CN115051611A - Open winding motor simulator based on power electronic converter and control system thereof - Google Patents

Open winding motor simulator based on power electronic converter and control system thereof Download PDF

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CN115051611A
CN115051611A CN202210700206.XA CN202210700206A CN115051611A CN 115051611 A CN115051611 A CN 115051611A CN 202210700206 A CN202210700206 A CN 202210700206A CN 115051611 A CN115051611 A CN 115051611A
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current
phase
mode
voltage
simulator
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蒋栋
谢元浩
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H02M1/123—Suppression of common mode voltage or current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
    • 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
    • H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

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

Abstract

The invention discloses an open winding motor simulator based on a power electronic converter and a control system thereof, belonging to the field of power electronics. The invention can correctly reflect the characteristics of all six ports of the open-winding motor, on the basis of the traditional star-connected motor simulation, a simulator converter is formed by adopting a full-bridge topology of three groups of common direct-current buses, port differential mode voltage is taken as the input of each phase, and the simulation of zero sequence characteristics is completed by matching with the closed-loop control of differential mode current, so that the test requirement of the open-winding motor driving system is met, and the application range of the motor simulator is expanded; according to the invention, a single-phase common-mode rejection reactor is respectively configured on each phase, so that the rejection of high-frequency common-mode current on two branches of each phase is realized; the suppression of the low-frequency common-mode current of each phase is realized by increasing the common-mode current closed-loop control and matching with a modulation method with common-mode voltage. Finally, the currents on the two branches of each phase are in equal and opposite directions, the current continuity principle is met, and the characteristics of the open-winding motor can be truly reflected.

Description

Open winding motor simulator based on power electronic converter and control system thereof
Technical Field
The invention belongs to the technical field of power electronics, and particularly relates to an open winding motor simulator based on a power electronic converter and a control system thereof.
Background
The design and the test of traditional motor drive system need rely on motor body and motor to dragging the building of platform, and such motor rack test platform often receives the restriction of many factors: the power grade of the motor needs to be matched with a motor driver, for the test of a high-power motor driver, a high-power rotating motor cannot be equivalently replaced by a low-power motor in a scaling mode, and the inertia and the resistance-inductance ratio of the motor are directly related to the mass and the volume of the motor; and because it is a rotating machinery equipment, its rotational speed is limited by actual installation condition, such a set of rotating machinery is very heavy, and installation and maintenance require highly, and need occupy great space, often still need be equipped with extra facility in order to guarantee the test safety. In addition, in case the actual motor leaves the factory, its body parameter is just fixed basically, is difficult for adjusting, and different electric drive controllers need take different motor loads outward to carry out the experiment, and the motor does not have the commonality to dragging the platform, need carry out special design in order to test to a certain motor drive system, has just also caused higher test cost, delays motor drive system's development progress. When the motor driving system is developed and tested, the condition that the motor and the testing platform thereof are not in place often occurs, and the process delay is brought to engineering and research and development. For these reasons, motor simulators, as an emerging testing technique, are beginning to be gradually applied to testing of motor drive systems. The motor simulator utilizes the real-time simulator to calculate the physical model of the motor in real time, is connected with a motor driver to be tested by a power amplifier, and simulates the port characteristic of the motor in real time by the cooperation of a power interface and a control algorithm. The motor simulator has the advantages of high flexibility, low cost, no rotating part, low energy loss, safety, reliability and the like.
In an ac speed regulation system, in order to obtain a wider speed regulation range, a method of opening a motor winding and connecting inverters at both sides is often adopted to form an open winding motor system. Because the port quantity of the motor is doubled, the control freedom degree is higher, and the fault-tolerant performance and the flexibility of the motor are greatly enhanced. However, the existing motor simulator mainly aims at the winding star-connected alternating current motor, and cannot complete the simulation of the characteristics of the open winding motor, and it is urgently needed to design the motor simulator aiming at the port characteristics of the open winding motor so as to expand the application range of the motor simulator.
Disclosure of Invention
In view of the above defects or improvement needs in the prior art, the present invention provides a power electronic converter-based open-winding motor simulator and a control system thereof, which aim to simulate the port characteristics of an open-winding motor and test the driving system of the open-winding motor.
To achieve the above object, according to one aspect of the present invention, there is provided an open-winding motor simulator based on a power electronic converter, comprising: the simulator comprises a simulator converter, a connecting inductor, a single-phase common mode rejection reactor, a zero sequence rejection reactor, a direct current voltage stabilizing capacitor and a simulator control system;
each phase of the simulator converter is respectively connected with a single-phase common mode rejection reactor and two connecting inductors; the direct current side of the simulator converter is connected with a direct current voltage stabilizing capacitor in parallel, and is connected with the direct current side of the open winding motor driving frequency converter to be tested through a zero sequence suppression reactor, so that energy feedback is realized;
the simulator control system is used for detecting voltage and current signals of six ports of the motor simulator, sending rotating speed and position information to the motor driving controller to be tested, executing a motor simulation algorithm and sending PWM (pulse-width modulation) pulses to the simulator converter;
the simulator converter is used for amplifying power according to the command voltage of the simulator control system;
the single-phase common mode rejection reactor is used for rejecting high-frequency common mode current of each phase;
the zero sequence suppression reactor is used for suppressing high-frequency zero sequence circulating current introduced by the energy feedback path;
and the direct current voltage stabilizing capacitor is used for stabilizing the direct current side voltage of the simulator converter.
Further, the simulator converter is constituted by a three-phase full-bridge inverter.
Further, the simulator control system includes: the six-path voltage sampling module is used for respectively collecting voltages of six ports of the open winding motor driving frequency converter to be tested relative to the midpoint of the direct-current bus;
the six-path current sampling module is used for respectively collecting the current on six alternating current side ports of the simulator converter;
the real-time digital signal processor is used for calculating the open winding motor model in real time, executing a current control algorithm and outputting a duty ratio instruction to the PWM module;
and the six-path PWM module is used for receiving the duty ratio instruction sent by the real-time digital signal processor, modulating and sending 12-path pulse signals to the simulator converter.
According to another aspect of the present invention, there is provided a control system of the open-winding motor simulator based on the power electronic converter, comprising:
a sampling calculation link, which is used for calculating the common-mode voltage, the differential-mode voltage, the common-mode output current and the differential-mode circulation current of each phase according to the six voltage and six current signals obtained by sampling, and converting the three-phase differential-mode voltage and the three-phase differential-mode circulation current into a dq0 coordinate system;
a motor model calculation link for receiving dq0 components of three-phase differential mode voltage, calculating an equivalent circuit model of the open winding motor in real time to generate reference current under a dq0 coordinate system, and calculating the rotor speed and the motor rotor electrical angle according to the reference current and a motor mechanical model;
the current control link is used for receiving three-phase common-mode voltage, three-phase common-mode output current, dq0 component of three-phase differential mode circulating current, dq0 component of three-phase differential mode voltage, reference current under a dq0 coordinate system, motor rotor electrical angle and rotor speed, executing a current control algorithm and generating six-path duty ratio instructions;
and the modulation link is used for receiving the six paths of duty ratio instructions, comparing the six paths of duty ratio instructions with the unified carrier, generating 12 paths of pulses and transmitting the pulses to the simulator converter.
Further, the calculation formulas of the common mode voltage, the differential mode voltage, the common mode output current and the differential mode circulating current are respectively as follows:
Figure BDA0003703701200000031
v DM,i ＝v 1,i -v 2,i ,
i CM,i ＝i 1,i +i 2,i
Figure BDA0003703701200000041
wherein i is a, b, c, v 1,i And v 2,i Respectively the voltages at the two ports of each phase, subscript 1 indicating port number one, subscript 2 indicating port number two, v CM,i Is its common mode voltage, v DM,i Is its differential mode voltage; i.e. i 1,i And i 2,i Respectively the current in the two branches of each phase, i CM,i Is its common mode output current, i DM,i Is its differential mode circulating current.
Further, the equivalent circuit model of the open-winding motor in the motor model calculation link comprises a d-axis voltage equation, a q-axis voltage equation and a zero-sequence voltage equation, wherein the zero-sequence voltage equation comprises zero-sequence back electromotive force generated by third harmonic flux linkage; the torque equation for an open-winding motor includes torque ripple caused by zero-sequence current and third harmonic back emf.
Further, the current control section includes: the three-phase difference mode current control sub-link is used for correspondingly differentiating a dq0 component of three-phase difference mode circulation with a reference current under a dq0 coordinate system, calculating a difference value of a d-axis component and a q-axis component through a PI (proportional integral) controller, calculating a difference value of a 0-axis component through a quasi-resonant controller, and converting the calculation result of the PI controller and the quasi-resonant controller back to an abc coordinate according to the electric angle of a motor rotor to obtain a three-phase difference mode reference voltage;
the three-phase common-mode circulating current suppression link is used for respectively subtracting the three-phase common-mode output current from 0, and the difference value is calculated by a PI (proportional integral) controller to obtain a three-phase common-mode reference voltage;
and the duty ratio calculation link is used for receiving the three-phase differential mode reference voltage and the three-phase common mode reference voltage, calculating and generating six duty ratio signals, and the calculation formula is as follows:
Figure BDA0003703701200000042
Figure BDA0003703701200000043
wherein the content of the first and second substances,
Figure BDA0003703701200000044
and
Figure BDA0003703701200000045
the duty ratio commands of the bridge arms corresponding to the first port and the second port of each phase respectively,
Figure BDA0003703701200000046
is the common-mode reference voltage for each phase,
Figure BDA0003703701200000047
is the differential mode reference voltage, V, of each phase DC Is the dc bus voltage.
In general, the above technical solutions contemplated by the present invention can achieve the following advantageous effects compared to the prior art.
The open winding motor simulator and the control system thereof can accurately reflect the characteristics of all six ports of the open winding motor, form a simulator converter through a full-bridge topology of three groups of common direct current buses on the basis of the traditional star-connected motor simulation, use port differential mode voltage as the input of each phase, and complete the simulation of zero sequence characteristics by matching with the closed-loop control of differential mode current, thereby meeting the test requirement of a drive system of the open winding motor and expanding the application range of the motor simulator.
According to the invention, the suppression of the high-frequency common-mode current on the two branches of each phase is realized by respectively configuring the single-phase common-mode suppression reactors on each phase; the suppression of the low-frequency common-mode current of each phase is realized by increasing the common-mode current closed-loop control and matching with a modulation method with common-mode voltage. By combining the two technical means, the common-mode current on the two branches of each phase is basically eliminated, so that the currents on the two branches of each phase are in equal and opposite directions, the current continuity principle is met, and the characteristics of the open-winding motor can be truly reflected.
The open-winding motor simulator provided by the invention finishes energy feedback through a topological structure connected with a common direct current bus of the motor driving frequency converter, saves a large amount of electric energy, has a simple structure and lower cost, requires a direct current power supply to output small power, and improves the convenience of the simulator. The zero sequence suppression reactor is added in the energy feedback path, high-frequency circulation on the energy feedback path is suppressed, the influence of the energy feedback path on a normal circulation path is basically eliminated, and the simulation is more accurate.
Drawings
FIG. 1 is a topological block diagram of a typical open-winding motor and its drive system;
fig. 2 is a circuit diagram of the connection of an open-winding motor simulator to a device under test.
FIG. 3 is a block flow diagram of an open-winding motor simulator control system according to an embodiment of the present invention;
FIG. 4 is a control block diagram of a current control link of an open-winding motor simulator in accordance with an embodiment of the present invention;
the system comprises a direct current power supply 1, an open winding motor driving frequency converter 2, a motor driving controller 3, an simulator converter 4, a connecting inductor 5, a single-phase common mode suppression reactor 6, a zero sequence suppression reactor 7, a direct current voltage stabilizing capacitor 8 and a simulator control system 9.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a topology structure diagram of a typical open-winding motor and a driving system thereof, wherein the three-phase open-winding motor has six electrical ports which are respectively and correspondingly connected to the middle points of bridge arms of a frequency converter. When the three-phase open-winding motor runs, current flows in from one port of each phase and flows out from the other corresponding port, and the current on each phase is continuous all the time. The open winding motor simulator provided by the invention aims to replace a three-phase open winding motor in fig. 1 with an electronic power converter to complete the test of a drive system of the open winding motor. The open-winding motor driving system shown in fig. 1 is only a typical example, and any open-winding motor driving frequency converter having six ac output ports can be used as a test object of the open-winding motor simulator proposed by the present invention.
The expansion of the winding star-connected alternating current motor to the open-winding motor simulator faces the following problems: the number of the ports of the simulated motor is doubled, and the structure of the simulator converter needs to be correspondingly expanded; the open winding motor has the freedom degree of zero sequence current, and the topological structure of the simulator converter can meet the simulation of the zero sequence current; according to the principle of phase current continuity, the phase current of the open-winding motor driving system always flows from one port of a winding to the other port, and the currents at the midpoints of two driving bridge arms connected with the same-phase winding are equal and reverse, so that the current continuity is also met when the motor simulator replaces the original motor.
Fig. 2 is a circuit diagram of the open-winding motor simulator and the device under test according to the present invention, and the circuit diagram includes: 1. the method comprises the following steps of (1) a direct-current power supply, 2. an open winding motor driving frequency converter, 3. a motor driving controller, 4. an simulator converter, 5. a connecting inductor, 6. a single-phase common mode rejection reactor, 7. a zero sequence rejection reactor, 8. a direct-current voltage-stabilizing capacitor and 9. a simulator control system; wherein, 1-3 are used as tested equipment, 4-9 jointly form a motor simulator, and the tested equipment is tested.
Each phase of the simulator converter is connected with two connecting inductors and a single-phase common mode rejection reactor respectively, and then is connected with the open winding motor driving frequency converter. The direct current side of the simulator converter is connected with a direct current voltage stabilizing capacitor in parallel, and then is connected with the direct current side of the open winding motor driving frequency converter through a zero sequence suppression reactor, and a direct current power supply is directly connected with the direct current side of the open winding motor driving frequency converter;
the direct current power supply is used for supplying power to the whole motor simulator system;
the open winding motor driving frequency converter is used for driving the simulated motor;
a motor drive controller for executing a motor control algorithm to control the motor drive frequency converter;
the simulator converter is used for performing power amplification according to the command voltage of the simulator control system;
the connecting inductor is used for connecting the middle points of bridge arms of the simulator converter and the open-winding motor driving frequency converter;
the single-phase common mode rejection reactor is used for rejecting high-frequency common mode current of each phase;
the zero sequence suppression reactor is used for suppressing high-frequency zero sequence circulating current introduced by the energy feedback path;
the direct-current voltage stabilizing capacitor is used for stabilizing the direct-current side voltage of the simulator converter;
and the simulator control system is used for detecting voltage and current signals of six ports of the motor simulator, sending rotating speed and position information to the motor driving controller, executing a motor simulation algorithm and sending PWM (pulse width modulation) pulse to the simulator converter.
Further, the open-winding motor drive frequency converter is an inverter which is composed of power electronics and comprises six alternating current output ports.
Furthermore, the simulator converter is composed of a three-phase full-bridge inverter, a single-phase common mode rejection reactor needs to be connected to the alternating current side of each phase inverter, and the two bridge arms of each phase are respectively connected with one connecting inductor. The three-phase full-bridge inverter is connected with a common direct current bus and is connected to the direct current side of the open-winding motor driving frequency converter through a zero sequence suppression reactor so as to realize energy feedback.
Further, the single-phase common-mode rejection reactor and the zero-sequence rejection reactor are single-phase common-mode inductances, which preferably exhibit a large common-mode reactance and a near-zero differential-mode reactance to the outside.
Further, the simulator control system includes: the system comprises a six-path voltage sampling module, a six-path current sampling module, a real-time digital signal processor and a six-path PWM module;
the six-path voltage sampling module respectively collects voltages of six ports of the open-winding motor drive frequency converter relative to the midpoint of the direct-current bus; the six-path current sampling module respectively collects currents on six alternating current side ports of the simulator converter; the real-time digital signal processor is used for calculating the open winding motor model in real time, executing a current control algorithm and outputting a duty ratio instruction to the PWM module; and the six-path PWM module is used for receiving a duty ratio instruction sent by the real-time digital processor, modulating and sending 12 paths of PWM pulses to the simulator.
FIG. 3 is a block diagram of a control system of an open-winding motor simulator provided by the present invention, which includes a sampling calculation link, a motor model calculation link, a current control link and a modulation link; in each sampling period, the four links are sequentially executed to complete the control of the open winding motor simulator.
A sampling calculation link for receiving sampling results of six voltage and six current signals and receiving the electric angle of the motor rotor calculated in the motor model calculation link; calculating the common mode voltage, the differential mode voltage, the common mode output current and the differential mode circulation current of each phase according to the six voltage and six current signals obtained by sampling; according to the electric angle of the motor rotor, converting the three-phase differential mode voltage to a dq0 coordinate system, and transmitting the three-phase differential mode voltage to a motor model calculation link; and according to the electrical angle of the motor rotor, the three-phase differential mode circulating current is converted into a dq0 coordinate system and is transmitted to a current control link together with three-phase common mode voltage, three-phase common mode output current and three-phase differential mode voltage in a dq0 coordinate system.
The motor model calculating link is used for receiving dq0 components of three-phase differential mode voltage output by the sampling calculating link, calculating an equivalent circuit model of the open winding motor in real time, generating reference current under a dq0 coordinate system, and transmitting the reference current to the current control link; and calculating the rotor rotation speed and the motor rotor electrical angle according to the reference current and the motor mechanical model, transmitting the rotor rotation speed to a current control link, and transmitting the motor rotor electrical angle to a current control link and a sampling calculation link.
And the current control link is used for receiving a dq0 component of the three-phase differential mode circulating current, a reference current in a dq0 coordinate system, a three-phase differential mode voltage in a dq0 coordinate system, a motor rotor electrical angle, a rotor rotating speed, a three-phase common mode voltage and a three-phase common mode output current, executing a current control algorithm, generating a duty ratio instruction and transmitting the duty ratio instruction to the modulation link.
And the modulation link is used for receiving the duty ratio instruction, comparing the duty ratio instruction with a carrier, generating PWM (pulse width modulation) pulse and transmitting the PWM pulse to the simulator converter.
In the sampling calculation link, the common-mode voltage, the differential-mode voltage, the common-mode output current and the differential-mode circulating current are respectively calculated according to the following formulas:
Figure BDA0003703701200000091
v DM,i ＝v 1,i -v 2,i ,(i＝a,b,c)
i CM,i ＝i 1,i +i 2,i ,(i＝a,b,c)
Figure BDA0003703701200000092
wherein v is 1,i And v 2,i Respectively the voltages at the two ports of each phaseSubscript 1 denotes port number one, subscript 2 denotes port number two, v CM,i Is its common mode voltage, v DM,i Is its differential mode voltage; i.e. i 1,i And i 2,i Respectively the current in the two branches of each phase, i CM,i Is its common mode output current, i DM,i Is its differential mode circulating current.
In the motor model calculation link, the equivalent circuit model of the open-winding motor comprises a d-axis voltage equation, a q-axis voltage equation and a zero-sequence voltage equation, wherein the zero-sequence voltage equation comprises zero-sequence counter electromotive force generated by third harmonic flux linkage. The torque equation for an open-winding motor includes torque ripple caused by zero-sequence current and third harmonic back emf. In this embodiment, taking a three-phase permanent magnet synchronous open-winding motor as an example, an equivalent circuit model of the motor is as follows:
Figure BDA0003703701200000093
wherein R is S Is stator winding resistance, L d And L q Inductances, ω, of the d-and q-axes, respectively e Is the electrical angular velocity of the rotor and,
Figure BDA0003703701200000094
is the fundamental component of the permanent magnetic flux linkage,
Figure BDA0003703701200000095
is the third harmonic component, u, in the permanent magnet flux linkage d 、u q 、u 0 Are the dq0 components, i, of the input differential mode voltage, respectively d 、i q 、i 0 Is the dq0 component of the reference current to be calculated. The corresponding torque equation is:
Figure BDA0003703701200000096
the modulation link comprises six paths of PWM modulation, wherein the six paths of PWM modulation adopt unified carrier waves which are respectively compared with corresponding duty ratio instructions to send out 12 paths of pulses.
Fig. 4 is a control block diagram of a current control link, which includes two parts of three-phase differential mode current control and three-phase common mode circulating current suppression. In the three-phase differential mode current control link, a dq0 component of three-phase differential mode circulation and a reference current in a dq0 coordinate system are correspondingly subjected to difference, the difference value of a d-axis component and a q-axis component is calculated through a PI (proportional integral) controller, the difference value of a 0-axis component is calculated through a quasi-resonant controller, and the calculation result of the PI controller and the quasi-resonant controller is converted back to an abc coordinate according to the electric angle of a motor rotor to be used as a three-phase differential mode reference voltage; and in the three-phase common-mode circulating current suppression link, the three-phase common-mode output currents are respectively subjected to difference with 0, and the difference is calculated by a PI (proportional integral) controller and then output as the three-phase common-mode reference voltage. And generating a duty ratio signal together according to the three-phase differential mode reference voltage and the three-phase common mode reference voltage. The calculation formula is as follows:
Figure BDA0003703701200000101
Figure BDA0003703701200000102
wherein the content of the first and second substances,
Figure BDA0003703701200000103
and
Figure BDA0003703701200000104
the duty ratio commands of the bridge arms corresponding to the port I and the port 2 of each phase respectively,
Figure BDA0003703701200000105
is the common-mode reference voltage for each phase,
Figure BDA0003703701200000106
is the differential mode reference voltage, V, of each phase DC Is the dc bus voltage.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. An open-winding motor simulator based on a power electronic converter, comprising: the system comprises a simulator converter (4), a connecting inductor (5), a single-phase common-mode rejection reactor (6), a zero sequence rejection reactor (7), a direct-current voltage-stabilizing capacitor (8) and a simulator control system (9);
each phase of the simulator converter is respectively connected with a single-phase common mode rejection reactor and two connecting inductors; the direct current side of the simulator converter is connected with a direct current voltage stabilizing capacitor in parallel, and is connected with the direct current side of the open winding motor driving frequency converter to be tested through a zero sequence suppression reactor, so that energy feedback is realized;
the simulator control system is used for detecting voltage and current signals of six ports of the motor simulator, sending rotating speed and position information to the motor driving controller to be tested, executing a motor simulation algorithm and sending PWM (pulse-width modulation) pulses to the simulator converter;
the simulator converter is used for amplifying power according to the command voltage of the simulator control system;
the single-phase common mode rejection reactor is used for rejecting high-frequency common mode current of each phase;
the zero sequence suppression reactor is used for suppressing high-frequency zero sequence circulating current introduced by the energy feedback path;
and the direct-current voltage stabilizing capacitor is used for stabilizing the direct-current side voltage of the simulator converter.
2. A power electronic converter based open winding motor simulator according to claim 1, characterized in that the simulator converter is constituted by a three-phase full bridge inverter.
3. A power electronic converter based open winding motor simulator according to claim 1, in which the simulator control system comprises:
the six-path voltage sampling module is used for respectively collecting voltages of six ports of the open winding motor driving frequency converter to be tested relative to the midpoint of the direct current bus;
the six-path current sampling module is used for respectively collecting the current on six alternating current side ports of the simulator converter;
the real-time digital signal processor is used for calculating the open winding motor model in real time, executing a current control algorithm and outputting a duty ratio instruction to the PWM module;
and the six-path PWM module is used for receiving the duty ratio instruction sent by the real-time digital signal processor, modulating and sending 12-path pulse signals to the simulator converter.
4. A control system for a power electronic converter based open winding motor simulator according to any of claims 1 to 3, comprising:
a sampling calculation link, which is used for calculating the common-mode voltage, the differential-mode voltage, the common-mode output current and the differential-mode circulation current of each phase according to the six voltage and six current signals obtained by sampling, and converting the three-phase differential-mode voltage and the three-phase differential-mode circulation current into a dq0 coordinate system;
a motor model calculation link for receiving dq0 components of three-phase differential mode voltage, calculating an equivalent circuit model of the open winding motor in real time to generate reference current under a dq0 coordinate system, and calculating the rotor speed and the motor rotor electrical angle according to the reference current and a motor mechanical model;
the current control link is used for receiving three-phase common-mode voltage, three-phase common-mode output current, dq0 component of three-phase differential mode circulating current, dq0 component of three-phase differential mode voltage, reference current under a dq0 coordinate system, motor rotor electrical angle and rotor speed, executing a current control algorithm and generating six-path duty ratio instructions;
and the modulation link is used for receiving the six paths of duty ratio instructions, comparing the six paths of duty ratio instructions with the unified carrier, generating 12 paths of pulses and transmitting the pulses to the simulator converter.
5. The control system of claim 4, wherein the common mode voltage, the differential mode voltage, the common mode output current and the differential mode circulating current are calculated by the following equations:
Figure FDA0003703701190000021
v DM，i ＝v 1，i -v 2，i ，
i CM，i ＝i 1，i +i 2，i
Figure FDA0003703701190000022
wherein i is a, b, c, v 1，i And v 2，i Respectively the voltages at the two ports of each phase, subscript 1 indicating port number one, subscript 2 indicating port number two, v CM，i Is its common mode voltage, v DM，i Is its differential mode voltage; i.e. i 1，i And i 2，i Respectively the current in the two branches of each phase, i CM，i Is its common mode output current, i DM，i Is its differential mode circulating current.
6. The control system of claim 4, wherein the equivalent circuit model of the open-winding motor in the motor model calculation link comprises a d-axis voltage equation, a q-axis voltage equation and a zero-sequence voltage equation, wherein the zero-sequence voltage equation comprises zero-sequence back electromotive force generated by third harmonic flux linkage; the torque equation for an open-winding motor includes torque ripple caused by zero-sequence current and third harmonic back emf.
7. The control system of claim 5, wherein the current control link comprises: the three-phase difference mode current control sub-link is used for correspondingly differentiating a dq0 component of three-phase difference mode circulation with a reference current under a dq0 coordinate system, calculating a difference value of a d-axis component and a q-axis component through a PI (proportional integral) controller, calculating a difference value of a 0-axis component through a quasi-resonant controller, and converting the calculation result of the PI controller and the quasi-resonant controller back to an abc coordinate according to the electric angle of a motor rotor to obtain a three-phase difference mode reference voltage;
the three-phase common-mode circulating current suppression link is used for respectively subtracting the three-phase common-mode output current from 0, and the difference value is calculated by a PI (proportional integral) controller to obtain a three-phase common-mode reference voltage;
and the duty ratio calculation link is used for receiving the three-phase differential mode reference voltage and the three-phase common mode reference voltage, calculating and generating six duty ratio signals, and the calculation formula is as follows:
Figure FDA0003703701190000031
Figure FDA0003703701190000032
wherein the content of the first and second substances,
Figure FDA0003703701190000033
and
Figure FDA0003703701190000034
the duty ratio commands of the bridge arms corresponding to the first port and the second port of each phase respectively,
Figure FDA0003703701190000035
is the common-mode reference voltage for each phase,
Figure FDA0003703701190000036
is the differential mode reference voltage, V, of each phase DC Is the dc bus voltage.
CN202210700206.XA 2022-06-20 2022-06-20 Open winding motor simulator based on power electronic converter and control system thereof Pending CN115051611A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116560261A (en) * 2023-04-13 2023-08-08 华中科技大学 Current source type motor simulator and control method and system thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116560261A (en) * 2023-04-13 2023-08-08 华中科技大学 Current source type motor simulator and control method and system thereof
CN116560261B (en) * 2023-04-13 2023-12-26 华中科技大学 Current source type motor simulator and control method and system thereof

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