CN114499334A - Permanent magnet three-phase alternating current motor and load simulation device and control method thereof - Google Patents
Permanent magnet three-phase alternating current motor and load simulation device and control method thereof Download PDFInfo
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- CN114499334A CN114499334A CN202210087171.7A CN202210087171A CN114499334A CN 114499334 A CN114499334 A CN 114499334A CN 202210087171 A CN202210087171 A CN 202210087171A CN 114499334 A CN114499334 A CN 114499334A
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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
- H02P23/0077—Characterised by the use of a particular software algorithm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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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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Abstract
The invention relates to a permanent magnet three-phase alternating current motor and a simulation device and a control method of a load thereof. And a switching signal generated after the reference voltage is modulated by the control unit is input to the power module, so that the port voltage current characteristic of the motor simulator is consistent with the port voltage current characteristic of the simulated target motor. And establishing a torque equation and a motion equation of the simulated target motor, inputting the electrical angle information of the simulated target motor into the position sensor simulation module, converting the electrical angle information into a position sensor simulation signal, and outputting the position sensor simulation signal to the motor driver, so that the simulation of the position sensor is realized, and the running characteristic of the simulated target motor is reproduced.
Description
Technical Field
The invention discloses a permanent magnet three-phase alternating current motor and a load simulation device thereof, belonging to the technical field of power electronics and electromechanics.
Background
The performance of the speed regulating system is determined by a motor driver consisting of the power electronic converter and the controller thereof, and the motor driver is a core part of the speed regulating system. In the development process of the motor driver, the performance of the motor driver needs to be tested through experiments, motor dragging experiments need to be carried out under different working conditions in the experiments, however, once an actual motor leaves a factory, the body parameters of the motor are basically fixed and are not easy to adjust, and the generation process of the motor load is to generate various mechanical loads through a complex electromechanical system and act on a mechanical shaft of the motor, so that the motor load is generated. The dynamic characteristic of the test system is limited by the test scheme, the defects of high cost, poor reliability and low electric energy utilization efficiency of the test platform are caused, and the whole test experiment is not flexible enough. For a motor drive, the motor and its mechanical load can be considered as a whole and thus as its power load. Therefore, it is considered that the motor and the mechanical load thereof are realized by electrical simulation, and such a device that realizes power level simulation of the port voltage current characteristics of the actual motor by the inverter is called a motor simulator. Compared with an actual motor and mechanical load, various motor body parameters and mechanical load torques of the motor simulator are pure digital quantities and can be manually set and modified, so that the motor simulator can be used for adaptability experiments of a motor driver and is convenient for testing the characteristics of electric ports of motors with various parameters driven by the motor driver. Therefore, the motor simulator is used for replacing an actual motor to carry out various experiments, various body parameters and mechanical load torque of the motor can be flexibly changed, the research and development period can be effectively accelerated, and time and cost are saved.
Most of the existing methods for simulating the actual motor port voltage and current characteristics by using a permanent magnet three-phase alternating current simulator are to sample the port voltage of a motor driver and the current in a motor simulator circuit, and the port voltage and current characteristics of the motor simulator are consistent with those of a simulated target motor through closed-loop control of the current. The method has simple physical meaning, but is complex to realize, and the motor simulator in the method needs to carry out closed-loop control on current, and the bandwidth of a current loop is limited due to the existence of a filter inductor, so that the overall precision of the simulator is influenced.
Meanwhile, the applicant searches and obtains that the invention of the permanent magnet three-phase alternating current motor and the load simulation method and device (patent number: 202111048321.5) thereof uses a strategy of equal current change rate to simulate the three-phase alternating current motor, but the invention does not consider control errors and only calculates under an ABC coordinate system, so the invention improves the problems, compensates by considering the control errors, deduces the calculation under a dq coordinate system, and perfects the whole technical scheme.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, a simulation device and a control method of a permanent magnet three-phase alternating current motor and a load thereof are provided, a target motor mathematical model and a motor simulator mathematical model are established, the two mathematical models are compared, the three-phase voltage of the motor simulator is obtained through calculation based on the equal current change rate and the consideration of control errors, and the three-phase voltage is used as a reference voltage to control a three-phase inverter, so that the port characteristics of the simulated target motor can be reproduced.
In order to achieve the above purposes, the invention provides a permanent magnet three-phase alternating current motor and a load simulation device thereof, which comprise a motor driver, a motor side controller, a three-phase inductance filter, a sampling unit, a simulation side controller and a power module; the simulation side controller consists of three processors, namely a first processor which is used for the processor to be responsible for simulating the calculation of the target motor model, a second processor which is used for calculating the reference voltage and a third processor which is used as a control unit to generate a switching signal;
the simulated target motor model resolving unit comprises an angle information calculating module and a current real-time resolving module;
the direct current port of the motor driver is connected with a direct current power supply, and the three-phase output port of the motor driver is connected with one end of a three-phase inductance filter;
the direct current port of the power module is connected with a bidirectional direct current power supply, and the three-phase input port of the power module is connected with the other end of the three-phase inductance filter;
the sampling unit comprises a voltage sampling module and a current sampling module which are respectively connected with an output end line of the motor driver;
the input end of the angle information calculation module is connected with the current sampling module, and the output end of the angle information calculation module is respectively connected with the current real-time calculation module and the reference voltage calculation unit;
the first input end of the current real-time calculating module is connected with the angle information calculating module, the second input end of the current real-time calculating module is connected with the voltage sampling module, and the output end of the current real-time calculating module is connected with the reference voltage calculating unit;
the first input end of the reference voltage calculation unit is connected with the angle information calculation module, the second input end of the reference voltage calculation unit is connected with the current sampling module, the third input end of the reference voltage calculation unit is connected with the voltage sampling module, the fourth input end of the reference voltage calculation unit is connected with the current real-time calculation module, and the output end of the reference voltage calculation module is connected with the control unit;
the input end of the power module is connected with the reference voltage calculation unit, and the output end of the power module is connected with the three-phase inverter.
A control method for a permanent magnet three-phase alternating current motor and a load simulation device thereof comprises the following steps:
step S1, inputting simulation target motor and filter parameters: inputting a target motor type, a simulation target motor parameter, a load torque model and a filter circuit parameter into a simulation side controller;
step S2, simulating system sampling: three-phase input port line voltage u of motor driver acquired by voltage sensorab、ubcAnd ucaCollecting three-phase current i of main circuit of motor simulator by using current sensora、ibAnd ic；
Step S3, calculating a three-phase back electromotive force of the simulation target motor: master of motor simulatorThree-phase current i of circuita、ibAnd icInputting the current information to a simulation side controller, and calculating i in a simulation target motor model resolving unit angle information calculation modulea、ibAnd icThe input torque calculation module is used for inputting the calculated torque Te into a motion equation, calculating the mechanical angular velocity omega and the electrical angle of the simulated target motor according to the parameters of the simulated target motor and the load torque, and calculating the three-phase counter electromotive force e of the simulated target motor according to the omegax；
Step S4, resolving the current of the simulated target motor in real time: three-phase output port line voltage u of motor driverab、ubcAnd ucaInputting the three-phase back electromotive force e to the analog side controllera、ebAnd ecInputting the current into a real-time resolving module of a simulated target motor model resolving unit, and calculating the current from a port line voltage u according to a motor voltage equationab、 ubcAnd ucaAnd back electromotive force exObtaining the current i of the simulated target motorxref；
Step S5, calculating a simulated target motor current change rate: three-phase output port line voltage u of motor driverab、ubcAnd ucaAnd main circuit current i of the motor simulatorxInputting the three-phase back electromotive force e to the analog side controllerxInputting the voltage into a reference voltage calculation unit of the analog side controller, and calculating the voltage from the port line voltage u according to a voltage equation of an analog target motorab、ubcAnd ucaMain circuit current ixAnd back electromotive force exObtaining the current change rate di of the simulation target motorx/dt；
Step S6, calculating the output phase voltage of the ideal state simulator, and in the simulation side controller, according to the type of the target motor, the parameters of the simulation target motor, the parameters of the filter circuit and the three-phase output port line voltage u of the motor driverab、ubc、ucaMain circuit current i of motor simulatorxComparing the simulation target motor voltage equation with the main circuit voltage equation of the motor simulator based on the current change rate dixDt is same, calculating motor modeThree-phase reference voltage u of simulatorx *；
Step S7, calculating the output phase voltage compensation term of the simulator, considering the control error, and simulating the three-phase current i of the target motorxrefWith main circuit current ixDifference value, compensating the voltage calculated in the previous step, and calculating voltage compensation term uxcompFurther obtaining three-phase voltage u of the motor simulatoruN、uvN、uwN；
Step S8, generating a switching signal: three-phase voltage uuN、uvNAnd uwNThe input signal is input to the control unit to generate a switching signal, and the switching signal is input to the power module to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulation target motor;
step S9, feeding back the position information of the motor simulator to a motor side controller: in the simulation side controller, the acquired electrical angle information of the simulation target motor is converted into a position sensor simulation signal through a position sensor simulation module, and the position sensor simulation signal is output to a motor driver, so that the motor driver can control the simulation target motor in real time.
Further, in the step S5, the current change rate di of the target motor is simulatedxThe calculation of/dt is performed under the ABC coordinate system, the dq coordinate system, and the α β coordinate system.
When the current change rate of the simulation target motor in the step S5 is calculated under the ABC coordinate system, the three-phase voltage compensation term u of the motor simulatorucomp、uvcompAnd uwcompThe calculation formulas of (A) and (B) are respectively as follows:
wherein, the simulation target motor parameter comprises L, R, and the filter circuit parameter comprises LfWherein L is the inductance value of each phase of the simulated target motor, and R is the resistance value of each phase of the simulated target motor; l isfEach equivalent inductance value of the three-phase inductance filter; t is the resolving step, k is 1,2,3, …, and n represents the value at time kT.
When the current change rate of the simulation target motor is calculated in the dq coordinate system in step S5, the d-axis component u of the three-phase voltage of the motor simulator in the two-phase rotation coordinate system2dAnd q-axis component u2qOf (d) compensation term u2dcompAnd u2qcompThe calculation formulas are respectively as follows:
wherein the simulated target motor parameter comprises Ld、Lq、Rs、ωeThe filter circuit parameter includes Lf；Ld、 LqD-axis inductance and q-axis inductance, R, of the simulated target motorsSimulating the resistance value of each phase of winding of the stator of the target motor; l isfAn inductance value for each phase of the three-phase inductance filter; omegaeIs the port current angular frequency of the motor simulator; t is the resolving step, k is 1,2,3, …, and n represents the value at time kT.
Further, in step S7, after compensating the control error, the motor simulator port voltage calculation formula is:
ux＝ux *+uxcomp
where the subscript x represents the index when calculated under different coordinate systems, x ═ u, v, w when calculated under the ABC coordinate system, and x ═ 2d, 2q when calculated under the dq coordinate system.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the invention collects the three-phase output port line voltage of a motor driver and the three-phase current of a main circuit of a motor simulator, establishes a mathematical model of a simulated target motor and a mathematical model of the motor simulator in a simulation side controller, compares the two mathematical models, calculates to obtain the three-phase voltage of the motor simulator based on the equal current change rate, simultaneously considers the control error caused by the transmission delay and the control effect of a multi-core controller and compensates, inputs a switching signal generated after the phase voltage is modulated by a control unit into a power module, so that the port voltage and current characteristic of the motor simulator is consistent with the port voltage and current characteristic of the simulated target motor, simultaneously establishes a torque equation and a motion equation of the simulated target motor, calculates to obtain the electric angle information of the simulated target motor, converts the electric angle information of the simulated target motor into a position sensor analog signal through a position sensor analog module, and the analog signal of the position sensor is output to the motor driver so as to realize the real-time control of the motor driver on the analog target motor.
On the basis of the calculation method of the same current change rate, the control error is considered, and the calculation result of the method is compensated according to the error between the current reference value and the actual current value, so that a more accurate control effect is obtained.
Drawings
The invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of the system architecture of the present invention.
Detailed Description
The following detailed description of specific embodiments of the invention is provided, but it should be understood that the scope of the invention is not limited to the specific embodiments.
The embodiment provides an improved permanent magnet three-phase alternating current motor and a load simulation device thereof, which comprise a motor driver, a motor side controller, a three-phase inductance filter, a sampling unit, a simulation side controller and a power module;
the simulation side controller consists of three processors, namely a first processor which is used for the processor to be responsible for simulating the calculation of the target motor model, a second processor which is used for calculating the reference voltage and a third processor which is used as a control unit to generate a switching signal;
the direct current port of the motor driver is connected with a direct current power supply, and the three-phase output port of the motor driver is connected with one end of a three-phase inductance filter;
the simulated target motor model resolving unit comprises an angle information calculating module and a current real-time resolving module;
the direct current port of the motor driver is connected with a direct current power supply, and the three-phase output port of the motor driver is connected with one end of a three-phase inductance filter;
the direct current port of the power module is connected with a bidirectional direct current power supply, and the three-phase input port of the power module is connected with the other end of the three-phase inductance filter;
the sampling unit comprises a voltage sampling module and a current sampling module which are respectively connected with an output end line of the motor driver;
the input end of the angle information calculation module is connected with the current sampling module, and the output end of the angle information calculation module is respectively connected with the current real-time calculation module and the reference voltage calculation unit;
the first input end of the current real-time calculating module is connected with the angle information calculating module, the second input end of the current real-time calculating module is connected with the voltage sampling module, and the output end of the current real-time calculating module is connected with the reference voltage calculating unit;
a first input end of the reference voltage calculation unit is connected with the angle information calculation module, a second input end of the reference voltage calculation unit is connected with the current sampling module, a third input end of the reference voltage calculation unit is connected with the voltage sampling module, a fourth input end of the reference voltage calculation unit is connected with the current real-time calculation module, and an output end of the reference voltage calculation module is connected with the control unit;
the input end of the power module is connected with the reference voltage calculating unit, and the output end of the power module is connected with the three-phase inverter.
The use method of the simulation device comprises the following steps:
inputting a target motor type, a simulation target motor parameter, a load torque model and a filter circuit parameter into a simulation side controller, wherein the load torque model is used for generating a load torque of a simulation target motor, and for different types of loads, the load torque model can be a constant torque load or a constant power load, and can also be a fan or pump type load and the like;
three-phase input port line voltage u for collecting motor driver by using voltage sensorab、ubcAnd ucaCollecting three-phase current i of main circuit of motor simulator by using current sensora、ibAnd ic；
Three-phase current i of main circuit of motor simulatora、ibAnd icInputting the current information to a simulation side controller, and calculating i in a simulation target motor model resolving unit angle information calculation modulea、ibAnd icThe input torque calculation module is used for inputting the calculated torque Te into a motion equation, calculating the mechanical angular velocity omega and the electrical angle of the simulated target motor according to the parameters of the simulated target motor and the load torque, and calculating the three-phase counter electromotive force e of the simulated target motor according to the omegax；
Three-phase output port line voltage u of motor driverab、ubcAnd ucaInputting the three-phase back electromotive force e to the analog side controllera、ebAnd ecInputting the current into a real-time resolving module of a simulated target motor model resolving unit, and calculating the current from a port line voltage u according to a motor voltage equationab、ubcAnd ucaAnd back electromotive force exObtaining the current i of the simulated target motorxref；
Three-phase output port line voltage u of motor driverab、ubcAnd ucaAnd main circuit current i of the motor simulatorxInputting the three-phase back electromotive force e to the analog side controllerxInputting the voltage into a reference voltage calculation unit of the analog side controller, and calculating the voltage from the port line voltage u according to a voltage equation of an analog target motorab、ubcAnd ucaMain circuitCurrent ixAnd back electromotive force exObtaining the current change rate di of the simulation target motorx/dt；
In the analog side controller, the three-phase output port line voltage u of the motor driver is determined according to the type of the target motor, the parameters of the analog target motor, the parameters of the filter circuit and the three-phase output port line voltage u of the motor driverab、ubc、ucaMain circuit current i of motor simulatorxComparing the simulation target motor voltage equation with the main circuit voltage equation of the motor simulator based on the current change rate dixDt is same, calculating three-phase reference voltage u of motor simulatorx *；
Considering control error, according to the three-phase current i of the simulated target motorxrefWith main circuit current ixDifference value, compensating the calculated voltage, and calculating voltage compensation term uxcompFurther obtaining three-phase voltage u of the motor simulatoruN、uvN、uwN；
Three-phase output port line voltage u by sampling motor driverab、ubc、ucaAnd three-phase back electromotive force exThe three-phase output port phase voltage of the motor driver can be obtained as follows:
when the type of the simulated target motor is a brushless direct current motor, under an ABC coordinate system, according to the phase voltage of the simulated target motor, the current change rate of the simulated target motor is obtained as follows:
when the type of the simulated target motor is a brushless direct current motor, obtaining a main circuit current change rate of the motor simulator according to a main circuit voltage equation of the motor simulator under an ABC coordinate system as follows:
when the type of the simulated target motor is a brushless direct current motor, comparing the phase voltage equation of the system of the simulated target motor with the main circuit voltage equation of the motor simulator in an ABC coordinate system, and obtaining u according to the equal current change rate in order to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulated target motoru *、uv *、uw *Should satisfy respectively:
when the type of the simulated target motor is a brushless direct current motor, in an ABC coordinate system, in order to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulated target motor, the voltage difference value brought by the error is obtained according to the fact that the current change rate is equal, and meanwhile, the error between the current reference value and the actual current value is considered, and the voltage difference value is used as a voltage compensation term, so that u is obtaineducomp、uvcomp、uwcompIt should satisfy:
from the above calculation, when the type of the simulation target motor is the brushless dc motor, in the ABC coordinate system, in order to make the port voltage current characteristics of the motor simulator and the port voltage current characteristics of the simulation target motor consistent, the three-phase port outputs the simulation phase voltage uu、uvAnd uwIt should satisfy:
when the type of the simulated target motor is a back electromotive force sine permanent magnet synchronous motor, under a dq coordinate system, according to a voltage equation of the simulated target motor, obtaining the current change rate of the simulated target motor as follows:
when the type of the simulated target motor is a back electromotive force sine permanent magnet synchronous motor, under a dq coordinate system, according to a main circuit voltage equation of the motor simulator, obtaining a main circuit current change rate of the motor simulator as follows:
when the type of the simulated target motor is a back electromotive force sine permanent magnet synchronous motor, comparing the system phase voltage equation of the simulated target motor with the main circuit voltage equation of the motor simulator under a dq coordinate system, and obtaining u according to the condition that the current change rate is equal in order to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulated target motor2d *、u2q *Should satisfy respectively:
when the type of the simulated target motor is a back electromotive force sine permanent magnet synchronous motor, in a dq coordinate system, in order to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulated target motor, the voltage difference value brought by the error is obtained according to the fact that the current change rate is equal, and meanwhile, the error between the current reference value and the actual current value is considered, and the voltage difference value is used as a voltage compensation term, so that u is obtained2dcomp、u2qcompIt should satisfy:
from the above calculation, when the type of the simulation target motor is a back electromotive force sinusoidal permanent magnet synchronous motor, in the dq coordinate system, in order to make the port voltage current characteristic of the motor simulator and the simulation target motorThe port voltage and current characteristics of the motor simulator are consistent, and the three-phase voltage of the motor simulator has a d-axis component u under a two-phase rotating coordinate system2dAnd q-axis component u2qIt should satisfy:
inputting the calculated three-phase voltage of the motor simulator into a control unit to generate a switching signal, and inputting the switching signal into a power module to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of a simulated target motor;
in the simulation-side controller, the motor type is determined based on the simulation target motor type, the simulation target motor parameter, the load torque in the load torque model, ia、ibAnd icThe method comprises the steps of establishing a torque equation and a motion equation of a simulation target motor, calculating to obtain electric angle information of the simulation target motor, converting the electric angle information of the simulation target motor into a position sensor simulation signal through a position sensor simulation module, and outputting the position sensor simulation signal to a motor driver so as to realize real-time control of the motor driver on the simulation target motor.
The device and the method collect the line voltage of a three-phase output port of a motor driver and the three-phase current of a main circuit of a motor simulator, establish a mathematical model of a simulated target motor and a mathematical model of the motor simulator on a simulation side controller, compare the two mathematical models, calculate the three-phase voltage of the motor simulator under an ideal condition based on the equal current change rate, compensate the voltage according to the difference value of a current reference value and a measured value by considering a control error, input a switching signal generated after the compensated voltage is modulated by a control unit into a power module, and enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulated target motor. And simultaneously establishing a torque equation and a motion equation of the simulated target motor, calculating to obtain the electrical angle information of the simulated target motor, converting the electrical angle information of the simulated target motor into a position sensor analog signal through a position sensor analog module, and outputting the position sensor analog signal to a motor driver so as to realize the real-time control of the motor driver on the simulated target motor. On the basis of the calculation method of the same current change rate, the control error is considered, and the calculation result of the method is compensated according to the error between the current reference value and the actual current value, so that a more accurate control effect is obtained.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to further illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is intended to be protected by the appended claims. The scope of the invention is defined by the claims and their equivalents.
Claims (6)
1. A permanent magnetism three-phase AC motor and analogue means of load thereof which characterized in that: the system comprises a motor driver, a motor side controller, a three-phase inductance filter, a sampling unit, an analog side controller and a power module;
the simulation side controller consists of three processors, namely a first processor which is used for the processor to be responsible for simulating the calculation of the target motor model, a second processor which is used for calculating the reference voltage and a third processor which is used as a control unit to generate a switching signal;
the simulated target motor model resolving unit comprises an angle information calculating module and a current real-time resolving module;
the direct current port of the motor driver is connected with a direct current power supply, and the three-phase output port of the motor driver is connected with one end of a three-phase inductance filter;
the direct current port of the power module is connected with a bidirectional direct current power supply, and the three-phase input port of the power module is connected with the other end of the three-phase inductance filter;
the sampling unit comprises a voltage sampling module and a current sampling module which are respectively connected with an output end line of the motor driver;
the input end of the angle information calculation module is connected with the current sampling module, and the output end of the angle information calculation module is respectively connected with the current real-time calculation module and the reference voltage calculation unit;
the first input end of the current real-time calculating module is connected with the angle information calculating module, the second input end of the current real-time calculating module is connected with the voltage sampling module, and the output end of the current real-time calculating module is connected with the reference voltage calculating unit;
the first input end of the reference voltage calculation unit is connected with the angle information calculation module, the second input end of the reference voltage calculation unit is connected with the current sampling module, the third input end of the reference voltage calculation unit is connected with the voltage sampling module, the fourth input end of the reference voltage calculation unit is connected with the current real-time calculation module, and the output end of the reference voltage calculation module is connected with the control unit;
the input end of the power module is connected with the reference voltage calculation unit, and the output end of the power module is connected with the three-phase inverter.
2. A control method for a permanent magnet three-phase alternating current motor and a load simulation device thereof is characterized in that: the method comprises the following steps:
step S1, inputting simulation target motor and filter parameters: inputting a target motor type, a simulation target motor parameter, a load torque model and a filter circuit parameter into a simulation side controller;
step S2, simulating system sampling: three-phase input port line voltage u of motor driver acquired by voltage sensorab、ubcAnd ucaCollecting three-phase current i of main circuit of motor simulator by using current sensora、ibAnd ic；
Step S3, calculating a three-phase back electromotive force of the simulation target motor: three-phase current i of main circuit of motor simulatora、ibAnd icInputting the current information to a simulation side controller, and calculating i in a simulation target motor model resolving unit angle information calculation modulea、ibAnd icThe input torque calculation module is used for inputting the calculated torque Te into a motion equation, calculating the mechanical angular velocity omega and the electrical angle of the simulated target motor according to the parameters of the simulated target motor and the load torque, and calculating the three-phase counter electromotive force e of the simulated target motor according to the omegax；
Step S4, resolving the current of the simulated target motor in real time: three-phase output port line voltage u of motor driverab、ubcAnd ucaInputting the three-phase back electromotive force e to the analog side controllera、ebAnd ecInputting the current into a real-time resolving module of a simulated target motor model resolving unit, and calculating the current from a port line voltage u according to a motor voltage equationab、ubcAnd ucaAnd back electromotive force exObtaining the current i of the simulated target motorxref；
Step S5, calculating a simulated target motor current change rate: three-phase output port line voltage u of motor driverab、ubcAnd ucaAnd main circuit current i of the motor simulatorxInputting the three-phase back electromotive force e to the analog side controllerxInputting the voltage into a reference voltage calculation unit of the analog side controller, and calculating the voltage from the port line voltage u according to a voltage equation of an analog target motorab、ubcAnd ucaMain circuit current ixAnd back electromotive force exObtaining the current change rate di of the simulation target motorx/dt；
Step S6, calculating the output phase voltage of the ideal state simulator, in the simulation side controller, according to the type of the target motor, the simulation target motor parameter, the filter circuit parameter, the three-phase output port line voltage u of the motor driverab、ubc、ucaMain circuit current i of motor simulatorxComparing the simulation target motor voltage equation with the main circuit voltage equation of the motor simulator based on the current change rate dixDt is same, calculating three-phase reference voltage u of motor simulatorx *；
Step S7, calculating the output phase voltage compensation term of the simulator, considering the control error, and simulating the three-phase current i of the target motorxrefWith main circuit current ixDifference value, compensating the voltage calculated in the previous step, and calculating voltage compensation term uxcompFurther obtaining three-phase voltage u of the motor simulatoruN、uvN、uwN；
Step S8, generating a switching signal: three-phase voltage uuN、uvNAnd uwNThe input signal is input to the control unit to generate a switching signal, and the switching signal is input to the power module to enable the port voltage current characteristic of the motor simulator to be consistent with the port voltage current characteristic of the simulation target motor;
step S9, feeding back the position information of the motor simulator to a motor side controller: in the simulation side controller, the acquired electrical angle information of the simulation target motor is converted into a position sensor simulation signal through a position sensor simulation module, and the position sensor simulation signal is output to a motor driver, so that the motor driver can control the simulation target motor in real time.
3. The method of claim 2, wherein the method comprises the steps of: in step S5, the current change rate di of the target motor is simulatedxThe calculation of/dt can be performed under the ABC coordinate system, the dq coordinate system, and the α β coordinate system.
4. The method of claim 2, wherein the method comprises the steps of: in the step S7, when the phase voltage compensation term is calculated for the output phase of the simulator, the three-phase voltage compensation term u of the motor simulator is calculated in the ABC coordinate system when the current change rate of the simulated target motor in the step S5 is calculated in consideration of the control errorucomp、uvcompAnd uwcompThe calculation formulas of (A) and (B) are respectively as follows:
wherein, the simulation target motor parameter comprises L, R, and the filter circuit parameter comprises LfWherein L is the inductance value of each phase of the simulated target motor, and R is the resistance value of each phase of the simulated target motor; l is a radical of an alcoholfEach equivalent inductance value of the three-phase inductance filter; t is the resolving step, k is 1,2,3, …, and n represents the value at time kT.
5. The method of claim 2, wherein the method comprises the steps of: in the step S7, when the current change rate of the simulation target motor is calculated in the dq coordinate system in the step S5 when the phase voltage compensation term is calculated in the simulator output phase voltage, the d-axis component u of the three-phase voltage of the motor simulator in the two-phase rotation coordinate system2dAnd q-axis component u2qOf (d) compensation term u2dcompAnd u2qcompThe calculation formulas are respectively as follows:
wherein the simulated target motor parameter comprises Ld、Lq、Rs、ωeThe filter circuit parameter includes Lf；Ld、LqRespectively simulating target motorsd-axis and q-axis inductances, RsSimulating the resistance value of each phase of winding of the stator of the target motor; l isfAn inductance value for each phase of the three-phase inductance filter; omegaeIs the port current angular frequency of the motor simulator; t is the resolving step, k is 1,2,3, …, and n represents the value at time kT.
6. The method of claim 2, wherein the method comprises the steps of: in step S7, after compensating the control error, the calculation formula of the port voltage of the motor simulator is:
ux＝ux *+uxcomp
where the subscript x represents the index when calculated under different coordinate systems, x ═ u, v, w when calculated under the ABC coordinate system, and x ═ 2d, 2q when calculated under the dq coordinate system.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115378328A (en) * | 2022-08-03 | 2022-11-22 | 横川机器人（深圳）有限公司 | Servo driver controller parameter self-adaptive adjusting method |
| WO2024098507A1 (en) * | 2022-11-10 | 2024-05-16 | 中车永济电机有限公司 | Control method, apparatus and system, and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115378328A (en) * | 2022-08-03 | 2022-11-22 | 横川机器人（深圳）有限公司 | Servo driver controller parameter self-adaptive adjusting method |
| WO2024098507A1 (en) * | 2022-11-10 | 2024-05-16 | 中车永济电机有限公司 | Control method, apparatus and system, and storage medium |
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