CN114301367B - Dual-motor control system of four-switch inverter - Google Patents
Dual-motor control system of four-switch inverter Download PDFInfo
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Abstract
The invention discloses a four-switch inverter double-motor control system, which belongs to the field of motors and comprises: the four-switch inverter comprises a direct-current capacitor bridge arm and two power bridge arms which are connected in parallel, wherein the midpoints of the direct-current capacitor bridge arm and the power bridge arm are respectively connected with the three phases of the double motors in a one-to-one correspondence manner; the reference voltage vector calculation module calculates the optimal voltage vector of each motor according to the rotating speed of each motor in the double motors, the reference synchronous rotating speed, the three-phase current and the rotating speed of the motors, and calculates the average value of each optimal voltage vector to obtain a reference voltage vector; 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 the control signal according to the bus capacitor voltage, the reference voltage vector and the compensation voltage vector duty ratio, and generates a corresponding control signal to control the four-switch inverter. The weight, the volume and the cost of the variable-frequency speed regulating 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 manufacture, aerospace, transportation and the like. In recent years, in many occasions with low requirements on control performance, the demands for reducing the weight, the volume and the cost of the variable-frequency speed regulating system are increasing, and the variable-frequency speed regulating system is attracting attention. The inverter is used as a core component for energy conversion of the variable-frequency speed regulating system, and the number of the power switches used by the inverter is reduced, so that the inverter has important engineering application value for reducing the weight, the volume and the cost of the variable-frequency speed regulating system.
Currently, in most multi-motor variable frequency speed regulation systems, each motor has an independent inverter module, each inverter includes three power legs, and each power leg uses two power switches. In the existing multi-motor variable-frequency speed regulation system for reducing the number of power switches, the topology can be roughly divided into three types, five, four or three power bridge arms are respectively used for controlling two motors, and the number of the required power switches is large, so that the variable-frequency speed regulation system is high in weight, volume and cost. 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 demands of the prior art, the invention provides a four-switch inverter double-motor control system, which 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, wherein the midpoints 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 vector of each motor according to the rotating speed of each motor in the double motors, the reference synchronous rotating speed, the three-phase current and the rotating speed of the motors, and calculating 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 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 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 prediction unit is used for calculating current vectors and stator flux linkages of the motors at the current moment according to the three-phase current and the motor rotating speed of the motors at the current moment and predicting the rotor flux linkages of the motors at the next moment; the calculation unit is used for 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, calculating the optimal voltage vector of each motor according to the current vector of each motor at the current moment and the reference stator flux linkage, and calculating the average value of each optimal voltage vector to obtain the reference voltage vector.
Still further, the dual motor includes a first motor and a second motor, the reference torque of each motor being:
wherein ,Te,1 * For the reference torque of the first motor, T e,2 * For reference torque, ω of the second motor r,1 For the rotational speed, ω, of the first motor r,2 For the rotation speed, ω, of the second motor r * To reference synchronous rotation speed, k p Is a first gain factor, k i Is a second gain factor, k Δ Is a third gain factor.
Still further, the dual motor includes a first motor and a second motor, the reference stator flux linkage of each motor being:
wherein ,for the reference stator flux linkage of the jth motor, j=1, 2,/is> and />Respectively->Angle and amplitude of>For the rotor flux linkage of the j-th motor at the next moment, and (2)> and />Respectively->Angle and amplitude of T e,j * For reference torque of the j-th motor, n p Is the number of pairs of magnetic poles, L m Is a mutual inductance of the motor.
Still further, the dual motor includes a first motor and a second motor, and an optimal voltage vector of each motor is:
wherein ,vs,j For the optimal voltage vector for the j-th motor, j=1, 2,is the reference stator flux linkage of the j-th motor,for the stator flux linkage of the jth motor at the current moment, T s For sampling time, R s I is the resistance of the stator of the motor s,j k The current vector of the jth motor at the current moment.
Further, the dual motor comprises a first motor and a second motor, wherein the midpoint of the direct current capacitor bridge arm is connected with the a phase of the first motor and the a phase of the second motor, the midpoint of one power bridge arm is connected with the b phase of the first motor and the b phase of the second motor, and the midpoint of the other power bridge arm is connected with the c phase of the first motor and the c phase of the second motor.
Further, the compensation voltage vector duty cycle is:
wherein ,dv For the compensation voltage vector duty cycle, k v For the voltage compensation coefficient, V c1 For upper capacitance voltage, V c2 For the lower capacitance voltage, V dc Is V (V) c1 And V is equal to c2 Sum, i a,j 、i b,j A phase current and a phase current of a j motor respectively,the angles of the stator flux linkage of the jth motor at the current moment and the last moment are respectively shown, and C is the capacitance value of the upper capacitor and the lower capacitor.
Further, the dc capacitor bridge arm is connected to the a phase of the dual motor, and the duty ratio of the control signal is:
wherein ,dB 、d C The duty ratio, k of control signals for controlling the b-phase and c-phase connected power bridge arms of the double motor respectively α For the first correlation coefficient, k β Is the second correlation coefficient, V dc Is V (V) c1 And V is equal to c2 Sum, v s,α * and vs,β * Respectively the real and imaginary components, d of the reference voltage vector v For the compensation voltage vector duty cycle, V c1 For upper capacitance voltage, V c2 Is the lower capacitance voltage.
Further, whenTime k α =0, when->Time k α =1; when v s,β * K is equal to or greater than 0 β When v is =0 s,β * K < 0 β ＝1。
In general, through the above technical solutions conceived by the present invention, the following beneficial effects can be obtained: the topological structure of the double-motor driven by the four-switch inverter is provided, the capacitor bridge arm and the two power bridge arms of the four-switch inverter are respectively connected with the three phases of the double-motor, and synchronous control of the double-motor variable frequency speed regulation system can be realized by only four power switches, so that the weight, the volume and the cost of the double-motor variable frequency speed regulation system are greatly reduced; based on the topological structure, a corresponding vector control strategy based on model prediction is provided, an optimal voltage vector of each motor is calculated, the average value of the two voltage vectors is used as a reference voltage vector of the inverter, and a compensation voltage vector is inserted on the basis to inhibit capacitor voltage drift, so that synchronous control of the two motors is realized, the realization is simple, the stability is good, and good control performance is achieved even under the condition of unbalanced load.
Drawings
Fig. 1 is a control block diagram of a dual-motor control system of a four-switch inverter 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 dual motor according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
In the present invention, the terms "first," "second," and the like in the description and in the drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a control block diagram of a dual-motor control system of a four-switch inverter according to an embodiment of the present invention. Referring to fig. 1, a two-motor control system of a four-switch inverter in this 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 comprises a direct-current capacitor bridge arm and two power bridge arms which are connected in parallel, wherein the midpoints 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, as shown in figure 2.
Referring to fig. 1, the output ends of the dual motors are respectively connected with the input end of the reference voltage vector calculation module and the input end of the compensation voltage vector calculation module, the output ends of the reference voltage vector calculation module and the compensation voltage vector calculation module are both connected with the input end of the space vector pulse width modulation module, the output end of the space vector pulse width modulation module is connected with the input end of the four-switch inverter, and the output end of the four-switch inverter is connected with the input end of the dual motors.
The reference voltage vector calculation module calculates the optimal voltage vector of each motor according to the rotating speed of each motor in the double motors, the reference synchronous rotating speed, the three-phase current and the rotating speed of the motors, and calculates the average value of each optimal voltage vector to obtain the reference voltage vector. The compensation voltage vector calculation module calculates the compensation voltage vector duty ratio according to the bus capacitor voltage and the three-phase current of each motor. 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 motors and the two power bridge arms are respectively connected with B and C of the double motors, the four-switch inverter comprises 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 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 a phase of the first motor and the a phase of the second motor, the midpoint of the power bridge arm B is connected with the B phase of the first motor and the B phase of the second motor, and the midpoint of the power bridge arm C is connected with the C phase of the first motor and the C phase of the second motor. It is understood that the dc capacitor bridge arm may also be connected to the b-phase or c-phase of the dual motor, and the two power bridge arms are respectively connected to the other two phases of the dual motor.
According to an embodiment of the present invention, the 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 end of the double motors, the input end of the flux linkage estimation prediction unit is connected with the output end of the double motors, the output end of the speed adjusting unit and the input end of the flux linkage estimation 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 calculates reference torque of each motor according to the rotating speed of each motor and the reference synchronous rotating speed:
wherein ,Te,1 * For the reference torque of the first motor, T e,2 * For reference torque, ω of the second motor r,1 For the rotational speed, ω, of the first motor r,2 For the rotation speed, ω, of the second motor r * To reference synchronous rotation speed, k p Is a first gain factor, k i Is a second gain factor, k Δ Is a third gain factor.
It should be noted that the above calculation method is only a preferred implementation method of the speed adjusting unit, and the speed adjusting unit may calculate the reference torque of each motor in other manners. Specifically, the reference torque of each motor is obtained by a proportional-integral controller according to the rotation speed of each motor and the reference synchronous rotation speed:
T e,1 * ＝k p (ω r * -ω r,1 )+k i ·∫(ω r * -ω r,1 )
T e,2 * ＝k p (ω r * -ω r,2 )
and the flux linkage estimation prediction unit calculates current vectors and stator flux linkages of the motors at the current moment according to the three-phase current and the motor rotating speed of the motors at the current moment, and predicts rotor flux linkages of the motors at the next moment. Current vector i of motor s k With three-phase current i a k 、i b k 、i c k The relation between the two is:
the stator flux linkage and the rotor flux linkage of each motor at the current moment calculated by the flux linkage estimation and prediction unit are respectively as follows:
τ r ＝L r /R r
k r ＝L m /L r
wherein ,for the rotor flux linkage of the jth motor at the current moment, τ r Is the rotor time constant, T s For sampling period omega r,j For the rotation speed of the j-th motor, < >>For the rotor flux linkage of the j-th motor at the previous moment, L m Is mutual inductance, i s,j k For the current vector of the j-th motor at the present moment, is>For the stator flux linkage, k, of the j-th motor at the current moment r For rotor coupling coefficient, σ is leakage inductance coefficient, L s Is the stator inductance, L r For rotor inductance, R r Is the rotor resistance.
Rotor flux linkage of each motor at next moment predicted by flux linkage estimation prediction unitThe method comprises the following steps:
the calculation unit 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, calculates the optimal voltage vector of each motor according to the current vector of each motor at the current moment and the reference stator flux linkage, 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 calculation unit is as follows:
wherein ,for the reference stator flux linkage of the jth motor, j=1, 2,/is> and />Respectively->Angle and amplitude of>For the rotor flux linkage of the j-th motor at the next moment, and (2)> and />Respectively->Angle and amplitude of T e,j * For reference torque of the j-th motor, n p Is the number of pairs of magnetic poles, L m Is a mutual inductance of the motor.
The optimal voltage vector of each motor calculated by the calculation unit is as follows:
wherein ,vs,j For the optimal voltage vector for the j-th motor, j=1, 2,is the reference stator flux linkage of the j-th motor,for the stator flux linkage of the jth motor at the current moment, T s For sampling time, R s I is the resistance of the stator of the motor s,j k The current vector of the jth motor at the current moment.
Reference voltage vector v s * The average value between each optimal voltage vector is:
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 ,dv To compensate for the voltage vector duty cycle, k v For the voltage compensation coefficient, V c1 For upper capacitance voltage, V c2 For the lower capacitance voltage, V dc Is V (V) c1 And V is equal to c2 Sum, i a,j 、i b,j A phase current and a phase current of a j motor respectively,the angles of the stator flux linkage of the jth motor at the current moment and the last moment are respectively shown, 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 method of the compensation voltage vector calculation module, in this way, a filter is not required to be used, and the compensation voltage vector calculation module may also calculate the duty ratio of the compensation voltage vector in other manners, for example, the following manners are adopted:
wherein , and />V respectively c1 and Vc2 And D.C. quantity processed by filter.
The duty ratio of the control signal calculated by the space vector pulse width modulation module is as follows:
wherein ,dB 、d C The duty ratio, k of control signals for controlling the b-phase and c-phase connected power bridge arms of the double motor respectively α For the first correlation coefficient, k β Is the second correlation coefficient, V dc Is V (V) c1 And V is equal to c2 Sum, v s,α * and vs,β * Respectively the real and imaginary components, d of the reference voltage vector v For the compensation voltage vector duty cycle, V c1 For upper capacitance voltage, V c2 Is the lower capacitance voltage.
When (when)Time k α =0, when->Time k α =1; when v s,β * K is equal to or greater than 0 β When v is =0 s,β * K < 0 β ＝1。
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. 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, wherein the midpoints 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 vector of each motor according to the rotating speed, the reference synchronous rotating speed and the three-phase current of each motor in the double motors, and calculating 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 the compensation voltage vector according to the bus capacitor voltage and the three-phase current of each motor;
the space vector pulse width modulation module is used for calculating a control signal duty ratio 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 so as to control the rotating speed and the output torque of the double motors;
the double motors comprise a first motor and a second motor, and the optimal voltage vector of each motor is as follows:
wherein ,vs,j For the optimal voltage vector for the j-th motor, j=1, 2,for the reference stator flux of the jth motor, for example>For the stator flux linkage of the jth motor at the current moment, T s For sampling time, R s Is electric powerStator resistor, i s,j k The current vector of the jth motor at the current moment.
2. The four-switch inverter two-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 prediction unit is used for calculating current vectors and stator flux linkages of the motors at the current moment according to the three-phase current and the motor rotating speed of the motors at the current moment and predicting the rotor flux linkages of the motors at the next moment;
the calculation unit is used for 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, calculating the optimal voltage vector of each motor according to the current vector of each motor at the current moment and the reference stator flux linkage, and calculating the average value of each optimal voltage vector to obtain the reference voltage vector.
3. The four-switch inverter two-motor control system of claim 2, wherein the two motors comprise a first motor and a second motor, the reference torque of each motor being:
wherein ,Te,1 * For the reference torque of the first motor, T e,2 * For reference torque, ω of the second motor r,1 For the rotational speed, ω, of the first motor r,2 For the rotation speed, ω, of the second motor r * To reference synchronous rotation speed, k p As a result of the first gain factor,k i is a second gain factor, k Δ Is a third gain factor.
4. The four-switch inverter two-motor control system of claim 2, wherein the two motors comprise a first motor and a second motor, the reference stator flux linkage of each motor being:
wherein ,for the reference stator flux linkage of the jth motor, j=1, 2,/is> and />Respectively->Angle and amplitude of>For the rotor flux linkage of the j-th motor at the next moment, and (2)> and />Respectively->Angle and amplitude of T e,j * For reference torque of the j-th motor, n p Is the number of pairs of magnetic poles, L m For electric machinesFeel is provided.
5. The four-switch inverter two-motor control system of any of claims 1-4, wherein the two motors comprise a first motor and a second motor, a midpoint of the dc capacitor leg connects an a-phase of the first motor and an a-phase of the second motor, a midpoint of the power leg connects a b-phase of the first motor and a b-phase of the second motor, and a midpoint of the power leg connects a c-phase of the first motor and a c-phase of the second motor.
6. The four-switch inverter two-motor control system of claim 5, wherein the compensation voltage vector duty cycle is:
wherein ,dv For the compensation voltage vector duty cycle, k v For the voltage compensation coefficient, V c1 For upper capacitance voltage, V c2 For the lower capacitance voltage, V dc Is V (V) c1 And V is equal to c2 Sum, i a,j 、i b,j A phase current and a phase current of a j motor respectively,the angles of the stator flux linkage of the jth motor at the current moment and the last moment are respectively shown, and C is the capacitance value of the upper capacitor and the lower capacitor.
7. The four-switch inverter two-motor control system of claim 5, wherein the dc capacitor bridge arm is connected to the a-phase of the two motors, and the duty cycle of the control signal is:
wherein ,dB 、d C The duty ratio, k of control signals for controlling the b-phase and c-phase connected power bridge arms of the double motor respectively α For the first correlation coefficient, k β Is the second correlation coefficient, V dc Is V (V) c1 And V is equal to c2 Sum, v s,α * and vs,β * Respectively the real and imaginary components, d of the reference voltage vector v For the compensation voltage vector duty cycle, V c1 For upper capacitance voltage, V c2 Is the lower capacitance voltage.
8. The four-switch inverter two-motor control system of claim 7, wherein whenTime k α =0, when->Time k α =1; when v s,β * K is equal to or greater than 0 β When v is =0 s,β * K < 0 β ＝1。
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| 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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