CN114257155B - Current cooperative control method for minimum loss of electro-magnetic doubly salient motor - Google Patents
Current cooperative control method for minimum loss of electro-magnetic doubly salient motor Download PDFInfo
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- CN114257155B CN114257155B CN202111584500.0A CN202111584500A CN114257155B CN 114257155 B CN114257155 B CN 114257155B CN 202111584500 A CN202111584500 A CN 202111584500A CN 114257155 B CN114257155 B CN 114257155B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 23
- 230000005284 excitation Effects 0.000 claims abstract description 23
- 238000004364 calculation method Methods 0.000 claims abstract description 17
- 229910052742 iron Inorganic materials 0.000 claims abstract description 11
- 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
- 238000004088 simulation Methods 0.000 claims description 10
- 238000004804 winding Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a current cooperative control method with minimum loss of an electro-magnetic doubly salient motor, 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 exciting current and armature current with minimum loss under different rotating speeds and torque working conditions; the output of the outer ring of the rotating speed is used as torque setting, and the current rotating speed of the motor is combined to obtain excitation current and armature current setting respectively values under the current working condition; by combining with real-time rotor position information, the asymmetric half-bridge converter and the full-bridge converter are used for carrying out closed-loop control on exciting current and armature current of the electro-magnetic doubly-salient motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a current cooperative control method with minimum loss of an electro-magnetic doubly salient motor.
Background
As a novel special reluctance motor, the electrically excited doubly salient motor has the advantages of simple and reliable structure, flexible control, good fault tolerance and the like, and is widely focused in the fields of aviation, wind power generation and the like. Under the operating condition of the electric excitation doubly salient motor in a wide rotating speed load range, the disadvantage of large loss exists if rated current excitation is adopted. At present, the research on the cooperative control of exciting current and armature current with minimum loss of the electric excitation doubly salient motor at home and abroad is still in a starting stage.
The invention discloses a table lookup method-based electric excitation doubly salient motor modeling research (motor and control application, 2021, volume 48, 6 th, 49-56+62 pages) of Mingqing Yongyong et al, which provides a table lookup method-based modeling method, wherein a data table of the relation between flux linkage and torque and the position and angle of a rotor is respectively established through finite element simulation, a Simulink three-bit table lookup method is adopted to respectively model a DSEM flux linkage function and a torque function, and a DSEM simulation model is formed together with a voltage equation.
Xia Changliang et al, discloses a minimum loss prediction current control method based on iron loss on-line calculation (Chinese motor engineering journal, 2018, volume 38, 01, 266-274+364 pages), and provides a minimum loss prediction current control method based on iron loss on-line calculation. And introducing the observation result of the iron loss component of the stator current into the current prediction process, and eliminating the current tracking error caused by neglecting the iron loss in the traditional prediction current control method. 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 weak portability, and is not suitable for control application of the electrically excited doubly salient motor.
Liu Ziqing A phase-change control technology and loss research (2019) of a high-speed electro-magnetic doubly-salient motor is used for researching the phenomenon that wind friction loss and iron core loss of a motor are increased when the motor runs at high speed, researching a phase-change control strategy of the motor and selecting a proper advance angle to obtain higher torque. The motor loss and the motor operation efficiency when different commutation strategies are adopted are analyzed, and a proper 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 particularly has high requirements on the dynamic response performance of a control algorithm in a high-speed motor state.
The invention provides a current cooperative control method with minimum loss of an electro-magnetic doubly-salient motor, which has the advantages of simple control algorithm and strong portability, and can reduce the system loss and improve the system efficiency under the working condition of wide rotating speed and load.
Disclosure of Invention
The invention aims to: aiming at the problems that the excitation current is controlled to have larger loss at rated value in the wide rotating speed load range of the existing electro-magnetic doubly-salient motor system and the system efficiency is low, the invention provides a current cooperative control method with minimum loss for the electro-magnetic doubly-salient motor.
The technical scheme is as follows: in order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
a current cooperative control method with minimum loss of an electro-magnetic doubly salient motor comprises the following steps:
s1: establishing an electric excitation doubly salient motor finite element loss calculation model containing iron loss and copper loss, and obtaining different rotation speeds n and electromagnetic torques T through simulation calculation e The corresponding excitation current i with the minimum loss f With armature current i p Combining, namely taking the output of a rotating speed outer ring of the electro-magnetic doubly salient motor system as a torque reference value, combining the current rotating speed of the motor, and obtaining exciting current i under the working condition according to the loss combination f_ref Given as i to armature current p_ref ；
S2: the excitation current of the electro-magnetic doubly salient motor is subjected to closed-loop control by the excitation winding of the electro-magnetic doubly salient motor; the armature winding is driven by a full-bridge converter, and current closed-loop control is carried out according to the exciting current, the armature current set value and the current rotor position, so that driving signals of power devices in the two converters are obtained.
The step S1 establishes a combined table of exciting current and armature current, and the combined table is specifically 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 load torque range of the motor, the motor is respectively at a speed n 1 、n 2 ...n i ...n m Load torque T e1 、T e2 ...T ej ...T ek Simulation calculation under m x k working conditions to obtain m x k motor loss minimum exciting current i f With armature current i p Combination (i) f1，1 ，i p1，1 )、(i f1，2 ，i p1，2 )...(i fi，j ，i pi，j )...(i fin，k ，i pm，k )；
S1.3: the current rotation speed n of the motor and the given rotation speed n/u of the motor are set ref The difference is input to a proportional integral regulator, and the regulator outputs an electromagnetic torque reference value T e_ref ；
S1.4: based on electromagnetic torque reference value T e_ref Obtaining a given i of exciting current with minimum motor loss under the working condition according to the established minimum loss combination table and the current rotating speed n of the motor f_ref Given i with armature current p_ref The method specifically comprises the following steps:
s1.4.1: if the rotating speed n of the electro-magnetic doubly salient motor is in the interval (n i ，n i+1 ) Electromagnetic torque reference value T e_ref In the interval (T) ej ，T ej+1 ) In between, the step length of the rotating speed interval is recorded as delta n=n i+1 -n i ；
S1.4.2: the interval lookup table can obtain the corresponding output common (i) fi，j ，i pi，j )、(i fi+1，j ，i pi+1，j )、(i fi，j+1 ，i pi，j+1 )、(i fi+1，j+1 ，i pi+1，j+1 )；
S1.4.3: obtaining the excitation current of the electrically excited doubly salient motor under the working condition by adopting a linear average method, wherein the excitation current is given as i f_ref ＝i fi，j +(i fi+1，j+1 -i fi，j )×(n-n i ) The armature current is given by i p_ref ＝i pi，j +(i pi+1，j+1 -i pi，j )×(n-n i )/Δn。
In the step S2, the exciting current and the armature current are respectively controlled in a closed loop, and the specific steps are as follows:
s2.1: performing closed-loop control on exciting current, inputting a difference between a given reference value of the exciting current and actual exciting current to a proportional-integral regulator, outputting a duty ratio serving as an upper tube driving signal of a left bridge arm of an exciting power converter, and enabling a lower tube of a right bridge arm to be normally open, so as to realize motor exciting current control;
s2.2: the armature current is subjected to closed loop control, a given reference value of the armature current and the actual armature current are subjected to difference input to a proportional integral regulator, the output of the regulator is the duty ratio of a driving signal of a main power converter, a switching signal of a power device in the full-bridge converter is obtained by combining the current position of a rotor, a three-phase three-state conduction rule is adopted by the three-phase full-bridge converter, the conduction interval of each power tube is 120 degrees, each 120 degrees is subjected to phase inversion, and the specific conduction conditions of six power devices in the full-bridge converter are as follows according to the position of the rotor:
the rotor is positioned in a range of 0-120 degrees, the chopping control is carried out on the upper pipe of the first bridge arm, the lower pipe of the third bridge arm is normally on, and the conducting phase is A+C-;
the rotor is positioned in a 120-240 DEG interval, the chopping control is carried out on the upper pipe of the second bridge arm, the lower pipe of the first bridge arm is normally on, and the conducting phase is B+A-;
the rotor is positioned in a range of 240-360 degrees, the chopping control is carried out on the upper tube of the third bridge arm, the lower tube of the second bridge arm is normally on, and the conducting phase is C+B-.
The beneficial effects are that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
the current cooperative control method with the minimum loss can reduce the system loss and improve the system efficiency under the working condition of wide rotating speed and load.
Drawings
FIG. 1 is a system control block diagram of the method of the present invention;
FIG. 2 is a block diagram of the electro-magnetic doubly salient motor drive system of the present invention;
FIG. 3 is a cross-sectional view of a 12/8 pole electrically excited doubly salient motor of the present invention;
fig. 4 is a three-phase self-inductance curve and an energization rule diagram of the electro-magnetic doubly-salient motor of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Wherein the described embodiments are some, but not all embodiments of the invention. Thus, the following detailed description of the embodiments of the invention, as 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
A system control block diagram of the method of the present invention is shown in fig. 1. The structural block diagram of the electro-magnetic doubly salient motor system based on the invention is shown in fig. 2, and comprises: the three-phase armature winding of the electro-magnetic doubly-salient motor is connected with the full-bridge main power converter, and the exciting winding is connected with the asymmetric half-bridge exciting power converter. Wherein the cross section of the electrically excited doubly salient motor is shown in fig. 3. The three-phase self-inductance curve of the electro-magnetic doubly-salient motor in the three-phase three-beat power-on mode is shown in fig. 4. The method specifically comprises the following steps:
step S1: as shown in figure 1, an electrically excited doubly salient motor loss calculation model is established, and different rotation speeds n and torques T are obtained through simulation calculation e Exciting current i with minimum loss f With armature current i p A combination in which the input variable is the rotational speed n 1 、n 2 ...n i ...n m With load torque T e1 、T e2 ...T ej ...T ek The output is m x k motor loss minimum exciting current i obtained by simulation calculation under m x k working conditions f With armature current i p Combination (i) f1，1 ，i p1，1 )、(i f1，2 ，i p1，2 )...(i fi，j ，i pi，j )...(i fm，k ，i pm，k ) The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following steps:
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 load torque range of the motor, the motor is respectively at a speed n 1 、n 2 ...n i ...n m The lower electromagnetic torque is T e1 、T e2 ...T ej ...T ek Simulation calculation under m x k working conditions to obtain m x k minimum loss motor exciting current i f With armature current i p Combination (i) f1，1 ，i p1，1 )、(i f1，2 ，i p1，2 )...(i fi，j ，i pi，j )...(i fm，k ，i pm，k )。
Step S1.3: the current rotating speed n of the motor and the given rotating speed n of the motor are set _ref The difference is input to a proportional integral regulator, and the regulator outputs a torque reference value T e_ref ；
Step S1.4: based on torque reference T e_ref Obtaining a given i of exciting current with minimum motor loss under the working condition according to the established minimum loss combination table and the current rotating speed n of the motor f_ref Given i with armature current p_ref The method specifically comprises the following steps:
step S1.4.1: if the rotating speed n of the electro-magnetic doubly salient motor is in the interval (n i ，n i+1 ) Torque reference value T e_ref In the interval (T) ej ，T ej+1 ) In between, the step length of the rotating speed interval is recorded as delta n=n i+1 -n i ；
Step S1.4.2: the interval lookup table can obtain the corresponding output common (i) fi，j ，i pi，j )、(i fi+1，j ，i pi+1，j )、(i fi，j+1 ，i pi，j+1 )、(i fi+1，j+1 ，i pi+1，j+1 )；
Step S1.4.3: the excitation current is given as i by adopting a linear average method f_ref ＝i fi，j +(i fi+1，j+1 -i fi，j )×(n-n i ) The armature current is given by i p_ref ＝i pi，j +(i pi+1，j+1 -i pi，j )×(n-n i )/Δn。
Step S2: as shown in fig. 2, the excitation winding of the electro-magnetic doubly-salient motor is driven by an asymmetric half-bridge converter and is controlled by a single excitation current in a closed loop manner; the armature winding is driven by a full-bridge converter, current closed-loop control is carried out according to exciting current, an armature current reference value and the current rotor position, and switching signals of power devices in the two converters are obtained, specifically:
step S2.1: performing closed-loop control on the exciting current, and making a difference between a given reference value of the exciting current and the actual exciting currentInput to proportional-integral regulator, output as upper tube Q of left bridge arm of exciting power converter 7 Duty ratio of driving signal, right arm down tube Q 8 Normally open, realizing motor excitation current control;
step S2.2: the armature current is subjected to closed loop control, a given reference value of the armature current and the actual armature current are subjected to difference input to a proportional integral regulator, the output of the regulator is the duty ratio of a driving signal of a main power converter, a switching signal of a power device in the full-bridge converter is obtained by combining the current position of a rotor, a three-phase three-state conduction rule is adopted by the three-phase full-bridge converter, the conduction interval of each power tube is 120 degrees, each 120 degrees is subjected to phase inversion, and the specific conduction conditions of six power devices in the full-bridge converter are as follows according to the position of the rotor:
the rotor is positioned in the interval of 0-120 degrees, and the upper tube Q of the first bridge arm 1 Chopper control, third bridge arm down tube Q 2 Normally on, the conducting phase is A+C-;
the rotor is positioned in the interval of 120-240 degrees, and the upper tube Q of the second bridge arm 3 Chopper control, first bridge arm down tube Q 4 Normally open, the conducting phase is B+A-;
the rotor is positioned in a range of 240-360 degrees, and the upper tube Q of the third bridge arm 5 Chopper control, second bridge arm down tube Q 6 Normally on, the conducting phase is C+B-.
The method for controlling the cooperative optimization of the exciting current and the armature current can be realized through the steps S1-S2, so that the electro-magnetic doubly salient motor with a wide rotating speed and load range can stably operate, and the operation loss of the electro-magnetic doubly salient motor can be effectively reduced.
The invention and its embodiments have been described above by way of illustration and not limitation, and the actual construction and method of construction illustrated in the accompanying drawings is not limited to this. Therefore, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical scheme are not creatively designed without departing from the gist of the present invention, and all the structural manners and the embodiments belong to the protection scope of the present invention.
Claims (2)
1. The current cooperative control method with the minimum loss of the electro-magnetic doubly-salient motor is characterized by comprising the following steps of:
s1: establishing an electric excitation doubly salient motor finite element loss calculation model containing iron loss and copper loss, and obtaining different rotation speeds n and electromagnetic torques T through simulation calculation e The corresponding excitation current i with the minimum loss f With armature current i p A combination table in which the input variable 1 is the rotational speed n 1 、n 2 ...n i ...n m The input variable 2 is the load torque T e1 、T e2 ...T ej ...T ek The output is m x k motor loss minimum exciting current i obtained by simulation calculation under m x k working conditions f With armature current i p Combination (i) f1，1 ，i p1，1 )、(i f1，2 ，i p1，2 )...(i fi，j ，i pi，j )...(i fm，k ，i pm，k ) The method comprises the steps of carrying out a first treatment on the surface of the The output of the outer ring of the rotating speed of the electro-magnetic doubly salient motor system is taken as a torque reference value, and the current rotating speed of the motor is combined, so that exciting current i under the working condition is obtained according to the loss combination f_ref Given as i to armature current p_ref ；
S2: the excitation current of the electro-magnetic doubly salient motor is subjected to closed-loop control by the excitation winding group asymmetric half-bridge converter, the armature winding is driven by the full-bridge converter, and current closed-loop control is performed according to the excitation current, the armature current given value and the current rotor position, so that driving signals of power devices in the two converters are obtained;
the step S1 establishes a combined table of exciting current and armature current, and the combined table is specifically 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 load torque range of the motor, the motor is respectively at a speed n 1 、n 2 ...n i ...n m Load torque T e1 、T e2 ...T ej ...T ek Simulation calculation under m x k working conditions to obtain m x k motor loss minimum exciting current i f With armature current i p Combination (i) f1，1 ，i p1，1 )、(i f1，2 ，i p1，2 )...(i fi，j ，i pi，j )...(i fm，k ，i pm，k )；
S1.3: the current rotating speed n of the motor and the given rotating speed n of the motor are set _ref The difference is input to a proportional integral regulator, and the regulator outputs an electromagnetic torque reference value T e_ref ；
S1.4: based on electromagnetic torque reference value T e_ref Obtaining a given i of exciting current with minimum motor loss under the working condition according to the established minimum loss combination table and the current rotating speed n of the motor f_ref Given i with armature current p_ref The method specifically comprises the following steps:
s1.4.1: if the rotating speed n of the electro-magnetic doubly salient motor is in the interval (n i ，n i+1 ) Electromagnetic torque reference value T e_ref In the interval (T) ej ，T ej+1 ) In between, the step length of the rotating speed interval is recorded as delta n=n i+1 -n i ；
S1.4.2: the interval lookup table can obtain the corresponding output common (i) fi，j ，i pi，j )、(i fi+1，j ，i pi+1，j )、(i fi，j+1 ，i pi，j+1 )、(i fi+1，j+1 ，i pi+1，j+1 )；
S1.4.3: obtaining the excitation current of the electrically excited doubly salient motor under the working condition by adopting a linear average method, wherein the excitation current is given as i f_ref ＝i fi，j +(i fi+1，j+1 -i fi，j )×(n-n i ) The armature current is given by i p_ref ＝i pi，j +(i pi+1，j+1 -i pi，j )×(n-n i )/Δn。
2. The current cooperative control method with minimum loss of the electro-magnetic doubly-salient motor according to claim 1, wherein in the step S2, the exciting current and the armature current are respectively controlled in a closed loop, and the specific steps are as follows:
s2.1: performing closed-loop control on exciting current, inputting a difference between a given reference value of the exciting current and actual exciting current to a proportional-integral regulator, outputting a duty ratio serving as an upper tube driving signal of a left bridge arm of an exciting power converter, and enabling a lower tube of a right bridge arm to be normally open, so as to realize motor exciting current control;
s2.2: the armature current is subjected to closed loop control, a given reference value of the armature current and the actual armature current are subjected to difference input to a proportional integral regulator, the output of the regulator is the duty ratio of a driving signal of a main power converter, a switching signal of a power device in the full-bridge converter is obtained by combining the current position of a rotor, a three-phase three-state conduction rule is adopted by the three-phase full-bridge converter, the conduction interval of each power tube is 120 degrees, each 120 degrees is subjected to phase inversion, and the specific conduction conditions of six power devices in the full-bridge converter are as follows according to the position of the rotor:
the rotor is positioned in a range of 0-120 degrees, the chopping control is carried out on the upper pipe of the first bridge arm, the lower pipe of the third bridge arm is normally on, and the conducting phase is A+C-;
the rotor is positioned in a 120-240 DEG interval, the chopping control is carried out on the upper pipe of the second bridge arm, the lower pipe of the first bridge arm is normally on, and the conducting phase is B+A-;
the rotor is positioned in a range of 240-360 degrees, the chopping control is carried out on the upper tube of the third bridge arm, the lower tube of the second bridge arm is normally on, and the conducting phase is C+B-.
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