CN114301367A - Four-switch inverter double-motor control system - Google Patents
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Abstract
The invention discloses a dual-motor control system of a four-switch inverter, belonging to the field of motors and comprising: the four-switch inverter comprises a direct-current capacitor bridge arm and two power bridge arms which are connected in parallel, and the middle points of the direct-current capacitor bridge arm and the power bridge arms are respectively connected with the three phases of the double motors in a one-to-one corresponding mode; the reference voltage vector calculation module is used for calculating the optimal voltage vector of each motor according to the rotating speed, the reference synchronous rotating speed, the three-phase current and the rotating speed of each motor in the double motors, and solving the average value of each optimal voltage vector to obtain a reference voltage vector; the compensation voltage vector calculation module is used for calculating the duty ratio of a compensation voltage vector according to the bus capacitor voltage and the three-phase current of each motor; and the space vector pulse width modulation module is used for calculating the duty ratio of the control signal according to the bus capacitor voltage, the reference voltage vector and the compensation voltage vector duty ratio and generating a corresponding control signal to control the four-switch inverter. The weight, the volume and the cost of the variable frequency speed control system are reduced.
Description
Technical Field
The invention belongs to the field of motors, and particularly relates to a four-switch inverter double-motor control system.
Background
The multi-motor variable-frequency speed regulating system is widely applied to the fields of industrial manufacturing, aerospace, transportation and the like. In recent years, in many occasions with low requirements on control performance, the requirements for reducing the weight, the volume and the cost of a variable frequency speed regulating system are increasing, and the variable frequency speed regulating system is receiving attention. The inverter is used as a core component for energy conversion of the variable frequency speed control system, and the reduction of the number of power switches used by the inverter has important engineering application value for reducing the weight, the volume and the cost of the variable frequency speed control system.
Currently, in most multi-motor variable frequency speed control systems, each motor has an independent inverter module, each inverter includes three power bridge arms, and each power bridge arm uses two power switches. In the existing multi-motor variable frequency speed control system for reducing the number of power switches, the system can be roughly divided into three topologies, five, four or three power bridge arms are respectively used for controlling two motors, the number of the required power switches is large, and the weight, the volume and the cost of the variable frequency speed control system are high. Therefore, in the multi-motor synchronous control system, how to reduce the number of power switches in the inverter and ensure the performance of the variable-frequency speed regulation system has important significance.
Disclosure of Invention
Aiming at the defects and improvement requirements of the prior art, the invention provides a dual-motor control system of a four-switch inverter, and aims to reduce the weight, the volume and the cost of a variable frequency speed control system on the basis of ensuring the control performance of the variable frequency speed control system.
In order to achieve the above object, the present invention provides a four-switch inverter dual-motor control system, comprising: the four-switch inverter comprises a direct-current capacitor bridge arm and two power bridge arms which are connected in parallel, and the middle points of the direct-current capacitor bridge arm and the power bridge arms are respectively connected with the three phases of the double motors in a one-to-one correspondence manner; the reference voltage vector calculation module is used for calculating the optimal voltage vectors of the motors respectively according to the rotating speed, the reference synchronous rotating speed, the three-phase current and the rotating speed of the motors in the double motors, and solving the average value of the optimal voltage vectors to obtain the reference voltage vectors; the compensation voltage vector calculation module is used for calculating the duty ratio of a compensation voltage vector according to the bus capacitor voltage and the three-phase current of each motor; and the space vector pulse width modulation module is used for calculating the duty ratio of a control signal according to the bus capacitor voltage, the reference voltage vector and the duty ratio of the compensation voltage vector, and generating a corresponding control signal to control the four-switch inverter so as to control the rotating speed and the output torque of the double motors.
Still further, the reference voltage vector calculation module includes: the speed adjusting unit is used for respectively calculating the reference torque of each motor according to the rotating speed of each motor and the reference synchronous rotating speed; the flux linkage estimation and prediction unit is used for calculating current vectors and stator flux linkages of the motors at the current moment according to the three-phase currents and the motor rotating speeds of the motors at the current moment and predicting rotor flux linkages of the motors at the next moment; and the calculating unit is used for respectively calculating the reference stator flux linkage of each motor according to the reference torque of each motor and the rotor flux linkage of each motor at the next moment, respectively calculating the optimal voltage vector of each motor according to the current vector and the reference stator flux linkage of each motor at the current moment, and solving the mean value of each optimal voltage vector to obtain the reference voltage vector.
Further, the dual motors include a first motor and a second motor, and the reference torque of each motor is:
wherein ,Te,1 *Is the reference torque of the first electric machine, Te,2 *Is the reference torque, ω, of the second electrical machiner,1Is the rotational speed, ω, of the first electrical machiner,2Is the rotational speed, ω, of the second motorr *For reference to synchronous speed, kpIs a first gain factor, kiIs the second gain factor, kΔIs the third gain factor.
Further, the dual motors include a first motor and a second motor, and the reference stator flux linkage of each motor is:
wherein ,
is the reference stator flux linkage for the jth motor, j ═ 1,2,
and
are respectively as
The angle and the amplitude of (a) of (b),
the rotor flux linkage of the motor j at the next moment,
and
are respectively as
Angle and amplitude of (D), Te,j *Is the reference torque of the jth motor, npIs the number of magnetic pole pairs, LmThe motor is mutual inductance.
Further, the dual motors include a first motor and a second motor, and the optimal voltage vector of each motor is as follows:
wherein ,vs,jThe voltage vector is the optimal voltage vector of the jth motor, j is 1,2,
is the reference stator flux linkage of the jth motor,
for the stator flux linkage, T, of the motor j at the present momentsTo sample time, RsIs the motor stator resistance, is,j kIs the current vector of the jth motor at the current moment.
Furthermore, the dual motors include a first motor and a second motor, the midpoint of the dc capacitor bridge arm is connected to the phase a of the first motor and the phase a of the second motor, the midpoint of one power bridge arm is connected to the phase b of the first motor and the phase b of the second motor, and the midpoint of the other power bridge arm is connected to the phase c of the first motor and the phase c of the second motor.
Further, the compensation voltage vector duty cycle is:
wherein ,dvFor the compensation voltage vector duty cycle, kvFor voltage compensation factor, Vc1To upper capacitor voltage, Vc2Is the lower capacitor voltage, VdcIs a Vc1And Vc2And i ofa,j、ib,jThe phase a current and the phase b current of the j motor respectively,
the angles of the stator flux linkage of the jth motor at the current moment and the previous moment are respectively, and C is the capacitance value of the upper capacitor and the lower capacitor.
Furthermore, the direct current capacitor bridge arm is connected with the a phase of the double motors, and the duty ratio of the control signal is as follows:
wherein ,dB、dCRespectively is the duty ratio of the control signal, k, of the power bridge arm connected with the phase b and the phase c for controlling the double motorsαIs the first correlation coefficient, kβIs the second correlation coefficient, VdcIs a Vc1And Vc2And v iss,α * and vs,β *The real and imaginary components of the reference voltage vector, dvFor said compensation voltage vector duty cycle, Vc1To upper capacitor voltage, Vc2Is the lower capacitor voltage.
Further, when
Time kαWhen is equal to 0
Time kα1 is ═ 1; when v iss,β *K is not less than 0βWhen v is 0s,β *K < 0β＝1。
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained: the capacitor bridge arms and the two power bridge arms of the four-switch inverter are respectively connected with three phases of the double motors, synchronous control of the double-motor variable-frequency speed control system can be realized only by four power switches, and the weight, the volume and the cost of the double-motor variable-frequency speed control system are greatly reduced; a corresponding vector control strategy based on model prediction is provided based on the topological structure, the optimal voltage vector of each motor is calculated, the mean value of the two voltage vectors is used as the reference voltage vector of the inverter, and the compensation voltage vector is inserted on the basis to inhibit the capacitor voltage drift, so that the synchronous control of the two motors is realized, the realization is simple, the stability is good, and the control performance is good even under the condition of unbalanced load.
Drawings
Fig. 1 is a control block diagram of a four-switch inverter dual-motor control system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a connection relationship between a four-switch inverter and a double motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present application, the terms "first," "second," and the like (if any) in the description and the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a control block diagram of a four-switch inverter dual-motor control system according to an embodiment of the present invention. Referring to fig. 1, a dual-motor control system of the four-switch inverter in the present embodiment will be described in detail with reference to fig. 2.
Referring to fig. 1, the four-switch inverter dual-motor control system includes a four-switch inverter, a reference voltage vector calculation module, a compensation voltage vector calculation module, and a space vector pulse width modulation module. The four-switch inverter includes a dc capacitor bridge arm and two power bridge arms connected in parallel, and the midpoints of the dc capacitor bridge arm and the power bridge arms are respectively connected with three phases of the dual motors in a one-to-one correspondence manner, as shown in fig. 2.
Referring to fig. 1, the output ends of the two motors are respectively connected to the input end of the reference voltage vector calculation module and the input end of the compensation voltage vector calculation module, the output end of the reference voltage vector calculation module and the output end of the compensation voltage vector calculation module are both connected to the input end of the space vector pulse width modulation module, the output end of the space vector pulse width modulation module is connected to the input end of the four-switch inverter, and the output end of the four-switch inverter is connected to the input ends of the two motors.
And the reference voltage vector calculation module is used for calculating the optimal voltage vectors of the motors respectively according to the rotating speed, the reference synchronous rotating speed, the three-phase current and the rotating speed of the motors in the double motors, and solving the average value of the optimal voltage vectors to obtain the reference voltage vectors. And the compensation voltage vector calculation module calculates the duty ratio of the compensation voltage vector according to the bus capacitor voltage and the three-phase current of each motor. And the space vector pulse width modulation module calculates the duty ratio of a control signal according to the bus capacitor voltage, the reference voltage vector and the duty ratio of the compensation voltage vector, and generates a corresponding control signal to control the four-switch inverter so as to control the rotating speed and the output torque of the double motors.
Taking the example that the direct current capacitor bridge arm shown in fig. 2 is connected with a of the double motor, and the two power bridge arms are respectively connected with B and C of the double motor, the four-switch inverter includes a direct current capacitor bridge arm a, a power bridge arm B and a power bridge arm C. The direct current capacitor bridge arm A, the power bridge arm B and the power bridge arm C are connected in parallel. The direct current capacitor bridge arm A comprises two capacitors connected in series, and the power bridge arm B and the power bridge arm C both comprise two switching tubes connected in series.
Referring to fig. 2, the dual motor includes a first motor M1 and a second motor M2. The midpoint of the direct current capacitor bridge arm A is connected with the phase a of the first motor and the phase a of the second motor, the midpoint of the power bridge arm B is connected with the phase B of the first motor and the phase B of the second motor, and the midpoint of the power bridge arm C is connected with the phase C of the first motor and the phase C of the second motor. It can be understood that the dc capacitor bridge arms may also be connected to the b-phase or c-phase of the dual motors, and the two power bridge arms are respectively connected to the other two phases of the dual motors.
According to an embodiment of the present invention, a reference voltage vector calculation module includes a speed adjustment unit, a flux linkage estimation prediction unit, and a calculation unit. The input end of the speed adjusting unit is connected with the output ends of the double motors, the input end of the flux linkage estimation and prediction unit is connected with the output ends of the double motors, the output end of the speed adjusting unit and the input end of the flux linkage estimation and prediction unit are both connected to the output end of the calculating unit, and the output end of the calculating unit is connected to the input end of the space vector pulse width modulation module.
The speed adjusting unit respectively calculates the reference torque of each motor according to the rotating speed of each motor and the reference synchronous rotating speed:
wherein ,Te,1 *Is the reference torque of the first electric machine, Te,2 *Is the reference torque, ω, of the second electrical machiner,1Is the rotational speed, ω, of the first electrical machiner,2Is the rotational speed, ω, of the second motorr *For reference to synchronous speed, kpIs a first gain factor, kiIs the second gain factor, kΔIs the third gain factor.
It should be noted that the above calculation method is only one preferred implementation of the speed adjustment unit, and the speed adjustment unit may calculate the reference torque of each motor in other manners. Specifically, the reference torque of each motor is found from the rotational speed of each motor and the reference synchronous rotational speed, for example, by a proportional-integral controller:
Te,1 *＝kp(ωr *-ωr,1)+ki·∫(ωr *-ωr,1)
Te,2 *＝kp(ωr *-ωr,2)
and the flux linkage estimation and prediction unit calculates the current vector and the stator flux linkage of each motor at the current moment according to the three-phase current and the motor rotating speed of each motor at the current moment and predicts the rotor flux linkage of each motor at the next moment. Current vector i of an electric machines kAnd three-phase current ia k、ib k、ic kThe relationship between them is:
the stator flux linkage and the rotor flux linkage of each motor at the current moment, which are calculated by the flux linkage estimation and prediction unit, are respectively as follows:
τr＝Lr/Rr
kr＝Lm/Lr
wherein ,
for the rotor flux linkage of the motor j at the present momentrIs the rotor time constant, TsIs the sampling period, omegar,jIs the rotational speed of the jth motor,
the rotor flux linkage of the jth motor at the previous moment, LmIs mutual inductance of is,j kIs the current vector of the jth motor at the present moment,
for the stator flux linkage, k, of the motor j at the present momentrIs the rotor coupling coefficient, σ is the leakage inductance coefficient, LsIs a stator inductance, LrIs rotor inductance, RrIs the rotor resistance.
The flux linkage estimation and prediction unit predicts the rotor flux linkage of each motor at the next moment
Comprises the following steps:
the calculation unit respectively calculates the reference stator flux linkage of each motor according to the reference torque of each motor and the rotor flux linkage of each motor at the next moment, respectively calculates the optimal voltage vector of each motor according to the current vector and the reference stator flux linkage of each motor at the current moment, and calculates the average value of each optimal voltage vector to obtain the reference voltage vector.
The reference stator flux linkage of each motor calculated by the calculating unit is as follows:
wherein ,
is the reference stator flux linkage for the jth motor, j ═ 1,2,
and
are respectively as
The angle and the amplitude of (a) of (b),
the rotor flux linkage of the motor j at the next moment,
and
are respectively as
Angle and amplitude of (D), Te,j *Is j powerReference torque of the machine, npIs the number of magnetic pole pairs, LmThe motor is mutual inductance.
The optimal voltage vector of each motor calculated by the calculating unit is as follows:
wherein ,vs,jThe voltage vector is the optimal voltage vector of the jth motor, j is 1,2,
is the reference stator flux linkage of the jth motor,
for the stator flux linkage, T, of the motor j at the present momentsTo sample time, RsIs the motor stator resistance, is,j kIs the current vector of the jth motor at the current moment.
Reference voltage vector vs *As the mean between the optimal voltage vectors:
wherein ,vs,α * and vs,β *The real and imaginary components of the reference voltage vector, respectively.
The duty ratio of the compensation voltage vector calculated by the compensation voltage vector calculation module is as follows:
wherein ,dvTo compensate for voltage vector duty cycle, kvFor voltage compensation factor, Vc1To upper capacitor voltage, Vc2Is the lower capacitor voltage, VdcIs a Vc1And Vc2And i ofa,j、ib,jAre respectively the jth motorThe phase a current and the phase b current of (1),
the angles of the stator flux linkage of the jth motor at the current moment and the previous moment are respectively, and C is the capacitance value of the upper capacitor and the lower capacitor.
It should be noted that the above calculation method is only a preferred implementation of the compensation voltage vector calculation module, and in this way, a filter is not needed, and the compensation voltage vector calculation module may also calculate the compensation voltage vector duty ratio in other manners, for example, in the following manners:
wherein ,
and
are each Vc1 and Vc2And D, the direct current quantity after being processed by the filter.
The duty ratio of the control signal calculated by the space vector pulse width modulation module is as follows:
wherein ,dB、dCRespectively is the duty ratio of the control signal, k, of the power bridge arm connected with the phase b and the phase c for controlling the double motorsαIs the first correlation coefficient, kβIs the second correlation coefficient, VdcIs a Vc1And Vc2And v iss,α * and vs,β *The real and imaginary components of the reference voltage vector, respectively，dvFor said compensation voltage vector duty cycle, Vc1To upper capacitor voltage, Vc2Is the lower capacitor voltage.
When in use
Time kαWhen is equal to 0
Time kα1 is ═ 1; when v iss,β *K is not less than 0βWhen v is 0s,β *K < 0β＝1。
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a four switch inverter bi-motor control system which characterized in that includes:
the four-switch inverter comprises a direct-current capacitor bridge arm and two power bridge arms which are connected in parallel, and the middle points of the direct-current capacitor bridge arm and the power bridge arms are respectively connected with the three phases of the double motors in a one-to-one correspondence manner;
the reference voltage vector calculation module is used for calculating the optimal voltage vectors of the motors respectively according to the rotating speed, the reference synchronous rotating speed, the three-phase current and the rotating speed of the motors in the double motors, and solving the average value of the optimal voltage vectors to obtain the reference voltage vectors;
the compensation voltage vector calculation module is used for calculating the duty ratio of a compensation voltage vector according to the bus capacitor voltage and the three-phase current of each motor;
and the space vector pulse width modulation module is used for calculating the duty ratio of a control signal according to the bus capacitor voltage, the reference voltage vector and the duty ratio of the compensation voltage vector, and generating a corresponding control signal to control the four-switch inverter so as to control the rotating speed and the output torque of the double motors.
2. The four-switch inverter dual-motor control system of claim 1, wherein the reference voltage vector calculation module comprises:
the speed adjusting unit is used for respectively calculating the reference torque of each motor according to the rotating speed of each motor and the reference synchronous rotating speed;
the flux linkage estimation and prediction unit is used for calculating current vectors and stator flux linkages of the motors at the current moment according to the three-phase currents and the motor rotating speeds of the motors at the current moment and predicting rotor flux linkages of the motors at the next moment;
and the calculating unit is used for respectively calculating the reference stator flux linkage of each motor according to the reference torque of each motor and the rotor flux linkage of each motor at the next moment, respectively calculating the optimal voltage vector of each motor according to the current vector and the reference stator flux linkage of each motor at the current moment, and solving the mean value of each optimal voltage vector to obtain the reference voltage vector.
3. The four-switch inverter dual-motor control system of claim 2, wherein the dual motors comprise a first motor and a second motor, and the reference torque of each motor is:
wherein ,Te,1 *Is the reference torque of the first electric machine, Te,2 *Is the reference torque, ω, of the second electrical machiner,1Is the rotational speed, ω, of the first electrical machiner,2Is the rotational speed, ω, of the second motorr *For reference to synchronous speed, kpIs a first gain factor, kiIs the second gain factor, kΔIs the third gain factor.
4. The four-switch inverter dual-motor control system of claim 2, wherein the dual-motor comprises a first motor and a second motor, and the reference stator flux linkage of each motor is:
wherein ,
is the reference stator flux linkage for the jth motor, j ═ 1,2,
and
are respectively as
The angle and the amplitude of (a) of (b),
the rotor flux linkage of the motor j at the next moment,
and
are respectively as
Angle and amplitude of (D), Te,j *Is the reference torque of the jth motor, npIs the number of magnetic pole pairs, LmThe motor is mutual inductance.
5. The four-switch inverter dual-motor control system of claim 2, wherein the dual motors comprise a first motor and a second motor, and the optimal voltage vector of each motor is:
wherein ,vs,jThe voltage vector is the optimal voltage vector of the jth motor, j is 1,2,
is the reference stator flux linkage of the jth motor,
for the stator flux linkage, T, of the motor j at the present momentsTo sample time, RsIs the motor stator resistance, is,j kIs the current vector of the jth motor at the current moment.
6. The four-switch inverter double-motor control system as claimed in any one of claims 1 to 5, wherein the double motors comprise a first motor and a second motor, the midpoints of the direct current capacitor bridge arms are connected with the phase a of the first motor and the phase a of the second motor, the midpoint of one power bridge arm is connected with the phase b of the first motor and the phase b of the second motor, and the midpoint of the other power bridge arm is connected with the phase c of the first motor and the phase c of the second motor.
7. The four-switch inverter dual-motor control system of claim 6, wherein the compensation voltage vector duty cycle is:
wherein ,dvFor the compensation voltage vector duty cycle, kvFor voltage compensation factor, Vc1To upper capacitor voltage, Vc2Is the lower capacitor voltage, VdcIs a Vc1And Vc2And i ofa,j、ib,jThe phase a current and the phase b current of the j motor respectively,
the angles of the stator flux linkage of the jth motor at the current moment and the previous moment are respectively, and C is the capacitance value of the upper capacitor and the lower capacitor.
8. The four-switch inverter double-motor control system of claim 6, wherein the direct-current capacitor bridge arm is connected with the a phase of the double motors, and the duty ratio of control signals is as follows:
wherein ,dB、dCRespectively is the duty ratio of the control signal, k, of the power bridge arm connected with the phase b and the phase c for controlling the double motorsαIs the first correlation coefficient, kβIs the second correlation coefficient, VdcIs a Vc1And Vc2And v iss,α * and vs,β *The real and imaginary components of the reference voltage vector, dvFor said compensation voltage vector duty cycle, Vc1To upper capacitor voltage, Vc2Is the lower capacitor voltage.
9. The four-switch inverter dual-motor control system of claim 8, wherein when the system is operated in a fully-switched mode, the system is operated in a fully-switched mode
Time kαWhen is equal to 0
Time kα1 is ═ 1; when v iss,β *K is not less than 0βWhen v is 0s,β *K < 0β＝1。
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741299A (en) * | 2010-01-20 | 2010-06-16 | 哈尔滨工业大学 | Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter |
| CN106059428A (en) * | 2016-07-07 | 2016-10-26 | 东南大学 | Model prediction control method of three-phase four-switch inverter driven permanent magnet synchronous motor |
| CN106685269A (en) * | 2016-12-09 | 2017-05-17 | 上海交通大学 | Inverter topological structure used for dual motors |
| CN110112960A (en) * | 2019-04-09 | 2019-08-09 | 华中科技大学 | Control system and method under a kind of more power bridge arm failures of bi-motor |
| CN112789800A (en) * | 2020-03-31 | 2021-05-11 | 华为技术有限公司 | Multi-motor drive circuit and control method thereof |
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2022
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101741299A (en) * | 2010-01-20 | 2010-06-16 | 哈尔滨工业大学 | Method for regulating speed of brushless direct current motor supplied with power by four-switch three-phase inverter |
| CN106059428A (en) * | 2016-07-07 | 2016-10-26 | 东南大学 | Model prediction control method of three-phase four-switch inverter driven permanent magnet synchronous motor |
| CN106685269A (en) * | 2016-12-09 | 2017-05-17 | 上海交通大学 | Inverter topological structure used for dual motors |
| CN110112960A (en) * | 2019-04-09 | 2019-08-09 | 华中科技大学 | Control system and method under a kind of more power bridge arm failures of bi-motor |
| CN112789800A (en) * | 2020-03-31 | 2021-05-11 | 华为技术有限公司 | Multi-motor drive circuit and control method thereof |
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