CN114584036A - Driving method of two-phase asynchronous induction motor - Google Patents

Driving method of two-phase asynchronous induction motor Download PDF

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CN114584036A
CN114584036A CN202210434789.6A CN202210434789A CN114584036A CN 114584036 A CN114584036 A CN 114584036A CN 202210434789 A CN202210434789 A CN 202210434789A CN 114584036 A CN114584036 A CN 114584036A
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current
phase
pwm
trapezoidal wave
induction motor
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刘翔鹏
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a current driving method of a two-phase asynchronous induction motor.A main loop of a system comprises two independent H bridges, and two-phase currents of the two-phase asynchronous induction motor are two-phase orthogonal trapezoidal wave currents. The invention can effectively improve the torque density and the power density of the asynchronous induction motor body and improve the conversion efficiency of the motor to the maximum extent.

Description

Driving method of two-phase asynchronous induction motor
Technical Field
The invention relates to an asynchronous induction motor, in particular to a driving method of a two-phase asynchronous induction motor.
Background
The power density of the motor refers to the ratio of the maximum output power of the motor body to the total volume of the motor body, the torque density of the motor refers to the ratio of the rated output torque of the motor shaft to the total volume of the motor body, and the motor conversion efficiency refers to the ratio of the mechanical power output by the motor shaft to the total power consumption of the motor. Most electrical machines operate at the highest conversion efficiency but do not have high power densities. Some high power density motors, such as high speed cleaner motors and model airplane motors, achieve high power density by increasing the rotational speed, but the torque density of these motors is not high. Other high torque density motors, such as hub motors, typically have lower rotational speeds and lower power densities, and typically have higher torques with increased pole counts.
With the rapid development of industrial technologies, the requirements of people for electric power dragging become more and more demanding, and not only the motor body is required to have high conversion efficiency, high power density and high torque density (for example, the motor for electric vehicle, which is desired to have small volume, light weight, large power density and torque density, and high conversion efficiency), but also the motor body is required to have low production cost and mature production process, and it is well known that in all motor types (including brush dc motor, asynchronous induction motor, brushless dc motor, ac synchronous motor, and switched reluctance motor, etc.), the asynchronous induction motor has low production cost, mature production process, and simple maintenance, so the asynchronous induction motor has the widest application and the largest total power consumption, but the traditional driving method of the asynchronous induction motor is based on sine wave phase current as the basic control purpose, the sine-wave phase current cannot fully utilize the armature reaction characteristics (namely the mutual influence of rotor magnetic flux and stator magnetic flux) in the operation process of the asynchronous induction motor to perform positive work on the rotor, so the torque density and the power density of the asynchronous induction motor cannot meet or even restrict the development of industrial technology.
Disclosure of Invention
The invention aims to provide a current driving method of a two-phase asynchronous induction motor, which can effectively improve the torque density and the power density of an asynchronous induction motor body and improve the conversion efficiency of the motor to the maximum extent.
The technical scheme provided by the invention is as follows: a current driving method of a two-phase asynchronous induction motor is characterized in that a system main loop comprises two independent H bridges, and two-phase currents of the two-phase asynchronous induction motor are two-phase orthogonal trapezoidal wave currents.
The two independent H-bridges are controlled by PWM modulation signals generated by a trapezoidal wave generator.
Each period of the trapezoidal wave current of the two-phase orthogonal trapezoidal wave current is formed by 8 beats, and the difference between the waveforms of the two-phase trapezoidal wave current is 1/4 period.
When the motor runs at the same constant speed, the time for linearly changing the phase current is equal to the time for maintaining the peak value, and any time when the motor runs, one phase of current linearly changes and the other phase of current maintains the peak value.
The invention generates two-phase orthogonal trapezoidal wave current:
s1: reading external switching value data including motor start/stop instruction data, motor torque direction data and the like, starting/stopping the trapezoidal wave generator and the PWM-modulated H bridge according to the motor start/stop instruction data, and determining the time sequence of two-phase trapezoidal waves generated by the trapezoidal wave generator according to the motor torque direction data;
s2: reading external analog quantity, wherein the external analog quantity comprises rotating speed analog quantity, torque analog quantity and the like, the system calculates the minimum time unit contained by each beat of two lines of trapezoidal waves, namely the number of PWM pulses contained by each beat according to the rotating speed analog quantity, the system calculates the maximum amplitude of the trapezoidal waves generated by the two lines of trapezoidal waves and the instant amplitude of the trapezoidal waveform corresponding to the ending moment of each PWM pulse according to the torque analog quantity, and the PWM H-bridge driving module synthesizes the number of beats where each phase is located at present and starts to drive two H-bridges according to corresponding output states;
s3: the PWM modulation H bridge driving module reads analog quantity signals of the two-phase current sensor at the end moment of PWM pulse, and the signals and the real-time amplitude of trapezoidal wave at the moment are relatively large, and error values of the two phases are respectively calculated;
s4: the PWM modulation H-bridge driving module reads estimated values of two-phase back electromotive force, and synthesizes information such as a magnitude relation between an analog quantity instant value and a trapezoidal wave instant amplitude value output by the phase current sensor, an error value and the like to budget next PWM pulse width and determine output states of two H-bridges in a next PWM pulse period.
The control rule of the PWM modulation H-bridge driving module is as follows:
if the calculated error value is in the fault-tolerant range, the PWM modulation H bridge driving module maintains the output state of the H bridge and the PWM pulse width in the next PWM period;
if the calculated error value exceeds the fault-tolerant range and the amplitude of the analog quantity output by the current sensor is smaller than the instantaneous amplitude of the trapezoidal wave, the pulse width in the next PWM period is determined by integrating the estimated value of the back electromotive force and the error value together so as to enable the phase current waveform to be close to the trapezoidal wave, the PWM pulse width is increased so as to increase the slope of the current, and the H bridge is switched to a state that the current is provided for the coil by the power supply and the follow current coexists;
if the calculated error value exceeds the fault-tolerant range and the analog amplitude output by the current sensor is larger than the trapezoidal wave instant amplitude, the pulse width in the next PWM period is determined by combining the back electromotive force estimated value and the error value together so as to enable the phase current waveform to be close to the trapezoidal wave; switching the H-bridge to a state where current and freewheel are supplied from the coil to the power supply and reducing the PWM pulse width to reduce the slope of the current.
The invention has the beneficial effects that:
the invention can fully utilize the armature reaction in the running process of the asynchronous induction motor to do positive work to the rotor, if the two-phase asynchronous induction motor driven by the two-phase orthogonal trapezoidal wave current driving method is the same as the stator core and the rotor of the three-phase asynchronous induction motor driven by the other traditional three-phase sine wave current driving method, and the corresponding magnetic flux of each phase of the two motors is the same when each phase generates the same ampere-turns, the torque of the two-phase asynchronous induction motor driven by the two-phase orthogonal trapezoidal wave current driving method is about 4.6 times of the torque of the three-phase asynchronous induction motor driven by the traditional three-phase sine wave current driving method under the condition, the power of the two-phase asynchronous induction motor driven by the two-phase orthogonal trapezoidal wave current driving method under the condition of the same rotating speed is about 4.6 times of the power of the three-phase asynchronous induction motor driven by the traditional three-phase sine wave current driving method according to the quantity relation between the output power and the torque under the condition of the same rotating speed, because the number of the coils used in the winding and the coil inserting of the two-phase motor is reduced by 1/3, the sectional area of the coils can be increased, so that the current density in the coils can be reduced to about 0.7 of the original three-phase (sine wave current drive) motor, and the heat productivity of the whole motor coil can be effectively reduced to about 2/3 of the original three-phase (sine wave current drive) motor.
Drawings
FIG. 1 is an electrical schematic of the present invention;
FIG. 2 is a schematic diagram of the system main loop of the present invention;
FIG. 3 is a wiring diagram of a stator coil of a 24-slot two-phase four-pole asynchronous motor according to the present invention;
FIG. 4 is a waveform diagram of two-phase orthogonal trapezoidal wave current corresponding to the positive torque direction of the motor of the present invention;
FIG. 5 is a waveform diagram of two-phase orthogonal trapezoidal wave current corresponding to the direction of the motor counter torque;
FIG. 6 is an electrical schematic of the H-bridge of the present invention;
FIG. 7 is a path and a flow diagram of a power supply providing current to the motor coil in one direction when Q0 and Q3 are simultaneously turned on;
FIG. 8 is a path and pattern of the persistent current of the motor coil with only Q3 conducting;
FIG. 9 is a path and a flow diagram for the supply current to the power supply during the conversion of the magnetic field energy of the winding into electrical energy when the phase current is not zero and all transistors are turned off;
FIG. 10 is a graph of Q1 with Q2 turned on at the same time and the power supply supplying current to the coil along the other direction current path and the current graph;
FIG. 11 is a path and pattern of the persistent current of the motor coil with only Q1 conducting;
FIG. 12 is a path and flow diagram of the supply current to the power supply during the conversion of the magnetic field energy of the winding to electrical energy when the phase current is not zero and all transistors are turned off;
fig. 13 is a path and a flow diagram of the current provided by the power supply to the coil during PWM modulation, wherein I0 and its arrows indicate the current path and direction of the coil when Q0 turns off Q3 turns on during PWM modulation; i and the arrows thereof indicate the path and flow direction of the current supplied to the coil by the power supply when the Q0 and Q3 are simultaneously turned on during the PWM modulation period;
fig. 14 shows a path and a flow direction of a loop current during PWM modulation, I0 and arrows thereof show a path and a flow direction of a coil continuous current when only Q3 is turned on during PWM modulation, and I1 and arrows show a path and a flow direction of a current supplied to a power supply by a coil when Q3 is turned off during PWM modulation;
fig. 15 shows another path and flow direction of current supplied from the power supply to the coil during PWM modulation, I and its arrows indicate the path and direction of current supplied from the power supply to the coil when the PWM modulation periods Q2 and Q1 are turned on simultaneously, I0 and its arrows indicate the path and flow direction of continuous current from the coil when the PWM modulation period Q2 turns off Q1;
fig. 16 shows another path and flow direction of the current in the loop during PWM modulation, I0 and its arrows show the path and flow direction of the coil continuous current when only Q1 is on during PWM modulation, and I1 and its arrows show the path and flow direction of the current supplied to the power supply by the coil when only Q1 is off during PWM modulation.
In the figure, Q0-Q7 are switching devices (such as MOS transistors or IGBT); c is a filter capacitor; VC is the positive end of the power supply; VE is the negative end of the power supply; 1 is an A-phase coil; 2 is a B-phase coil; 3 is a motor body; 7 is A phase current sensor; 8 is a B-phase current sensor; 9 is the A phase current signal; phase 10 is a phase B current signal; 11 is A counter electromotive force estimation module; 12 is B counter electromotive force estimation module; 13 is an H bridge driving module modulated by PWM; 14 is a trapezoidal wave generator; 15 is an operation parameter calculation module; 16 is a logic operation module; 17 is an instruction analysis module; 18 is an external analog input module; 19 is an external switching value input module;
a is a phase current waveform of A, B is a phase current waveform of B, a0 and B0 respectively represent the head of a A, B two-phase coil, a1 and B1 respectively represent the tail of a A, B two-phase coil, 1P-8P respectively represent 8 beats in the same period, and 1 t-8 t respectively represent time intervals in the same period.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The invention relates to a current driving method of a two-phase asynchronous induction motor, which relates to the two-phase asynchronous induction motor, and the electrical principle structure of the two-phase asynchronous induction motor is shown in figure 1; the electrical principle of the main loop in the system is schematically shown in fig. 2, and the main loop of the system comprises two independent H-bridges, namely a trapezoidal wave generator and a PWM modulated H-bridge. The wiring of the stator coil of the 24-slot two-phase four-pole asynchronous motor is shown in figure 3, and has 4 wiring terminals, wherein the terminals of the A and B two-phase coils are respectively a0 and B0, and the tails of the A and B two-phase coils are respectively a1 and B1.
Each period of trapezoidal wave current of the two-phase orthogonal trapezoidal wave current is formed by 8 beats, the difference between the waveforms of the two-phase trapezoidal wave current is 1/4 period (namely, the difference is two beats, namely, the difference is 90 electrical degrees), and orthogonal trapezoidal wave current waveforms of two time sequences corresponding to the positive and negative torque directions of the motor are shown in figures 4 and 5.
The invention generates two-phase orthogonal trapezoidal wave current:
1: reading external switching value data including motor start/stop instruction data, motor torque direction data and the like, starting/stopping some functional modules such as a trapezoidal wave generator and a PWM-modulated H-bridge according to the motor start/stop instruction data, and determining a timing sequence of two-phase trapezoidal waves generated by the trapezoidal wave generator according to the motor torque direction data, such as one of fig. 4 or fig. 5.
2: reading external analog quantity, wherein the external analog quantity mainly comprises rotating speed analog quantity, torque analog quantity and the like, the system calculates the minimum time unit quantity contained by each beat of two lines of trapezoidal waves, namely the PWM pulse quantity contained by each beat according to the rotating speed analog quantity, the system calculates the maximum amplitude of the trapezoidal waves generated by the two lines of trapezoidal waves and the instant amplitude of the trapezoidal waveform corresponding to the ending moment of each PWM pulse according to the torque analog quantity, and the PWM H-bridge driving module integrates the number of beats of each phase at present and starts to drive two H-bridges according to corresponding output states.
3: and the PWM modulation H-bridge driving module reads analog quantity signals of the two-phase current sensor at the end moment of the PWM pulse, relatively enlarges the signals and the trapezoidal wave instant amplitude at the moment and respectively calculates error values of the two phases.
4: the PWM modulation H-bridge driving module reads estimated values of two-phase back electromotive force, the integrated phase current sensor outputs information such as the magnitude relation between an analog quantity instant value and a trapezoidal wave instant amplitude value, an error value and the like to budget the next PWM pulse width and determine the output states of two H-bridges in the next PWM pulse period, and the control rule is as follows:
if the calculated error value is in the fault-tolerant range, the PWM modulation H bridge driving module maintains the output state of the H bridge and the PWM pulse width unchanged in the next PWM period.
b, if the calculated error value exceeds the fault-tolerant range and the amplitude of the analog quantity output by the current sensor is smaller than the instantaneous amplitude of the trapezoidal wave, the pulse width in the next PWM period is determined by integrating the estimated value of the back electromotive force and the error value together so as to enable the phase current waveform to be close to the trapezoidal wave, in this case, the calculation result is to increase the PWM pulse width so as to increase the slope of the current and switch the H bridge to a state that the current and follow current coexist from the power supply to the coil, the schematic diagrams of the continuous working process are shown in FIGS. 13 and 15, because the PWM pulse is carried out by taking the period as the time unit, if the PWM duty ratio is adjusted to 100/100 in the H bridge in the working state, the working state schematic diagram in one PWM period is shown in FIGS. 7 and 10, the working state schematic diagrams in the follow current period are shown in FIGS. 8 and 11, if the PWM duty ratio is adjusted to 0/100 in the H bridge in the working state, the operating state diagram in one PWM period is shown in fig. 9 and 12.
c, if the calculated error value exceeds the fault-tolerant range and the amplitude of the analog quantity output by the current sensor is greater than the instantaneous amplitude of the trapezoidal wave, the pulse width in the next PWM period is determined by integrating the estimated value of the back electromotive force and the error value together so as to enable the phase current waveform to be close to the trapezoidal wave, in this case, the calculation result is to reduce the PWM pulse width to reduce the slope of the current reduction and switch the H bridge to a state that the current provided by the coil is supplied to the power supply and the follow current coexists, the slope of the current reduction can be adjusted by adjusting the PWM pulse width, the working state schematic diagram of the H bridge is shown in figures 14 and 16, because the PWM pulse is carried out by taking the period as the time unit, if the PWM duty ratio is adjusted to 100/100 in the working state of the H bridge, the working state schematic diagram in one PWM period is shown in figures 8 and 11 (i.e. the follow current working state), if the PWM duty ratio is adjusted to 0/100 in the working state of the H bridge, the operating state diagram in one PWM period is shown in fig. 9 and 12.
Finally, it is also noted that the above-mentioned lists merely illustrate a few specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by the person skilled in the art from the present disclosure are to be considered within the scope of the present invention.

Claims (6)

1. A current driving method of a two-phase asynchronous induction motor is characterized in that: the system main loop comprises two independent H bridges, and the two-phase current of the two-phase asynchronous induction motor is two-phase orthogonal trapezoidal wave current.
2. The current driving method of a two-phase asynchronous induction motor according to claim 1, wherein: the two independent H-bridges are controlled by PWM modulation signals generated by a trapezoidal wave generator.
3. The current driving method of a two-phase asynchronous induction motor according to claim 1, wherein: each period of trapezoidal wave current of the two-phase orthogonal trapezoidal wave current consists of 8 beats, and the difference between waveforms of the two-phase trapezoidal wave current is 1/4 period.
4. A current driving method of a two-phase asynchronous induction motor according to claim 3, characterized in that: when the motor runs, the phase current changes linearly in some time intervals and maintains the peak value in other time intervals, if the motor runs at the same angular speed, the time for changing the phase current linearly is equal to the time for maintaining the peak value, and one phase current changes linearly and the other phase current maintains the peak value at any time when the motor runs.
5. The current driving method of a two-phase asynchronous induction motor according to claim 1, wherein: generating two-phase orthogonal trapezoidal wave current:
s1: reading external switching value data including motor start/stop instruction data, motor torque direction data and the like, starting/stopping the trapezoidal wave generator and the PWM-modulated H bridge according to the motor start/stop instruction data, and determining the time sequence of two-phase trapezoidal waves generated by the trapezoidal wave generator according to the motor torque direction data;
s2: reading external analog quantity, wherein the external analog quantity comprises rotating speed analog quantity, torque analog quantity and the like, the system calculates the minimum time unit contained by each beat of two lines of trapezoidal waves, namely the number of PWM pulses contained by each beat according to the rotating speed analog quantity, the system calculates the maximum amplitude of the trapezoidal waves generated by the two lines of trapezoidal waves and the instant amplitude of the trapezoidal waveform corresponding to the ending moment of each PWM pulse according to the torque analog quantity, and the PWM modulation H-bridge driving module synthesizes the number of beats where each phase is located at present and starts to drive two H-bridges according to the corresponding output states and the corresponding PWM pulse widths;
s3: the PWM H-bridge driving module reads analog quantity signals of the two-phase current sensor at the end moment of PWM pulse, and the signals and the real-time amplitude value of the trapezoidal wave at the moment are relatively large, and error values of the two phases are respectively calculated;
s4: the PWM modulation H-bridge driving module reads estimated values of two-phase back electromotive force, and synthesizes information such as a magnitude relation between an analog quantity instant value and a trapezoidal wave instant amplitude value output by the phase current sensor, an error value and the like to budget next PWM pulse width and determine output states of two H-bridges in a next PWM pulse period.
6. The current driving method of a two-phase asynchronous induction motor according to claim 5, wherein: the control rule of the PWM modulation H-bridge driving module is as follows:
if the calculated error value is in the fault-tolerant range, the PWM modulation H bridge driving module maintains the output state of the H bridge and the PWM pulse width in the next PWM period;
if the calculated error value exceeds the fault-tolerant range and the amplitude of the analog quantity output by the current sensor is smaller than the instantaneous amplitude of the trapezoidal wave, the pulse width in the next PWM period is determined by integrating the back electromotive force estimation value and the error value together so as to enable the phase current waveform to be close to the trapezoidal wave, the PWM pulse width is increased so as to increase the slope of the current, and the H bridge is switched to a state that the current is provided for the coil by the power supply and the follow current coexists;
if the calculated error value exceeds the fault-tolerant range and the analog amplitude output by the current sensor is larger than the trapezoidal wave instant amplitude, the pulse width in the next PWM period is determined by combining the back electromotive force estimated value and the error value together so as to enable the phase current waveform to be close to the trapezoidal wave; switching the H-bridge to a state where current and freewheel are supplied from the coil to the power supply and reducing the PWM pulse width to reduce the slope of the current.
CN202210434789.6A 2022-04-24 2022-04-24 Driving method of two-phase asynchronous induction motor Withdrawn CN114584036A (en)

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Application publication date: 20220603