CN114448322B - Voltage limiting chopping control method and device - Google Patents
Voltage limiting chopping control method and device Download PDFInfo
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- CN114448322B CN114448322B CN202210190013.4A CN202210190013A CN114448322B CN 114448322 B CN114448322 B CN 114448322B CN 202210190013 A CN202210190013 A CN 202210190013A CN 114448322 B CN114448322 B CN 114448322B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The invention provides a voltage limiting chopping control method and a device, wherein the voltage limiting chopping control method comprises the following steps: determining a pulse generation mode according to the active power of the motor and the direct-current side voltage; determining a current voltage limiting resistance value according to the direct-current side voltage, an initial voltage limiting resistance value, a pulse generation mode, a chopper bridge arm opening state, chopper loop absorption power and the motor active power; determining a current single-bridge-arm duty ratio according to a pulse generation mode, a current voltage limiting resistance value, a direct-current side voltage and the active power of the motor; and outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio to control the voltage limiting chopping loop. The invention can improve the real-time performance of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage, effectively avoid traction blockage and further improve the stability of the system in the voltage limiting chopping process.
Description
Technical Field
The invention relates to the technical field of electric transmission, in particular to a voltage limiting chopping control method and device.
Background
Figure 1 is a system architecture diagram of a traction converter. As shown in fig. 1, the traction converter is the core of the urban rail vehicle traction system, and is composed of an intermediate electric loop (main contactor, pre-charging contactor, direct-current reactance, supporting capacitor, chopper loop and the like), an IGBT power module and a control system. The control system is provided with a motor vector control algorithm, a vehicle logic control algorithm and a fault detection and protection algorithm to send driving pulses to the IGBT power module, and provides a three-phase variable-voltage variable-frequency power supply for the traction motor, so that the traction motor outputs corresponding torque to finally realize the vehicle traction/braking function.
In the running process of urban rail vehicles, as the traction power supply substation usually adopts an uncontrolled rectification power transformation mode, the traction power supply substation does not have the capability of stabilizing a direct current power grid and energy feedback, and a ground braking resistor, a ground flywheel energy storage device or a feedback converter device and the like are arranged on a line and used for absorbing feedback energy generated when the vehicles are in a regenerative braking working condition. However, once the ground absorption device fails for a short time or does not fully absorb all braking energy generated by the vehicle on the line, the direct current power grid voltage is raised, so that the direct current side voltage of the traction converter is abnormally raised; in addition, because the bow net is influenced by factors such as current condition change, load abrupt change, direct current side oscillation of the traction converter and the like, abnormal rise of direct current voltage of the traction converter exceeds an overvoltage protection limit value of the traction converter, the traction system is blocked, and the traction or braking force of a vehicle is lost. Therefore, in order to avoid frequent traction blocking of the traction converter under overvoltage conditions, a voltage limiting chopper bridge arm is usually arranged between positive and negative buses of a direct current loop in the middle of the traction converter, and the voltage limiting chopper bridge arm is formed by connecting an IGBT module and a voltage limiting resistor in series. When the intermediate direct-current voltage exceeds the protection threshold value, the chopping IGBT module is turned on within a certain time, and energy is consumed on the voltage limiting resistor, so that the direct-current voltage is limited in a normal working range, and the traction converter can still normally operate. In order to make direct-current voltage stable as much as possible in the chopping process and reduce the heat productivity of the chopping resistor, a double-circuit IGBT chopping bridge arm is usually designed at present, as shown by a virtual frame in fig. 1. The two-way IGBT chopping bridge arm can be switched on/off alternately or simultaneously, and the single-way chopping frequency is usually set lower to ensure the use safety of the chopping IGBT.
The control of the voltage limiting chopper is usually integrated in a traction control system (CPU+DSP+FPGA), and is realized by adopting a PWM mode of constant frequency variable duty ratio or variable frequency variable duty ratio. The traditional product is completely based on the DSP in the traction control system, the DSP is utilized to read the data acquisition result, the chopping duty ratio and the chopping frequency are calculated, and the chopping IGBT driving pulse is output by setting the EPWM peripheral. At present, the prior product provides a proposal based on the cooperation of DSP and FPGA in a traction control system, the DSP calculates the duty ratio and the chopping frequency, the FPGA is responsible for outputting chopping IGBT driving pulse, and the loading instantaneity of pulse carrier period and comparison value is improved to a certain extent. However, the overall real-time performance of the chopping control is still limited by the algorithm execution period of the DSP, meanwhile, the calculation of the duty ratio is only related to the current direct-current side voltage and the voltage limiting threshold value, the chopping pulse output mode is single, the absorbable maximum power is limited, and the fluctuation of the intermediate voltage is large. In addition, the maximum working time of the voltage limiting resistor is often designed empirically or is limited by a protection signal of the voltage limiting resistor, and the maximum capability of the voltage limiting resistor is often not fully utilized.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a voltage-limiting chopping control method and device, so that the instantaneity of chopping control, the maximum energy absorption capacity and the stability of intermediate voltage are improved, traction blockage is effectively avoided, and the stability of a system in a voltage-limiting chopping process is further improved.
In order to achieve the above object, an embodiment of the present invention provides a voltage limiting chopper control method, including:
determining a pulse generation mode according to the active power of the motor and the direct-current side voltage;
determining a current voltage limiting resistance value according to the direct-current side voltage, an initial voltage limiting resistance value, a pulse generation mode, a chopper bridge arm opening state, chopper loop absorption power and the motor active power;
determining a current single-bridge-arm duty ratio according to a pulse generation mode, a current voltage limiting resistance value, a direct-current side voltage and the active power of the motor;
and outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio to control the voltage limiting chopping loop.
The embodiment of the invention also provides a voltage limiting chopping control device, which comprises:
the pulse generation mode determining module is used for determining a pulse generation mode according to the active power of the motor and the direct-current side voltage;
the current voltage limiting resistance value module is used for determining a current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode, the chopper bridge arm opening state, the chopper loop absorption power and the motor active power;
the current single-bridge-arm duty ratio module is used for determining the current single-bridge-arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the active power of the motor;
the voltage limiting chopping control module is used for outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio so as to control the voltage limiting chopping loop.
The embodiment of the invention also provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor realizes the steps of the voltage limiting chopping control method when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, realizes the steps of the voltage limiting chopping control method.
The voltage limiting chopping control method and device of the embodiment of the invention firstly determine the current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the chopping bridge arm opening state and the chopping circuit absorption power, then determine the pulse generation mode according to the motor active power and the direct-current side voltage, then determine the current single bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power, and finally output a chopping pulse control signal according to the pulse generation mode and the current single bridge arm duty ratio to control the voltage limiting chopping circuit, thereby improving the real-time performance of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage, effectively avoiding traction blockage, and further improving the stability of the system in the voltage limiting chopping process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Figure 1 is a system architecture diagram of a traction converter;
FIG. 2 is a schematic signal flow diagram of a voltage limiting chopper control system in an embodiment of the present invention;
FIG. 3 is a flow chart of a voltage limiting chopper control method in an embodiment of the invention;
FIG. 4 is a schematic flow chart of S101 in the embodiment of the invention;
FIG. 5 is a flowchart of S102 in an embodiment of the invention;
FIG. 6 is a flow chart of S104 in an embodiment of the invention;
FIG. 7 is a schematic diagram of a PWM pulse generation module in an embodiment of the invention;
FIG. 8 is a block diagram of a voltage limiting chopper control apparatus in an embodiment of the present invention;
fig. 9 is a block diagram of a computer device in an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Those skilled in the art will appreciate that embodiments of the invention may be implemented as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the following forms, namely: complete hardware, complete software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
In view of the fact that the prior art is limited by the algorithm execution period of the DSP, the maximum absorbable power is limited, the intermediate voltage fluctuation is large, and the maximum capacity of the voltage limiting resistor is often not fully utilized, the embodiment of the invention provides the voltage limiting chopping control method which is short in algorithm execution period, capable of loading pulse carrier period and comparison value in real time, diversified in chopping pulse mode and capable of automatically identifying the temperature of the voltage limiting resistor, the instantaneity of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage can be greatly improved, and traction blockage caused by the fact that the intermediate voltage of the traction converter is rapidly increased beyond a protection threshold in a short time in the vehicle running process can be effectively avoided.
Fig. 2 is a schematic signal flow diagram of a voltage limiting chopper control system in an embodiment of the present invention. As shown in fig. 2, the invention mainly comprises a data acquisition unit and an FPGA in a traction control system. The analog-digital conversion unit in the data acquisition unit adopts an analog-digital conversion module with the sampling rate of 800k and the precision of 16 bits to realize five-channel synchronous acquisition and 8-time oversampling. The power calculation module, the voltage limiting resistor information calculation module and the chopped wave PWM pulse mode selection module are completed based on the FPGA, and the execution period is consistent with the sampling period of analog data and reaches 10us. The PWM pulse generation module is also completed based on the FPGA with an execution period up to 0.01us.
The output signals of the direct-current side voltage sensor, the direct-current side positive bus current sensor, the alternating-current side U-phase current sensor and the alternating-current side V-phase current sensor in the traction converter are connected into an analog signal processing module in the traction control system, are used as input of an analog-to-digital conversion unit after passing through a sampling resistor and a conditioning circuit, and are sent to an FPGA after analog-to-digital conversion.
The FPGA takes the result of the digital filtering processing of the signals as the input of a power calculation module, thereby completing the direct-current side power calculation of the traction converter, the voltage reconstruction calculation of the traction motor, the Clark change calculation of the motor voltage and the motor current, the motor active power calculation and the chopper loop absorption power calculation. The chopper circuit obtained by the module absorbs power and the direct-current side voltage output by the analog signal processing module is sent to the voltage limiting resistor information calculating module, and then the voltage limiting resistor resistance value and the voltage limiting resistor temperature are output. The voltage limiting resistor temperature is sent to the fault protection module, enabling or disabling the voltage limiting chopping function in combination with the chopping pulse feedback signal.
The voltage limiting chopping control system designs a multi-mode double-path voltage limiting chopping PWM pulse generation strategy according to the theoretical change range of the actually selected voltage limiting resistor resistance value and the power change range of all load traction motors connected with the traction converter, and the strategy is used as a chopping PWM pulse mode selection module. And taking the resistance value of the voltage limiting resistor, the absorption power of the chopper loop and the DC side voltage value of the traction converter as the input of the chopper PWM pulse mode selection module, and selecting the current optimal voltage limiting chopper IGBT driving pulse mode, thereby calculating the corresponding duty ratio.
The FPGA also utilizes a counting function to construct a PWM pulse generating module, realizes a carrier wave generating function of fixed chopping frequency, loads a comparison value obtained by utilizing the duty ratio and the carrier wave frequency in real time, and further outputs chopping PWM pulses to control the double-path IGBT voltage limiting chopper circuit.
Fig. 3 is a flowchart of a voltage limiting chopper control method in an embodiment of the present invention. As shown in fig. 3, the voltage limiting chopper control method includes:
s101: the pulse generation mode is determined according to the active power of the motor and the direct current side voltage.
In one embodiment, before executing S101, the method further includes:
1) The analog signal processing module receives the output signals of the direct-current side voltage sensor, the output signals of the direct-current side positive and negative bus current sensor, the output signals of the alternating-current side U-phase current sensor and the output signals of the alternating-current side V-phase current sensor in the traction converter, and filters and amplifies the signals after passing through the sampling resistor so that all the signals meet the requirements of the analog-to-digital conversion unit on the input signals.
2) The analog-to-digital conversion unit converts the analog signals into digital signals, and sends the digital signals into the FPGA for reprocessing.
3) The FPGA takes the result of the digital filtering processing of the signals as the input of a power calculation module and utilizes the voltage U at the direct current side dc And positive bus current I dc Firstly, the calculation of the direct current side power of the traction converter is completed:
P dc ＝U dc ×I dc ；
wherein P is dc For DC side power, U dc For DC side voltage, I dc Is the positive bus current.
4) FPGA utilizes direct-current side voltage U dc Switching signal function (f) of three-phase output IGBT bridge arm combined with traction converter s1 ,f s2 ,f s3 ) And (5) completing phase voltage reconstruction calculation of the traction motor.
In particular implementations, the three-phase voltages may be expressed as:
wherein u is an For the first motor phase voltage, u a For the A-phase voltage, u bn For the second motor phase voltage, u b For B-phase voltage, u cn For the third motor phase voltage, u c For the c-phase voltage, u n Is the motor midpoint voltage of the Y-shaped connection of the windings.
According to the circuit theorem, it is possible to:
u an +u bn +u cn ＝0；
thus, it is possible to obtain:
u a ,u b ,u c with dc side voltage and three-phase upper bridge arm switching function f s1 ,f s2 ,f s3 The relationship between them is as follows:
wherein f s1 For the first switching function, f s2 As a second switching function, f s3 Is a third switching function.
Finally, the method can obtain:
5) And the FPGA performs Clark change calculation of motor voltage and motor current, and determines motor active power and chopper loop absorption power calculation according to an instantaneous active power calculation theory.
In practice, clark variations of motor voltage and motor current are as follows:
wherein u is α Is the alpha phase voltage under a two-phase static coordinate system, u β Is beta-phase voltage, i in two-phase static coordinate system α In a two-phase stationary coordinate systemAlpha phase current, i β Is beta-phase current, i in two-phase static coordinate system a Output signal i for U-phase current sensor at AC side b And outputting signals to an alternating-current side V-phase current sensor.
The active power of the motor can be obtained by the method:
P m ＝u α ×i α +u β ×i β ；
wherein P is m Is the active power of the motor.
Finally, the chopper loop absorption power can be obtained:
P b ＝P m -P dc ；
wherein P is b Power is absorbed for the chopper loop.
Fig. 4 is a flowchart of S101 in the embodiment of the invention. As shown in FIG. 4, the present invention is based on the theoretical variation range (R b-min ～R b-max ) Active power maximum value P of all load traction motors connected with traction converter m-max Maximum value P of DC side power dc-max DC side voltage range (U) dc-min ～U dc-max ) Current actual dc side voltage sampling value U dc Active power P of motor m And DC side power P dc And designing a multi-mode two-way voltage limiting chopper PWM pulse generation strategy.
As shown in fig. 4, the power threshold isWherein U is dc-max For maximum DC side voltage, U dc-min Is the minimum value of the DC side voltage, R b-max Maximum limiting resistance value R b-min Minimum limiting resistance value; the voltage threshold value 1 is the minimum value U of the DC side voltage dc-min The voltage threshold 2 is U dc-max 。
As shown in fig. 4, when the motor total active power P is actually loaded m < 0, and satisfyIn the time-course of which the first and second contact surfaces,if the DC side voltage sampling value is less than or equal to the DC side voltage minimum value (U dc ≤U dc-min ) And adopting a mode 0, wherein the double-path IGBT chopper bridge arm is fully blocked. If the DC side voltage sampling value is within the DC side voltage range (U dc-min ≤U dc ≤U dc-max ) Then mode 1 is adopted, and the two-way IGBT chopper bridge arms are alternately conducted at 180 degrees. If the DC-side voltage sampling value is greater than the DC-side voltage maximum value (U dc ＞U dc-max ) And then adopting mode 2, wherein the respective duty ratios of the two-way IGBT chopping bridge arms are constant and differ by 180 degrees to conduct alternately, which is equivalent to keeping the single chopping IGBT on all the time in the whole chopping process.
When the motor is actually loaded, the total active power P m < 0, and satisfyIf the DC side voltage sampling value is less than or equal to the DC side voltage minimum value (U dc ≤U dc-min ) And adopting a mode 0, wherein the double-path IGBT chopper bridge arm is fully blocked. If the DC side voltage sampling value is within the DC side voltage range (U dc-min ≤U dc ≤U dc-max ) And adopting a mode 3, wherein the two-way IGBT chopper bridge arms are alternately conducted at 180 degrees. If the DC-side voltage sampling value is greater than the DC-side voltage maximum value (U dc ＞U dc-max ) And adopting a mode 4, wherein the respective duty ratios of the two-way IGBT chopper bridge arms are constant by 100% and are simultaneously conducted.
When the motor is actually loaded, the total active power P m > 0, and satisfyIf the DC side voltage sampling value is less than or equal to the DC side voltage minimum value (U dc ≤U dc-min ) And adopting a mode 0, wherein the double-path IGBT chopper bridge arm is fully blocked. If the DC side voltage sampling value is within the DC side voltage range (U dc-min ≤U dc ≤U dc-max ) Then mode 1 is adopted, and the two-way IGBT chopper bridge arms are alternately conducted at 180 degrees. If the DC-side voltage sampling value is greater than the DC-side voltage maximum value (U dc ＞U dc-max ) And then adopting mode 2, wherein the respective duty ratios of the two-way IGBT chopping bridge arms are constant and differ by 180 degrees to conduct alternately, which is equivalent to keeping the single chopping IGBT on all the time in the whole chopping process.
When the motor is actually loaded, the total active power P m > 0, and satisfyIf the DC side voltage sampling value is less than or equal to the DC side voltage minimum value (U dc ≤U dc-min ) And adopting a mode 0, wherein the double-path IGBT chopper bridge arm is fully blocked. If the DC side voltage sampling value is within the DC side voltage range (U dc-min ≤U dc ≤U dc-max ) And adopting a mode 3, wherein the two-way IGBT chopper bridge arms are alternately conducted at 180 degrees. If the DC-side voltage sampling value is greater than the DC-side voltage maximum value (U dc ＞U dc-max ) And adopting a mode 4, wherein the respective duty ratios of the two-way IGBT chopper bridge arms are constant by 100% and are simultaneously conducted.
S102: and determining the current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode, the chopping bridge arm opening state, the chopper loop absorption power and the motor active power.
Fig. 5 is a flowchart of S102 in the embodiment of the present invention. As shown in fig. 5, S102 includes:
s201: and determining an initial single-bridge arm duty ratio according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode and the motor active power.
In particular, when the pulse generation mode is mode 0, the initial single leg duty cycle is zero.
When the pulse generation mode is mode 1, the initial single leg duty cycle is determined by the following formula:
wherein lambda is 0 R is the initial single-bridge arm duty cycle b0 For initial voltage-limiting resistance value, U dc Is a direct current side voltage.
When the pulse generation mode is mode 2, the initial single leg duty cycle is 50%.
When the pulse generation mode is mode 3, the initial single leg duty cycle is determined by the following formula:
wherein P is m For the active power of the motor, P m-max Is the maximum value of active power.
When the pulse generation mode is mode 4, the initial single leg duty cycle is 100%.
S202: and determining the current voltage limiting resistance value according to the initial single bridge arm duty ratio, the chopping bridge arm opening state, the direct-current side voltage and the chopping loop absorption power.
When the chopping bridge arm opening state is the non-opening coincidence, the current voltage limiting resistance value is determined according to the following formula:
wherein R is b U is the current voltage limiting resistance value dc Is a direct-current side voltage, P b To absorb power, lambda, of the chopper loop 0 Is the initial single leg duty cycle.
When the chopping bridge arm opening state is the opening coincidence, determining the current voltage limiting resistance value according to the following formula:
s103: and determining the current single-bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power.
In particular, when the pulse generation mode is mode 0, the current single-leg duty cycle is zero.
When the pulse generation mode is mode 1, the current single-leg duty cycle is determined by the following formula:
wherein lambda is the current single-bridge arm duty cycle, R b U is the current voltage limiting resistance value dc Is a direct current side voltage. Lambda in mode 1 must be less than 50% and therefore the two-way IGBT chopper legs do not conduct simultaneously during the chopping cycle.
When the pulse generation mode is mode 2, the current single leg duty cycle is 50%.
When the pulse generation mode is mode 3, the current single-leg duty cycle is determined by the following formula:
lambda in the mode 3 is necessarily larger than 50%, so that the two-way IGBT chopper bridge arm has to have a simultaneous conduction working condition in one chopping period, and the maximum simultaneous conduction working condition is a full chopping period.
When the pulse generation mode is mode 4, the current single leg duty cycle is 100%.
S104: and outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio to control the voltage limiting chopping loop.
Fig. 6 is a flowchart of S104 in the embodiment of the present invention. Fig. 7 is a schematic diagram of a PWM pulse generation module in an embodiment of the present invention. As shown in fig. 6 to 7, S104 includes:
s301: and generating a chopping pulse carrier wave according to the preset clock frequency and the preset chopping frequency.
The preset clock frequency may be 100MHz of the FPGA. In particular, the counting unit counts at a preset clock frequency, and generates a carrier pulse (chopper pulse carrier) when the count reaches a preset chopping frequency (chopper pulse carrier maximum count value), thereby generating a carrier wave realizing a fixed chopping frequency.
S302: and generating a chopping pulse comparison signal according to the current single bridge arm duty ratio and a preset chopping frequency.
In the specific implementation, the chopping pulse comparison value waveform can be obtained by counting according to the current single-bridge arm duty ratio and the preset chopping frequency.
S303: and outputting a chopping pulse control signal according to a comparison result of the chopping pulse carrier wave and the chopping pulse comparison signal and a pulse generation mode to control the voltage limiting chopping loop.
In specific implementation, the chopping pulse carrier wave is compared with a chopping pulse comparison signal, and the rising/falling edges of the pulses are corresponding to the intersection point of the two waveforms, so that a chopping PWM pulse is output to control the double-path IGBT voltage limiting chopping circuit.
In one embodiment, the voltage limiting chopper control method further includes:
determining the temperature of the voltage limiting resistor according to a relation function between the current voltage limiting resistor value and a preset resistance temperature; and outputting a voltage limiting chopper disabling signal according to the comparison result of the temperature of the voltage limiting resistor and the temperature protection threshold value to control the voltage limiting chopper loop.
As shown in fig. 2, when the fault protection module receives the feedback of the chopping pulse, the fault protection module acquires the real-time voltage limiting resistor temperature T of the current voltage limiting resistor by combining the current voltage limiting resistor value and a preset resistance temperature relation function b . When the voltage limiting resistor temperature T b When the temperature protection threshold is larger than the temperature protection threshold, the fault protection module outputs a chopping conjugation energy disabling signal to the PWM pulse generation module to disable the voltage limiting chopping function, and the voltage limiting chopping function is not enabled again until the temperature of the voltage limiting resistor falls below the temperature protection threshold.
The execution body of the voltage limiting chopper control method shown in fig. 3 may be a voltage limiting chopper control system. As can be seen from the flow chart shown in fig. 3, the voltage limiting chopping control method in the embodiment of the invention determines the current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the chopping bridge arm opening state and the chopping circuit absorption power, determines the pulse generation mode according to the motor active power and the direct-current side voltage, determines the current single bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power, and finally outputs a chopping pulse control signal according to the pulse generation mode and the current single bridge arm duty ratio to control the voltage limiting chopping circuit, thereby improving the real-time performance of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage, effectively avoiding traction blockage, and further improving the stability of the system in the voltage limiting chopping process.
The specific flow of the embodiment of the invention is as follows:
1. and determining a pulse generation mode according to the active power of the motor and the direct current side voltage.
2. And determining an initial single-bridge arm duty ratio according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode and the motor active power.
3. And determining the current voltage limiting resistance value according to the initial single bridge arm duty ratio, the chopping bridge arm opening state, the direct-current side voltage and the chopping loop absorption power.
4. And determining the current single-bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power.
5. And generating a chopping pulse carrier wave according to the preset clock frequency and the preset chopping frequency.
6. And generating a chopping pulse comparison signal according to the current single bridge arm duty ratio and a preset chopping frequency.
7. And outputting a chopping pulse control signal according to a comparison result of the chopping pulse carrier wave and the chopping pulse comparison signal and a pulse generation mode to control the voltage limiting chopping loop.
8. And determining the temperature of the voltage limiting resistor according to a relation function between the current voltage limiting resistor value and a preset resistance temperature.
9. And outputting a voltage limiting chopper disabling signal according to the comparison result of the temperature of the voltage limiting resistor and the temperature protection threshold value to control the voltage limiting chopper loop.
In summary, the voltage limiting chopping control method provided by the embodiment of the invention is different from the prior art in that:
1) According to the invention, a chopping current sensor is not required to be additionally arranged in a chopping circuit, the active power calculation of a rear-stage motor of the traction converter is realized by adopting an instantaneous power calculation principle, the absorption power of the voltage-limiting chopping circuit is obtained by combining the power of the direct-current side, and the voltage value of the direct-current side and the current chopping PWM mode are comprehensively considered to estimate the voltage-limiting resistance value in real time.
2) In the voltage limiting chopping working process, the real-time temperature of the voltage limiting resistor is estimated by utilizing the real-time resistance value of the voltage limiting resistor, and when the temperature is in a normal range, the voltage limiting chopping control is continuously carried out by fully utilizing the capacity of the voltage limiting resistor; and once the temperature exceeds a protection threshold value, the chopping IGBT is immediately blocked, and the voltage limiting resistor is protected.
3) PWM pulse multi-mode design of a double-channel IGBT chopper bridge arm comprehensively considers the chopper absorption power range and the voltage limiting resistor resistance value variation range; when the corresponding constant-frequency chopping pulse duty ratio is calculated, the real-time sampling value of the DC side voltage, the real-time value of the chopping absorption power and the real-time resistance value of the voltage limiting resistor are comprehensively considered, so that the stable control requirement of the DC side voltage in the low-frequency chopping process is met to the greatest extent.
4) The algorithm execution and pulse generation are realized based on the FPGA in the traction control system, the algorithm execution period is short, the pulse carrier period and the comparison value are loaded in real time, and the rapid rise of the intermediate voltage of the traction converter can be dealt with and the stability of the intermediate voltage can be maintained.
Therefore, the voltage limiting chopping control method provided by the embodiment of the invention has the following beneficial effects:
(1) The active power calculation of the traction converter rear-stage motor is realized by adopting an instantaneous power calculation principle, the absorption power of a voltage limiting chopper loop is obtained by combining the power of a direct current side, and the voltage value of the direct current side and the current chopper PWM mode are comprehensively considered to estimate the resistance value of the voltage limiting resistor in real time. The estimation of the resistance value of the voltage limiting resistor does not need to add a chopper current sensor in the traction converter, so that the manufacturing cost is reduced;
(2) Estimating the real-time temperature of the voltage limiting resistor by using the real-time resistance value of the voltage limiting resistor, and fully utilizing the capability of the voltage limiting resistor to continuously carry out voltage limiting chopping control when the temperature is in a normal range; and once the temperature exceeds a protection threshold value, the chopping IGBT is immediately blocked, and the voltage limiting resistor is protected. Compared with the prior art, the sustainable use time of the voltage limiting resistor is not completely dependent on past experience and a protection action signal of the voltage limiting resistor, so that the maximum capability of the voltage limiting resistor is fully utilized while the safe use is ensured;
(3) PWM pulse multi-mode design of the double-channel IGBT chopper bridge arm comprehensively considers the chopper absorption power range and the voltage limiting resistor resistance value variation range. Compared with the prior art, the consideration of the resistance change range of the resistor is increased, and the problem that the absorption capacity of the current chopping mode selected according to the power is insufficient to trigger overvoltage protection traction locking and the problem that the absorption capacity is excessive and the intermediate voltage fluctuation is severe to trigger system oscillation are effectively avoided when the resistance change range is overlarge;
(4) The real-time sampling value of the DC side voltage, the real-time value of the chopper absorption power and the real-time resistance value of the voltage limiting resistor are comprehensively considered when the corresponding fixed-frequency chopper pulse duty ratio is calculated, the control requirement of stable DC side voltage in the low-frequency chopper process is met to the maximum extent, and the stability of the system in the voltage limiting chopper process is improved;
(5) The algorithm execution and pulse generation are completely based on the FPGA implementation in the traction control system, and compared with the traditional DSP implementation mode and the traditional DSP+FPGA implementation mode, the algorithm execution period is short, the pulse carrier period and the comparison value are loaded in real time, the rapid rise of the intermediate voltage of the traction converter can be dealt with, and the stability of the system in the voltage limiting chopping process is further improved.
Based on the same inventive concept, the embodiment of the invention also provides a voltage-limiting chopping control device, and because the principle of the device for solving the problem is similar to that of the voltage-limiting chopping control method, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.
Fig. 8 is a block diagram of a voltage limiting chopper control apparatus in an embodiment of the present invention. As shown in fig. 8, the voltage limiting chopper control apparatus includes:
the pulse generation mode determining module is used for determining a pulse generation mode according to the active power of the motor and the direct-current side voltage;
the current voltage limiting resistance value module is used for determining a current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode, the chopper bridge arm opening state, the chopper loop absorption power and the motor active power;
the current single-bridge-arm duty ratio module is used for determining the current single-bridge-arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the active power of the motor;
the voltage limiting chopping control module is used for outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio so as to control the voltage limiting chopping loop.
In one embodiment, the current voltage limiting resistance module includes:
the initial single-bridge-arm duty ratio unit is used for determining the initial single-bridge-arm duty ratio according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode and the motor active power;
the current voltage limiting resistance value unit is used for determining the current voltage limiting resistance value according to the initial single bridge arm duty ratio, the chopper bridge arm open state, the direct current side voltage and the chopper loop absorbed power.
In one embodiment, the voltage limiting chopper control module includes:
the chopping pulse carrier unit is used for generating a chopping pulse carrier according to a preset clock frequency and a preset chopping frequency;
the chopper pulse comparison signal unit is used for generating a chopper pulse comparison signal according to the current single bridge arm duty ratio and a preset chopper frequency;
and the voltage limiting chopping unit is used for outputting a chopping pulse control signal according to the comparison result of the chopping pulse carrier wave and the chopping pulse comparison signal and the pulse generation mode so as to control the voltage limiting chopping loop.
In one embodiment, the method further comprises:
the voltage limiting resistor temperature unit is used for determining the voltage limiting resistor temperature according to the current voltage limiting resistor value and a preset resistance temperature relation function;
the voltage limiting chopper disabling unit is used for outputting a voltage limiting chopper disabling signal according to the comparison result of the temperature of the voltage limiting resistor and the temperature protection threshold value so as to control the voltage limiting chopper loop.
In summary, the voltage limiting chopper control device of the embodiment of the invention determines the current voltage limiting resistance value according to the direct current side voltage, the initial voltage limiting resistance value, the chopping bridge arm opening state and the chopping circuit absorption power, determines the pulse generation mode according to the motor active power and the direct current side voltage, determines the current single bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct current side voltage and the motor active power, and finally outputs a chopping pulse control signal according to the pulse generation mode and the current single bridge arm duty ratio to control the voltage limiting chopper circuit, thereby improving the real-time performance of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage, effectively avoiding traction blockage, and further improving the stability of the system in the voltage limiting chopper process.
The embodiment of the invention also provides a specific implementation mode of the computer equipment capable of realizing all the steps in the voltage limiting chopping control method in the embodiment. Fig. 9 is a block diagram of a computer device in an embodiment of the present invention, and referring to fig. 9, the computer device specifically includes:
a processor (processor) 901 and a memory (memory) 902.
The processor 901 is configured to invoke a computer program in the memory 902, where the processor executes the computer program to implement all the steps in the voltage limiting chopper control method in the above embodiment, for example, the processor executes the computer program to implement the following steps:
determining a pulse generation mode according to the active power of the motor and the voltage of the direct current side;
determining a current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode, the chopping bridge arm opening state, the chopping loop absorption power and the motor active power;
determining a current single-bridge arm duty ratio according to a pulse generation mode, a current voltage limiting resistance value, a direct-current side voltage and a motor active power;
and outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio to control the voltage limiting chopping loop.
In summary, the computer equipment of the embodiment of the invention determines the current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the chopping bridge arm opening state and the chopping circuit absorption power, then determines the pulse generation mode according to the motor active power and the direct-current side voltage, then determines the current single bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power, and finally outputs a chopping pulse control signal according to the pulse generation mode and the current single bridge arm duty ratio to control the voltage limiting chopping circuit, thereby improving the real-time performance of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage, effectively avoiding traction blockage, and further improving the stability of the system in the voltage limiting chopping process.
The embodiment of the present invention also provides a computer-readable storage medium capable of implementing all the steps of the voltage limiting chopper control method in the above embodiment, the computer-readable storage medium storing thereon a computer program which, when executed by a processor, implements all the steps of the voltage limiting chopper control method in the above embodiment, for example, the processor implements the following steps when executing the computer program:
determining a pulse generation mode according to the active power of the motor and the voltage of the direct current side;
determining a current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode, the chopping bridge arm opening state, the chopping loop absorption power and the motor active power;
determining a current single-bridge arm duty ratio according to a pulse generation mode, a current voltage limiting resistance value, a direct-current side voltage and a motor active power;
and outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio to control the voltage limiting chopping loop.
In summary, the computer readable storage medium of the embodiment of the invention determines the current voltage limiting resistance value according to the direct current side voltage, the initial voltage limiting resistance value, the chopping bridge arm opening state and the chopping circuit absorption power, then determines the pulse generation mode according to the motor active power and the direct current side voltage, then determines the current single bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct current side voltage and the motor active power, and finally outputs a chopping pulse control signal according to the pulse generation mode and the current single bridge arm duty ratio to control the voltage limiting chopping circuit, thereby improving the real-time performance of chopping control, the maximum energy absorption capacity and the stability of the intermediate voltage, effectively avoiding traction blockage, and further improving the stability of the system in the voltage limiting chopping process.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the invention may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components (illustrative components), elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present invention.
The various illustrative logical blocks, or units, or devices described in the embodiments of the invention may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described. A general purpose processor may be a microprocessor, but in the alternative, the general purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In an example, a storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may reside in a user terminal. In the alternative, the processor and the storage medium may reside as distinct components in a user terminal.
In one or more exemplary designs, the above-described functions of embodiments of the present invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer readable media includes both computer storage media and communication media that facilitate transfer of computer programs from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media may include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to carry or store program code in the form of instructions or data structures and other data structures that may be read by a general or special purpose computer, or a general or special purpose processor. Further, any connection is properly termed a computer-readable medium, e.g., if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless such as infrared, radio, and microwave, and is also included in the definition of computer-readable medium. The disks (disks) and disks (disks) include compact disks, laser disks, optical disks, DVDs, floppy disks, and blu-ray discs where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included within the computer-readable media.
Claims (8)
1. The voltage limiting chopping control method is characterized by comprising the following steps of:
determining a pulse generation mode according to the active power of the motor and the voltage of the direct current side;
determining a current voltage limiting resistance value according to the direct-current side voltage, an initial voltage limiting resistance value, the pulse generation mode, a chopping bridge arm opening state, chopper loop absorption power and the motor active power;
determining a current single-bridge arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power;
outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio to control a voltage limiting chopping loop;
determining a current voltage limiting resistance value according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode, a chopper bridge arm on state, chopper loop absorption power and the motor active power comprises:
determining an initial single-bridge arm duty ratio according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode and the motor active power;
and determining the current voltage limiting resistance value according to the initial single-bridge arm duty ratio, the chopping bridge arm opening state, the direct-current side voltage and the chopping loop absorption power.
2. The voltage-limiting chopper control method according to claim 1, wherein outputting a chopper pulse control signal to control a voltage-limiting chopper circuit according to the pulse generation mode and the current single-leg duty ratio comprises:
generating a chopping pulse carrier wave according to a preset clock frequency and a preset chopping frequency;
generating a chopping pulse comparison signal according to the current single-bridge arm duty ratio and the preset chopping frequency;
outputting a chopping pulse control signal according to the comparison result of the chopping pulse carrier wave and the chopping pulse comparison signal and the pulse generation mode so as to control a voltage limiting chopping loop.
3. The voltage-limiting chopper control method according to claim 1, characterized by further comprising:
determining the temperature of the voltage limiting resistor according to the relation function of the current voltage limiting resistor value and the preset resistance temperature;
and outputting a voltage limiting chopper disabling signal according to the comparison result of the temperature of the voltage limiting resistor and the temperature protection threshold value so as to control the voltage limiting chopper loop.
4. A voltage limiting chopper control apparatus, comprising:
the pulse generation mode determining module is used for determining a pulse generation mode according to the active power of the motor and the direct-current side voltage;
the current voltage limiting resistance value module is used for determining a current voltage limiting resistance value according to the direct-current side voltage, an initial voltage limiting resistance value, the pulse generation mode, a chopper bridge arm opening state, chopper loop absorption power and the motor active power;
the current single-bridge-arm duty ratio module is used for determining the current single-bridge-arm duty ratio according to the pulse generation mode, the current voltage limiting resistance value, the direct-current side voltage and the motor active power;
the voltage limiting chopping control module is used for outputting a chopping pulse control signal according to the pulse generation mode and the current single-bridge arm duty ratio so as to control a voltage limiting chopping loop;
the current voltage limiting resistance value module comprises:
the initial single-bridge-arm duty ratio unit is used for determining an initial single-bridge-arm duty ratio according to the direct-current side voltage, the initial voltage limiting resistance value, the pulse generation mode and the motor active power;
and the current voltage limiting resistance value unit is used for determining the current voltage limiting resistance value according to the initial single-bridge arm duty ratio, the chopper bridge arm opening state, the direct-current side voltage and the chopper loop absorption power.
5. The voltage-limiting chopper control apparatus of claim 4, wherein the voltage-limiting chopper control module comprises:
the chopping pulse carrier unit is used for generating a chopping pulse carrier according to a preset clock frequency and a preset chopping frequency;
the chopping pulse comparison signal unit is used for generating a chopping pulse comparison signal according to the current single-bridge arm duty ratio and the preset chopping frequency;
and the voltage limiting chopping unit is used for outputting a chopping pulse control signal according to the comparison result of the chopping pulse carrier wave and the chopping pulse comparison signal and the pulse generation mode so as to control a voltage limiting chopping loop.
6. The voltage-limiting chopper control device of claim 4, further comprising:
the voltage limiting resistor temperature unit is used for determining the voltage limiting resistor temperature according to the current voltage limiting resistor value and a preset resistance temperature relation function;
and the voltage limiting chopper disabling unit is used for outputting a voltage limiting chopper disabling signal according to the comparison result of the temperature of the voltage limiting resistor and the temperature protection threshold value so as to control the voltage limiting chopper loop.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the voltage limiting chopper control method of any of claims 1 to 3 when the computer program is executed.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the voltage limiting chopper control method of any one of claims 1 to 3.
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