CN114893431B - High-precision control method for air compressor of hydrogen fuel cell - Google Patents
High-precision control method for air compressor of hydrogen fuel cell Download PDFInfo
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- CN114893431B CN114893431B CN202210584465.0A CN202210584465A CN114893431B CN 114893431 B CN114893431 B CN 114893431B CN 202210584465 A CN202210584465 A CN 202210584465A CN 114893431 B CN114893431 B CN 114893431B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D25/00—Pumping installations or systems
- F04D25/02—Units comprising pumps and their driving means
- F04D25/06—Units comprising pumps and their driving means the pump being electrically driven
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
- F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M8/00—Fuel cells; Manufacture thereof
- H01M8/04—Auxiliary arrangements, e.g. for control of pressure or for circulation of fluids
- H01M8/04298—Processes for controlling fuel cells or fuel cell systems
- H01M8/04694—Processes for controlling fuel cells or fuel cell systems characterised by variables to be controlled
- H01M8/04746—Pressure; Flow
- H01M8/04753—Pressure; Flow of fuel cell reactants
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/30—Hydrogen technology
- Y02E60/50—Fuel cells
Abstract
The invention discloses a high-precision control method of a hydrogen fuel cell air compressor, which comprises the following steps: s10) acquiring direct current bus voltage and current signals, corresponding three-phase voltage signals and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration during operation of a motor; s20) calculating a corresponding back electromotive force signal according to the input three-phase voltage signal; s30) generating position and speed information of a motor rotor according to corresponding back electromotive force signal processing; s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body and the electric signal detected by the sensor by the sub-module; s50) adding compensation signals on the basis of the initial position information, so that the phase-change precision of the motor in the ultra-high speed running state is improved, and the stable running of the motor is ensured. The invention can solve the technical problems of insufficient oxygen supply, low motor rotation speed and poor reliability in the current hydrogen fuel cell air circulation system.
Description
Technical Field
The invention relates to the technical field of ultra-high-speed motor control, in particular to a high-precision rotor positioning scheme based on a continuous position estimation theory.
Background
In the present age when energy supply tends to be multi-polarized and diversified, the position of renewable energy is continuously rising, so how to more effectively utilize clean energy has become a research hotspot for researchers in various countries. The hydrogen fuel cell is taken as a power generation device which takes hydrogen as fuel and directly converts chemical energy in the fuel into electric energy through electrochemical reaction, and has the advantages of high energy conversion efficiency, zero emission, no noise and the like, and is regarded as a subversion technical direction of the energy revolution in the future. However, in the running process of the air compressor which is a core component in the current hydrogen fuel cell system, on one hand, the stable rotating speed is not enough to provide enough oxygen to generate electrochemical reaction with hydrogen, so that the energy conversion efficiency of the hydrogen fuel cell is limited to a certain extent; on the other hand, because the control algorithm can not realize the accurate and stable control of the motor in the ultra-high speed state, the body and the controller have non-negligible heating problems in the ultra-high speed operation process. Because of the above-mentioned technical problems, research on a high-precision control method of a hydrogen fuel cell air compressor has very important significance for improving the energy conversion efficiency of a hydrogen fuel cell, and particularly, with the continuous emphasis on the hydrogen fuel cell technology in various countries, research on a high-precision control method of a hydrogen fuel cell air compressor has become an important point of research in the field.
At present, through a large number of actual operation tests, the technical problems of the air compressor are summarized as follows:
(1) The maximum rotational speed at which it operates stably is not enough to provide sufficient electrochemical reaction of oxygen and hydrogen, limiting the energy conversion efficiency of the hydrogen fuel cell.
(2) When the motor is operated in an ultrahigh rotating speed state, the motor is serious in self-heating and cannot be operated for a long time.
The current hydrogen fuel cell system mainly comprises a galvanic pile and system components (an air compressor, a humidifier, a hydrogen circulating pump and a hydrogen bottle). The core part is a pile and an air compressor, wherein the pile is a main body of the whole system for generating electrochemical reaction and is used for carrying out a core task of transmitting electric energy to the outside; the air compressor is a core component in an air circulation system and plays an important role in conveying oxygen for hydrogen fuel. From the perspective of control theory, the core component air compressor in the air circulation system needs a high-precision control algorithm to realize that the air compressor can still stably run for a long time under the ultra-high rotating speed running state. According to the current running condition, accurate measurement and calculation of the position of the motor rotor are realized by additionally adding a high-precision sensor, and the method is one of methods for ensuring that the motor rotor can still stably run for a long time under the ultra-high speed state.
In the existing control technology, accurate measurement and calculation of the position of a motor rotor is realized mainly by a mode of installing a position sensor. The advantages of high reliability, lower cost and the like of the Hall sensor are outstanding in the industry, and in practical application, the Hall sensor is respectively arranged at three specific positions which are different by a certain angle, so that the phase change point of the motor can be conveniently and accurately determined according to the logic relation of signals corresponding to the three Hall sensors, and the stability of the motor in the ultra-high speed running state is ensured. However, after the existing hall sensor is installed, not only the interference possibly generated by the outside on the sensor signal is needed to be considered, but also the wiring space is needed to be planned for the signal. However, in the prior art, a number of alternatives for detecting the position of the rotor of the motor are also known. Such as: magnetic position sensors, photoelectric position sensors, capacitive position sensors, etc. Related data are collected through different sensor actions, and then data analysis and processing are carried out through a software algorithm, so that a relatively accurate motor position signal can be finally obtained.
The prior art generates a commutation signal of the motor based on the corresponding processing of the sensor acquisition signal, and the limitation is mainly represented in the following two aspects:
(1) For the design of the motor body, the installation position of the sensor needs to be additionally considered, so that the design complexity is increased, the volume of the motor body is increased, and the reliability of a control system is reduced;
(2) In the control process, environmental interference suffered by the position sensor needs to be considered, so that the system hardware cost is increased to a certain extent, the complexity of the controller hardware is increased, and the overall reliability of the control system is reduced.
Disclosure of Invention
In view of the above, the present invention aims to provide a high-precision control method for a hydrogen fuel cell air compressor, so as to solve the technical problems of insufficient oxygen supply, low motor rotation speed and poor reliability in the current hydrogen fuel cell air circulation system.
In order to achieve the above purpose, the present invention specifically provides a technical implementation scheme of a high-precision control method for a hydrogen fuel cell air compressor, which comprises the following steps:
s10) acquiring direct current bus voltage and current signals, corresponding three-phase voltage signals and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration during operation of a motor;
s20) calculating a corresponding back electromotive force signal according to the input three-phase voltage signal;
s30) generating position and speed information of a motor rotor according to corresponding back electromotive force signal processing;
s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body and the electric signal detected by the sensor by the sub-module;
s50) adding compensation signals on the basis of the initial position information, so that the phase-change precision of the motor in the ultra-high speed running state is improved, and the stable running of the motor is ensured.
Further, the step S40) includes the following steps:
s401) performing experimental fitting quantification according to the collected five parameters of temperature, humidity, pressure, magnetic field intensity and load vibration, and finally forming a correction gain parameter K to correct each module compensation formula;
s402) calculating a filter delay angle on the basis of introducing a correction gain parameter K according to the ratio of the cut-off frequency of the analog filtering link to the working frequency of the motor rotor;
s403) correspondingly estimating a voltage signal actually required by the rotor according to the rotor position error generated by the zero-order retainer effect and simultaneously considering the introduced correction gain parameter K;
s404) according to the characteristics of the motor inductance, the lead angle is calculated on the basis of introducing the correction gain parameter K through the ratio of the motor inductance to the direct current signal.
Further, in the step S401), the parameter α of the influence of the temperature, the humidity, the pressure on the commutation accuracy is estimated according to the following formula:
wherein alpha is a parameter representing the influence of ambient temperature, humidity and pressure on motor commutation accuracy, wherein K t Is the temperature proportionality coefficient, T is the thermodynamic temperature, ln () is the natural logarithm, K r Is the humidity proportionality coefficient, r is the relative humidity in the environment, p is the atmospheric pressure, K p Is a pressure proportionality coefficient.
Further, in the step S401), a parameter β of the influence of the magnetic field strength on the commutation accuracy is estimated according to the following formula:
wherein beta is a parameter representing the influence of the magnetic field intensity on the commutation accuracy of the motor, K B Is the magnetic field strength proportionality coefficient, B is the magnetic field strength signal collected by the sensor,
for the inductance value of the motor body, < >>
Is a motor speed estimate.
Further, in the step S401), a parameter γ of the influence of the load vibration on the commutation accuracy is estimated according to the following formula:
wherein, gamma is a parameter representing the influence of load vibration on motor commutation accuracy, M is a vibration signal acquired by a sensor, K M As a coefficient of proportionality of the vibration,
is a motor speed estimate.
Further, in the step S401), the correction gain parameter K is calculated according to the following formula, so as to quantify the effect on the commutation accuracy:
K＝Aα+Bβ+Cγ
wherein K is a correction gain parameter, A is a fitting coefficient of temperature, humidity and pressure on commutation precision, alpha is a parameter representing the influence of environment temperature, humidity and pressure on the commutation precision of the motor, B is a fitting coefficient of environment magnetic field strength on the commutation precision, beta is a parameter representing the influence of environment magnetic field strength on the commutation precision of the motor, C is a fitting coefficient of load vibration on the commutation precision, and gamma is a parameter representing the influence of load vibration on the commutation precision of the motor.
Further, in the step S402), the filter delay compensation angle is calculated according to the following formula, so as to obtain the position compensation signal corresponding to the module:
in the method, in the process of the invention,
is an estimated value of the operating frequency of the motor rotor, f LPF Is the cut-off frequency of the filtering link in the phase voltage acquisition process, < >>
Is the corresponding delay compensation angle of the filter, and K is the correction gain parameter.
Further, in the step S403), a rotor position error generated by the zero-order keeper action is processed according to the following formula, and a corresponding compensation voltage signal is extracted:
wherein V is comp Is the corresponding compensation voltage signal value, V o Is the voltage output value of the current state, θ offset The rotor position error due to zero-order keeper action, K is the correction gain parameter.
Further, in the step S404), a lead angle corresponding to the inductance characteristic of the motor is calculated according to the following formula
Wherein I is DC And V is equal to DC The DC bus current value and the DC bus voltage value,
for the motor speed estimation, K is the correction gain parameter, < ->
Is the inductance value of the motor body.
Furthermore, the PWM switching frequency of the main circuit in the control method is 80KHz, and the value range of the correction gain parameter K is 1.1-1.225 in the actual operation process.
By implementing the technical scheme of the high-precision control method for the hydrogen fuel cell air compressor, provided by the invention, the method has the following beneficial effects:
(1) The invention adopts a control mode without a position sensor based on a continuous position estimation theory, obtains an initial position signal of an electronic rotor by processing an acquired back electromotive force voltage signal, and simultaneously utilizes a motor body parameter, and an environmental parameter sub-module acquired by a sensor corrects and calculates a position compensation signal, thereby generating a more accurate phase-change signal and finally guaranteeing the stability of the motor in an ultra-high speed running state.
(2) The invention directly estimates the phase-change compensation signal according to the parameters of the motor body and the electric signal sub-module measured by the sensor on the premise of not increasing the complexity of the hardware structure of the controller, not only remarkably improves the highest stable speed of the motor during operation, but also optimizes the main flow control algorithm, solves the heating problem to a certain extent, improves the anti-interference capability of the control system, and has important theoretical significance and engineering application value.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be obtained for a person skilled in the art without inventive effort.
Fig. 1 is a schematic diagram of a screw-type air compressor body structure based on the high-precision control method of the hydrogen fuel cell air compressor of the invention;
FIG. 2 is a schematic program flow diagram of a specific embodiment of a method for controlling a hydrogen fuel cell air compressor in high precision according to the present invention;
FIG. 3 is a block diagram of the system architecture of the high-precision control method of the air compressor of the hydrogen fuel cell on which the method of the invention is based;
FIG. 4 is a schematic diagram showing the comparison of the effect of the high-precision control method of the hydrogen fuel cell air compressor of the present invention with the control method of the existing air compressor;
in the figure: the device comprises a 1-air compressor rotor, a 2-air compressor end cover, a 3-air compressor base, a 4-bearing, a 5-end cover and a controller integrated with the 4-bearing, a 6-related environmental parameter sensor module, a 7-motor body, an 8-position estimation module, a 9-phase change position compensation module, a 10-speed control module, an 11-current control module, a 12-three-phase inverter module, a 13-air compressor power supply, a 14-load vibration detection sensor, a 15-magnetic field intensity induction sensor, a 16-air pressure detection sensor, a 17-humidity detection sensor and an 18-temperature sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. 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.
Referring to fig. 1 to fig. 4, specific embodiments of a method for controlling a high-precision air compressor for a hydrogen fuel cell according to the present invention are shown, and the present invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1, the invention is a schematic diagram of a screw air compressor body structure based on the high-precision control method of the hydrogen fuel cell air compressor, the air compressor comprises an air compressor rotor 1, an air compressor end cover 2, an air compressor base 3, a bearing 4, an end cover and an integrated controller 5, and an integrated motor with high reliability is formed by an associated environmental parameter sensor module 6. Oxygen required by the cathode is provided for the hydrogen fuel cell reaction by the air compressor of the embodiment 1, and a large amount of air is compressed and fed into the hydrogen fuel cell, so that the oxygen concentration of the cathode is increased, and the electrochemical reaction of the hydrogen fuel cell is promoted. After the air compressor of the embodiment 1 is applied, the concentration of substances which react in the hydrogen fuel cell system can be obviously improved, so that hydrogen fuel in the hydrogen fuel cell system is more fully utilized, and the energy density of the hydrogen fuel cell is effectively increased, and therefore, the high-precision control method of the hydrogen fuel cell air compressor has a larger practical application value.
As shown in figure 2, the high-precision control method of the hydrogen fuel cell air compressor comprises the following steps:
s10) acquiring direct current bus voltage and current signals, corresponding three-phase voltage signals and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration during operation of the motor body 7;
s20) calculating a corresponding back electromotive force signal according to the input three-phase voltage signal;
s30) generating position and speed information of a motor rotor according to corresponding back electromotive force signal processing;
s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body 7 and the electric signal detected by the sensor by the sub-module;
s50) adding compensation signals on the basis of the initial position information, so that the phase-change precision of the motor body 7 in the ultra-high speed running state is improved, and the stable running of the motor body is ensured.
The high-precision control method of the hydrogen fuel cell air compressor described in the embodiment is based on rotor position estimation based on the continuous position estimation theory. The commutation position of the motor body 7 is initially estimated by the position estimation module 8. When the air compressor operates in the ultra-high speed state, the correction gain parameter K is obtained through a fitting formula, the phase change position error of the motor is estimated and compensated through the phase change position compensation module 9, and after the accurate phase change position of the motor is finally obtained, the phase change signal is processed and then is fed into the three-phase inverter module 12 to realize accurate and stable control of the motor.
Step S40) further comprises the following procedure:
s401) performing experimental fitting quantification according to the collected five parameters of temperature, humidity, pressure, magnetic field intensity and load vibration, and finally forming a correction gain parameter K to correct each module compensation formula;
s402) calculating a filter delay angle on the basis of introducing a correction gain parameter K according to the ratio of the cut-off frequency of the analog filtering link to the working frequency of the motor rotor;
s403) correspondingly estimating a voltage signal actually required by the rotor according to the rotor position error generated by the zero-order retainer effect and simultaneously considering the introduced correction gain parameter K;
s404) according to the characteristics of the motor inductance, the lead angle is calculated on the basis of introducing the correction gain parameter K through the ratio of the motor inductance to the direct current signal.
In step S401), the parameter α of the influence of the temperature, humidity, and pressure on the commutation accuracy is further estimated according to the following formula:
wherein alpha is a parameter representing the influence of ambient temperature, humidity and pressure on motor commutation accuracy, wherein K t Is the temperature proportionality coefficient, T is the thermodynamic temperature, ln () is the natural logarithm, K r Is the humidity proportionality coefficient, r is the relative humidity in the environment, p is the atmospheric pressure, K p Is a pressure proportionality coefficient.
In step S401), the parameter β of the influence of the magnetic field strength on the commutation accuracy is further estimated according to the following formula:
wherein beta is a parameter representing the influence of the magnetic field intensity on the commutation accuracy of the motor, K B Is the magnetic field strength proportionality coefficient, B is the magnetic field strength signal collected by the sensor,
for the inductance value of the motor body, < >>
Is a motor speed estimate.
In step S401), the parameter γ of the influence of the load vibration on the commutation accuracy is further estimated according to the following formula:
wherein, gamma is a parameter representing the influence of load vibration on motor commutation accuracy, M is a vibration signal acquired by a sensor, KM is a vibration proportion coefficient,
is a motor speed estimate.
In step S401), the correction gain parameter K is calculated according to the following formula, thereby quantifying its effect on commutation accuracy:
K＝Aα+Bβ+Cγ (4)
wherein K is a correction gain parameter, A is a fitting coefficient of temperature, humidity and pressure on commutation precision, alpha is a parameter representing the influence of environment temperature, humidity and pressure on the commutation precision of the motor, B is a fitting coefficient of environment magnetic field strength on the commutation precision, beta is a parameter representing the influence of environment magnetic field strength on the commutation precision of the motor, C is a fitting coefficient of load vibration on the commutation precision, and gamma is a parameter representing the influence of load vibration on the commutation precision of the motor.
In step S402), the filter delay compensation angle is further calculated according to the following formula, so as to obtain a position compensation signal corresponding to the module:
in the method, in the process of the invention,
is an estimated value of the operating frequency of the motor rotor, f LPF Is the cut-off frequency of the filtering link in the phase voltage acquisition process, < >>
Is the corresponding delay compensation angle of the filter, and K is the correction gain parameter.
According to the rotor working frequency of the motor body 7 and the cut-off frequency of the filtering link in the control circuit, the corresponding estimated filter delays the compensation angle and superimposes the compensation angle with the initial phase change phase, so that the controller can more accurately control the motor to change the phase, and the occurrence of faults is avoided to a certain extent. Because the RC filter link is adopted when the back electromotive force signal is acquired, the digital filter link with the same cut-off frequency is adopted when the direct current bus voltage is acquired, so that the measuring and calculating accuracy is improved.
In step S403), the rotor position error resulting from the zero-order keeper action is further processed according to the following formula, and the corresponding compensation voltage signal is extracted:
wherein V is comp Is the corresponding compensation voltage signal value, C o Is the voltage output value of the current state, θ offset The rotor position error due to zero-order keeper action, K is the correction gain parameter. In the present embodiment, the angle θ is estimated by estimating the rotor position e Taking into account the zero-order keeper delay angle θ offset Further improving the commutation accuracy and enabling the motor to operate in a high-speed stateThe rows may achieve higher stability.
In step S404), a lead angle corresponding to the inductance characteristic of the motor is further calculated according to the following formula
Wherein I is DC And V is equal to DC The DC bus current value and the DC bus voltage value,
k is a correction gain parameter for the motor speed estimation value. It is obvious that the estimated value of the motor speed +.>
There is a positive correlation with the lead angle, and as the speed increases, the corresponding lead angle increases. />
As a typical specific embodiment of the invention, the AD sampling frequency corresponding to the acquisition of the electric signal is 100KHz, the PWM switching frequency of the main circuit is 80KHz, and the value range of the correction gain parameter K is 1.1-1.225 in the actual operation process.
As shown in fig. 3, in an embodiment of a high-precision control method for a hydrogen fuel cell air compressor based on the application described in embodiment 1, main modules of the air compressor control system specifically include:
a motor body 7 for inputting compressed air to the hydrogen fuel cell;
the position estimation module 8 is used for carrying out preliminary estimation on the commutation position when the motor is in operation;
the phase change position compensation module 9 is used for measuring and calculating phase change compensation signals according to the modules on the basis of considering the influence of environmental parameters;
the speed control module 10 gives a corresponding speed control signal as an input of the current control module 11 through the design controller;
the current control module 11 gives corresponding current control signals through a design controller;
the load vibration detection sensor 14 is used for collecting the vibration condition of the load of the air compressor and correspondingly substituting the vibration condition into the phase change position compensation module 9 for operation;
the magnetic field intensity induction sensor 15 is used for collecting the magnetic field intensity around the air compressor during operation and correspondingly substituting the magnetic field intensity into the phase change position compensation module 9 for operation;
the air pressure detection sensor 16 is used for collecting the air pressure of the environment where the air compressor is located, and correspondingly substituting the air pressure into the phase change position compensation module 9 for operation;
the humidity detection sensor 17 is used for collecting the humidity condition of the surrounding environment when the air compressor runs in the hydrogen fuel cell system, and correspondingly substituting the humidity condition into the phase change position compensation module 9 for operation;
the temperature sensor 18 is used for collecting the temperature condition of the body when the air compressor runs, and correspondingly substituting the temperature condition into the phase position compensation module 9 for operation;
wherein, the motor body 7 sends compressed air into the hydrogen fuel cell to react with hydrogen gas electrochemically through the high-speed rotation of the motor fan blade. When the air compressor operates in the ultra-high speed state, the phase change position of the motor is initially estimated through the position estimation module 8, then the phase change position is overlapped with the compensation signal estimated by the phase change position compensation module 9, and after the accurate phase change position of the motor is finally obtained, the final phase change signal is fed into the three-phase inverter module 12 to realize accurate and stable control of the motor.
As shown in fig. 4, the high-precision control method of the hydrogen fuel cell according to the embodiment of the present invention is compared with the data of the existing control method without a position sensor. As is apparent from the figure, when the existing position-free control method is adopted, the motor cannot stably and normally rise when running to about 74000rpm, and the main circuit is over-current after the motor is out of step. The motor body 7 described in embodiment 1 based on the continuous position estimation theory is stable and controllable in the whole test speed range, and the highest stable rotation speed is effectively improved, and meanwhile, the heat generation of the motor body is suppressed to a certain extent.
As a typical embodiment of the invention, according to experimental conditions, the corresponding correction gain parameter K is 1.1-1.225 in the actual operation process.
By implementing the technical scheme of the high-precision control method for the air compressor of the hydrogen fuel cell, which is described by the specific embodiment of the invention, the following technical effects can be achieved:
(1) According to the high-precision control method for the hydrogen fuel cell air compressor, which is described by the specific embodiment of the invention, a control strategy without a position sensor based on a continuous position estimation theory is adopted, a phase-change compensation signal is obtained by estimating a body parameter and an electric signal measured by a sensor under the condition of considering the influence of surrounding environment parameters, and the phase-change precision of the motor is further improved when the motor operates at an ultra-high speed, so that the maximum rotation speed of the motor in stable operation is correspondingly improved, more air can be compressed and input in unit time, and the technical problem of low energy conversion efficiency of the hydrogen fuel cell system is well solved;
(2) According to the high-precision control method for the hydrogen fuel cell air compressor, disclosed by the embodiment of the invention, on the premise of not increasing the hardware structure of a controller, the phase-change compensation signal is directly estimated according to the parameters of the motor body and the electric signals detected by the sensor in a split mode, so that the technical problem of low energy conversion efficiency of the hydrogen fuel cell system is solved to a certain extent, the stability of the motor during operation is obviously improved, the control algorithm is optimized, the technical problem of heating is basically solved, the anti-interference capability of the control system is improved, and the method has important theoretical significance and engineering application value.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. While the invention has been described in terms of preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or equivalent embodiments using the method and technical solution disclosed above without departing from the spirit and technical solution of the present invention. Therefore, any simple modification, equivalent substitution, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention, unless departing from the technical solution of the present invention.
Claims (3)
1. The high-precision control method of the air compressor of the hydrogen fuel cell is characterized by comprising the following steps of:
s10) acquiring direct current bus voltage and current signals, corresponding three-phase voltage signals and five parameters of temperature, humidity, pressure intensity, magnetic field intensity and load vibration during operation of a motor;
s20) calculating a corresponding back electromotive force signal according to the input three-phase voltage signal;
s30) generating position and speed information of a motor rotor according to corresponding back electromotive force signal processing;
s40) calculating a position compensation signal according to the resistance and inductance parameters of the motor body and the electric signal detected by the sensor by the sub-module;
s50) adding a compensation signal on the basis of the initial position information, so that the phase-change precision of the motor in the ultra-high-speed running state is improved, and the stable running of the motor is ensured;
the step S40) further includes the following steps:
s401) performing experimental fitting quantification according to the collected five parameters of temperature, humidity, pressure, magnetic field intensity and load vibration, and finally forming a correction gain parameter K to correct each module compensation formula;
s402) calculating a filter delay angle on the basis of introducing a correction gain parameter K according to the ratio of the cut-off frequency of the analog filtering link to the working frequency of the motor rotor;
s403) correspondingly estimating a voltage signal actually required by the rotor according to the rotor position error generated by the zero-order retainer effect and simultaneously considering the introduced correction gain parameter K;
s404) according to the characteristics of the motor inductance, measuring and calculating the lead angle on the basis of introducing the correction gain parameter K through the ratio of the motor inductance to the direct current signal;
in the step S401), the parameter α of the influence of the temperature, the humidity, the pressure on the commutation accuracy is estimated according to the following formula:
wherein alpha is a parameter representing the influence of ambient temperature, humidity and pressure on motor commutation accuracy, wherein K t Is the temperature proportionality coefficient, T is the thermodynamic temperature, ln () is the natural logarithm, K r Is the humidity proportionality coefficient, r is the relative humidity in the environment, p is the atmospheric pressure, K p Is the pressure proportionality coefficient;
in said step S401), the parameter β of the influence of the magnetic field strength on the commutation accuracy is estimated according to the following formula:
wherein beta is a parameter representing the influence of the magnetic field intensity on the commutation accuracy of the motor, K B Is the magnetic field strength proportionality coefficient, B is the magnetic field strength signal collected by the sensor,
for the inductance value of the motor body, < >>
A motor speed estimated value;
in said step S401), a parameter γ of the influence of the load vibration on the commutation accuracy is estimated according to the following formula:
wherein, gamma represents load vibration to motorParameters influenced by phase change precision, M is a vibration signal acquired by a sensor, K M As a coefficient of proportionality of the vibration,
a motor speed estimated value;
in the step S402), the filter delay compensation angle is calculated according to the following formula, so as to obtain the position compensation signal corresponding to the module:
where K is the correction gain parameter,
is an estimated value of the operating frequency of the motor rotor, f LPF Is the cut-off frequency of the filtering link in the phase voltage acquisition process, < >>
Is the corresponding delay compensation angle of the filter;
in said step S403), the rotor position error resulting from the zero-order keeper action is processed according to the following formula and the corresponding compensation voltage signal is extracted:
wherein K is a correction gain parameter, V comp Is the corresponding compensation voltage signal value, V o Is the voltage output value of the current state, θ offset Rotor position errors due to zero-order keeper action;
in the step S404), a lead angle corresponding to the inductance characteristic of the motor is calculated according to the following formula
Wherein K is a correction gain parameter, I DC And V is equal to DC The DC bus current value and the DC bus voltage value,
for the motor speed estimate +.>
Is the inductance value of the motor body.
2. The method according to claim 1, wherein in the step S401), the correction gain parameter K is calculated according to the following formula, so as to quantify the effect on the commutation accuracy:
K＝Aα+Bβ+Cγ
wherein K is a correction gain parameter, A is a fitting coefficient of temperature, humidity and pressure on commutation precision, alpha is a parameter representing the influence of environment temperature, humidity and pressure on the commutation precision of the motor, B is a fitting coefficient of environment magnetic field strength on the commutation precision, beta is a parameter representing the influence of environment magnetic field strength on the commutation precision of the motor, C is a fitting coefficient of load vibration on the commutation precision, and gamma is a parameter representing the influence of load vibration on the commutation precision of the motor.
3. The high-precision control method of the hydrogen fuel cell air compressor according to claim 1, wherein the PWM switching frequency of the main circuit in the control method is 80KHz, and the value range of the correction gain parameter K is 1.1-1.225 in the actual operation process.
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