the current rotating speed of the motor to obtain given values of exciting current and armature current under the current working condition; the method for the collaborative optimization control of the excitation current and the armature current of the doubly salient electro-magnetic motor can reduce the loss of the motor in a wide rotating speed load range and improve the system efficiency.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a method for cooperatively optimizing and controlling excitation current and armature current of an electro-magnetic doubly salient motor in a wide rotating speed load range.
Background
The electro-magnetic doubly salient motor has the advantages of simple and reliable structure, flexible control, good fault-tolerant performance and the like as a novel special reluctance motor, and is widely concerned in the fields of aviation, wind power generation and the like. Under the operation condition of the electrically excited doubly salient motor in a wide rotating speed load range, if rated current excitation is adopted, the defect of high loss exists. At present, the research on the cooperative control of the exciting current and the armature current of an electro-magnetic doubly salient motor at home and abroad is still in a starting stage.
The electric excitation double salient pole motor modeling research based on the table look-up method (motor and control application, 2021, volume 48, 6 th, page 49-56+ 62) disclosed by Ming Qingong, et al provides a modeling method based on the table look-up method, which respectively establishes data tables of flux linkage and torque related to the angular relation between current and rotor position through finite element simulation, respectively models a DSEM flux linkage function and a torque function by adopting a Simulink three-dimensional table look-up method, and forms a DSEM simulation model together with a voltage equation.
The "minimum loss prediction current control method based on iron loss online calculation" (the report of the Chinese Motor engineering, 2018, volume 38, phase 01, 266-. The observation result of the stator current iron loss component is introduced into the current prediction process, and the current tracking error caused by neglecting the iron loss in the traditional prediction current control method is eliminated. The method has good dynamic performance, current tracking effect and loss suppression effect. However, the online control method needs to design an observer to observe the iron loss component of the stator current in real time, has complex process and low portability, and is not suitable for the control application of the electro-magnetic doubly salient motor.
"commutation control technology and loss research of high-speed electro-magnetic doubly salient motor" (2019, Nanjing aerospace university) disclosed by Cynanchum paniculatum aims at the phenomenon that the wind friction loss and the iron core loss of the motor are increased when the motor runs at high speed, researches the commutation control strategy of the motor, and selects a proper advance angle to obtain higher torque. The motor loss and the motor operation efficiency when different phase commutation strategies are adopted are analyzed, and a proper phase commutation strategy is selected, so that higher motor operation efficiency can be obtained. However, the method has uncertainty in the phase delay estimation process, and the dynamic response performance of the control algorithm is high especially in a high-speed state of the motor.
The invention provides a method for cooperatively optimizing and controlling the exciting current and the armature current of an electro-magnetic doubly salient motor in a wide rotating speed load range, which has the advantages of simple control algorithm, strong portability, capability of reducing system loss under the working condition of wide rotating speed load and improvement on system efficiency.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a cooperative optimization control method for excitation current and armature current of an electro-magnetic doubly salient motor in a wide rotating speed load range, aiming at the problem that the system efficiency is low because the excitation current is controlled at a rated value to cause large loss in the wide rotating speed load range of the existing electro-magnetic doubly salient motor system.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a method for cooperatively optimizing and controlling excitation current and armature current of an electro-magnetic doubly salient motor in a wide rotating speed load range comprises the following steps:
s1: establishing an electro-magnetic doubly salient motor finite element loss calculation model containing iron loss and copper loss, and performing simulation calculation to obtain different rotating speeds n and electromagnetic torques TeLower corresponding minimum loss excitation current ifAnd armature current ipCombining;
s2: the outer ring output of the rotating speed of the electro-magnetic doubly salient motor system is used as a torque reference value, the current rotating speed of the motor is combined, and the exciting current i under the working condition is obtained according to the loss combinationf_refAnd armature current is given by ip_ref；
S3: the excitation winding of the electro-magnetic doubly salient motor is connected with the asymmetric half-bridge converter to carry out closed-loop control on the excitation current; the armature winding is driven by a full-bridge converter, and current closed-loop control is performed according to the given value of the exciting current and the armature current and the current rotor position to obtain driving signals of each power device in the two converters.
Step S1 is to establish a combination table of the field current and the armature current, which is as follows:
s1.1: establishing a finite element loss calculation model of the electrically excited doubly salient motor comprising iron loss and copper loss;
s1.2: according to the running speed and the load torque range of the motor, respectively at the rotating speed n1、n2...ni...nmLoad torque of Te1、Te2...Tej...TekM x k working conditions, and obtaining m x k minimum motor loss exciting currents i through simulation calculationfAnd armature current ipCombination (i)f1，1，ip1，1)、(if1，2，ip1，2)...(ifi，j，ipi，j)...(ifm，k，ipm，k)。
And step S2, the system rotating speed outer ring output is used as a torque reference value, the current rotating speed of the motor is combined, and the exciting current given i under the working condition is obtained according to the loss combinationf_refGiven with armature current ip_refThe method comprises the following steps:
s2.1: the current rotating speed n of the motor and the given rotating speed n \uof the motor are comparedrefThe difference is input into a proportional-integral regulator, and the output of the regulator is an electromagnetic torque reference value Te_ref；
S2.2: based on the electromagnetic torque reference value Te_refObtaining the excitation current given i with the minimum motor loss under the working condition according to the established loss minimum combination table together with the current rotating speed n of the motorf_refGiven with armature current ip_refThe method specifically comprises the following steps:
s2.2.1: if the rotating speed n of the electro-magnetic doubly salient motor is in the interval (n)i，ni+1) Reference value T of electromagnetic torquee_refIn the interval (T)ej，Tej+1) In between, the step length of the rotating speed interval is recorded as delta n ═ ni+1-ni；
S2.2.2: the interval table lookup can obtain corresponding output sharing (i)fi，j，ipi，j)、(ifi+1，j，ipi+1，j)、(ifi，j+1，ipi，j+1)、(ifi+1，j+1，ipi+1，j+1)；
S2.2.3: obtaining the given exciting current i of the electrically excited doubly salient motor under the working condition by adopting a linear average methodf_ref＝ifi，j+(ifi+1，j+1-ifi，j)×(n-ni) Δ n, armature current given as ip_ref＝ipi，j+(ipi+1，j+1-ipi，j)×(n-ni)/Δn。
In step S3, the field current and the armature current are respectively controlled in a closed loop manner, and the specific steps are as follows:
s3.1: performing closed-loop control on the exciting current, performing difference between a reference value given by the exciting current and the actual exciting current, inputting the difference into a proportional-integral regulator, outputting the difference as a duty ratio of a driving signal on a left bridge arm of an exciting power converter, and normally opening a lower tube of a right bridge arm to realize the control of the exciting current of the motor;
s3.2: carrying out closed-loop control on armature current, subtracting a reference value given by the armature current from actual armature current and inputting the difference into a proportional-integral regulator, outputting the regulator as the duty ratio of a driving signal of a main power converter, obtaining a switching signal of a power device in a full-bridge converter by combining the current position of a rotor, adopting a three-phase three-state conduction rule for the three-phase full-bridge converter, wherein the conduction interval of each power tube is 120 electrical angles, changing the phase once every 120 degrees, and according to the position of the rotor, the specific conduction conditions of six power devices in the full-bridge converter are as follows:
the rotor is positioned in an interval of 0-120 degrees, the chopping control of the upper pipe of the first bridge arm and the lower pipe of the third bridge arm are normally on, and the conducting phase is A + C-;
the rotor is positioned in an interval of 120-240 degrees, the upper tube of the second bridge arm is subjected to chopping control, the lower tube of the first bridge arm is normally open, and the conducting phase is B + A-;
the rotor is positioned in an interval of 240-360 degrees, the upper tube of the third bridge arm is subjected to chopping control, the lower tube of the second bridge arm is normally open, and the conducting phase is C + B-.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
the excitation current and armature current cooperative optimization control method provided by the invention can reduce the system loss under the working condition of wide rotating speed load and improve the system efficiency.
Drawings
FIG. 1 is a system control block diagram of the method of the present invention;
FIG. 2 is a block diagram of the drive system of the electro-magnetic doubly salient motor of the present invention;
FIG. 3 is a cross-sectional view of an 12/8 pole excited doubly salient electric machine of the present invention;
fig. 4 is a three-phase self-inductance curve and a power supply rule diagram of the doubly salient electro-magnetic motor of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. The described embodiments are a subset of the embodiments of the invention and are not all embodiments of the invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Example 1
The system control block diagram of the method of the present invention is shown in fig. 1. Fig. 2 shows a block diagram of a system structure of an electro-magnetic doubly salient motor, which includes: the system comprises an electro-magnetic doubly salient motor, a three-phase full-bridge main power converter and an asymmetric half-bridge excitation power converter, wherein a three-phase armature winding of the electro-magnetic doubly salient motor is connected with the full-bridge main power converter, and an excitation winding is connected with the asymmetric half-bridge excitation power converter. Wherein the electro-magnetic doubly salient motor cross-section is shown in figure 3. The three-phase self-inductance curve of the electro-magnetic doubly salient motor adopting the three-phase three-beat energizing mode is shown in fig. 4. The method specifically comprises the following steps:
step S1: as shown in figure 1, an electric excitation doubly salient motor loss calculation model is established, and different rotating speeds n and torques T are obtained through simulation calculationeMinimum-loss excitation current ifAnd armature current ipCombinations, in particular ofThe following:
step S1.1: establishing a finite element loss calculation model of the electrically excited doubly salient motor containing iron loss and copper loss;
step S1.2: according to the running speed and the load torque range of the motor, respectively at the rotating speed n1、n2...ni...nmLower electromagnetic torque of Te1、Te2...Tej...TekM x k working conditions, and m x k loss minimum motor exciting currents ifAnd armature current ipCombination (i)f1，1，ip1，1)、(if1，2，ip1，2)...(ifi，j，ipi，j)...(ifm，k，ipm，k)。
Step S2: as shown in FIG. 1, the outer ring output of the system speed is used as the torque reference value Te_refAnd obtaining the given i of the exciting current under the working condition according to the loss combination by combining the current rotating speed of the motorf_refArmature current given ip_refThe method specifically comprises the following steps:
step S2.1: the current rotating speed n of the motor and the given rotating speed n \uof the motor are comparedrefThe difference is input into a proportional-integral regulator, and the output of the regulator is a torque reference value Te_ref；
Step S2.2: based on the torque reference value Te_refObtaining the excitation current given i with the minimum motor loss under the working condition according to the established loss minimum combination table together with the current rotating speed n of the motorf_refGiven with armature current ip_refThe method specifically comprises the following steps:
step S2.2.1: if the rotating speed n of the electro-magnetic doubly salient motor is in the interval (n)i，ni+1) Reference value of torque Te_refIn the interval (T)ej，Tej+1) In between, the step length of the rotating speed interval is recorded as delta n ═ ni+1-ni；
Step S2.2.2: the interval table lookup can obtain corresponding output sharing (i)fi，j，ipi，j)、(ifi+1，j，ipi+1，j)、(ifi，j+1，ipi，j+1)、(ifi+1，j+1，ipi+1，j+1)；
Step S2.2.3: obtaining excitation current given as i by linear average methodf_ref＝ifi，j+(ifi+1，j+1-ifi，j)×(n-ni) Δ n, armature current given as ip_ref＝ipi，j+(ipi+1，j+1-ipi，j)×(n-ni)/Δn。
Step S3: as shown in fig. 2, an excitation winding of an electro-magnetic doubly salient motor is driven by an asymmetric half-bridge converter, and single excitation current closed-loop control is adopted; the armature winding is driven by a full-bridge converter, current closed-loop control is carried out according to the exciting current, the armature current reference value and the current rotor position, and switching signals of power devices in the two converters are obtained, and the method specifically comprises the following steps:
step S3.1: performing closed-loop control on the exciting current, inputting a difference between a reference value given by the exciting current and the actual exciting current into a proportional-integral regulator, and outputting the difference as the upper tube Q of a left bridge arm of the exciting power converter7Duty ratio of drive signal, right arm lower tube Q8Normally open, realize the excitation current control of the electrical machinery;
step S3.2: carrying out closed-loop control on armature current, subtracting a reference value given by the armature current from actual armature current and inputting the difference into a proportional-integral regulator, outputting the regulator as the duty ratio of a driving signal of a main power converter, obtaining a switching signal of a power device in a full-bridge converter by combining the current position of a rotor, adopting a three-phase three-state conduction rule for the three-phase full-bridge converter, wherein the conduction interval of each power tube is 120 electrical angles, changing the phase once every 120 degrees, and according to the position of the rotor, the specific conduction conditions of six power devices in the full-bridge converter are as follows:
the rotor is positioned in the range of 0-120 degrees, and the upper pipe Q of the first bridge arm1Chopping control and third bridge arm lower tube Q2Normally open, the conducting phase is A + C-;
the rotor is positioned in the 120-240 degree interval, and the upper pipe Q of the second bridge arm3Chopping control and first bridge arm lower tube Q4Normally open, the conducting phase is B + A-;
the rotor is positioned in the 240-360 degree interval, and the third bridge arm is provided with a pipe Q5Chopping control and second bridge arm lower tube Q6Normally, the conducting phase is C + B-.
Through the steps S1-S3, the method for cooperatively and optimally controlling the exciting current and the armature current can be realized, so that the electrically excited doubly salient motor with a wide rotating speed and load range can stably operate, and the operation loss can be effectively reduced.
The present invention and its embodiments have been described in an illustrative manner, and are not to be considered limiting, as illustrated in the accompanying drawings, which are merely exemplary embodiments of the invention and not limiting of the actual constructions and methods. Therefore, if the person skilled in the art receives the teaching, the structural modes and embodiments similar to the technical solutions are not creatively designed without departing from the spirit of the invention, and all of them belong to the protection scope of the invention.
Claims (4)
1. A method for cooperatively optimizing and controlling excitation current and armature current of an electro-magnetic doubly salient motor in a wide rotating speed load range is characterized by comprising the following steps of:
s1: establishing an electro-magnetic doubly salient motor finite element loss calculation model containing iron loss and copper loss, and performing simulation calculation to obtain different rotating speeds n and electromagnetic torques TeLower corresponding minimum loss excitation current ifAnd armature current ipCombining;
s2: the outer ring output of the rotating speed of the electro-magnetic doubly salient motor system is used as a torque reference value, the current rotating speed of the motor is combined, and the exciting current i under the working condition is obtained according to the loss combinationf_refAnd armature current is given by ip_ref；
S3: the excitation winding of the electro-magnetic doubly salient motor is connected with the asymmetric half-bridge converter to perform closed-loop control on excitation current, the armature winding is driven by the full-bridge converter, and current closed-loop control is performed according to the given value of the excitation current and the armature current and the current rotor position to obtain driving signals of each power device in the two converters.
2. The method for controlling the excitation current and the armature current of the doubly salient electro-magnetic motor cooperatively and optimally in the wide rotation speed load range according to claim 1, wherein the step S1 is implemented by establishing a combination table of the excitation current and the armature current, and specifically comprises the following steps:
s1.1: establishing a finite element loss calculation model of the electrically excited doubly salient motor comprising iron loss and copper loss;
s1.2: according to the running speed and the load torque range of the motor, respectively at the rotating speed n1、n2...ni...nmLoad torque of Te1、Te2...Tej...TekM x k working conditions, and obtaining m x k minimum motor loss exciting currents i through simulation calculationfAnd armature current ipCombination (i)f1，1，ip1，1)、(if1，2，ip1，2)...(ifi，j，ipi，j)...(ifm，k，ipm，k)。
3. The method as claimed in claim 1, wherein in step S2, an outer ring output of the system speed is used as a torque reference, and a given i of the excitation current under the working condition is obtained according to the loss combination in combination with a current speed of the motorf_refGiven with armature current ip_refThe method comprises the following steps:
s2.1: the current rotating speed n of the motor and the given rotating speed n \uof the motor are comparedrefThe difference is input into a proportional-integral regulator, and the output of the regulator is an electromagnetic torque reference value Te_ref；
S2.2: based on the electromagnetic torque reference value Te_refObtaining the excitation current given i with the minimum motor loss under the working condition according to the established loss minimum combination table together with the current rotating speed n of the motorf_refGiven with armature current ip_refThe method specifically comprises the following steps:
s2.2.1: if the rotating speed n of the electro-magnetic doubly salient motor is in the interval (n)i，ni+1) Reference value T of electromagnetic torquee_refIn the interval (T)ej，Tej+1) In between, the step length of the rotating speed interval is recorded as delta n ═ ni+1-ni；
S2.2.2: the interval table lookup can be usedCorresponding outputs share (i)fi，j，ipi，j)、(ifi+1，j，ipi+1，j)、(ifi，j+1，ipi，j+1)、(ifi+1，j+1，ipi+1，j+1)；
S2.2.3: obtaining the given exciting current i of the electrically excited doubly salient motor under the working condition by adopting a linear average methodf_ref＝ifi，j+(ifi+1，j+1-ifi，j)×(n-ni) Δ n, armature current given as ip_ref＝ipi，j+(ipi+1，j+1-ipi，j)×(n-ni)/Δn。
4. The method for cooperatively and optimally controlling the excitation current and the armature current of the doubly salient electro-magnetic motor with the wide rotation speed and load range according to claim 1, wherein the excitation current and the armature current are respectively controlled in a closed loop in the step S3, and the method comprises the following specific steps:
s3.1: performing closed-loop control on the exciting current, performing difference between a reference value given by the exciting current and the actual exciting current, inputting the difference into a proportional-integral regulator, outputting the difference as a duty ratio of a driving signal on a left bridge arm of an exciting power converter, and normally opening a lower tube of a right bridge arm to realize the control of the exciting current of the motor;
s3.2: carrying out closed-loop control on armature current, subtracting a reference value given by the armature current from actual armature current and inputting the difference into a proportional-integral regulator, outputting the regulator as the duty ratio of a driving signal of a main power converter, obtaining a switching signal of a power device in a full-bridge converter by combining the current position of a rotor, adopting a three-phase three-state conduction rule for the three-phase full-bridge converter, wherein the conduction interval of each power tube is 120 electrical angles, changing the phase once every 120 degrees, and according to the position of the rotor, the specific conduction conditions of six power devices in the full-bridge converter are as follows:
the rotor is positioned in an interval of 0-120 degrees, the chopping control of the upper pipe of the first bridge arm and the lower pipe of the third bridge arm are normally on, and the conducting phase is A + C-;
the rotor is positioned in an interval of 120-240 degrees, the upper tube of the second bridge arm is subjected to chopping control, the lower tube of the first bridge arm is normally open, and the conducting phase is B + A-;
the rotor is positioned in an interval of 240-360 degrees, the upper tube of the third bridge arm is subjected to chopping control, the lower tube of the second bridge arm is normally open, and the conducting phase is C + B-.
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| CN114665771A (en) * | 2022-05-06 | 2022-06-24 | 西南交通大学 | Torque ripple suppression method for electro-magnetic doubly salient motor |
| CN115811269A (en) * | 2022-11-29 | 2023-03-17 | 南京航空航天大学 | Power device load balancing modulation method for excitation circuit of electrically excited motor |
| CN117526799A (en) * | 2023-11-02 | 2024-02-06 | 南京航空航天大学 | Dynamic control method of electric excitation doubly salient generator based on excitation current feedforward |
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| CN117526799B (en) * | 2023-11-02 | 2024-05-28 | 南京航空航天大学 | Dynamic control method of electric excitation doubly salient generator based on excitation current feedforward |
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