CN115208253A - Coordination control method, device and medium for stator and rotor of magnetic-levitation train - Google Patents
Coordination control method, device and medium for stator and rotor of magnetic-levitation train Download PDFInfo
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- 238000005339 levitation Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000005284 excitation Effects 0.000 claims abstract description 159
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 90
- 229910052802 copper Inorganic materials 0.000 claims abstract description 90
- 239000010949 copper Substances 0.000 claims abstract description 90
- 239000000725 suspension Substances 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
- 238000009795 derivation Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
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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
- H02P21/18—Estimation of position or speed
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- 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
- Y02T10/72—Electric energy management in electromobility
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
The embodiment of the application discloses a method, a device and a medium for coordinating and controlling a stator and a rotor of a magnetic-levitation train, which are used for acquiring position information, speed information, train length, excitation parameter information and ground stator section switch information of the magnetic-levitation train; and determining a first resistance value according to the position information, the ground stator section switching information and the power supply mode of the magnetic suspension train. And determining a d-axis mutual inductance value of the stator loop according to the position information, the speed information and the train length. And processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule to determine the total copper consumption of the stator and the excitation. And converting the total copper consumption according to a minimum total copper consumption principle to obtain a d-axis current compensation value and an excitation current compensation value. The compensation of the d-axis current and the compensation of the exciting current can be realized according to the d-axis current compensation value and the exciting current compensation value, so that the overall copper consumption of the excitation and the stator is reduced, and the overall efficiency of the train is improved.
Description
Technical Field
The present application relates to the field of rail transit technologies, and in particular, to a method and an apparatus for coordinating and controlling a stator and a rotor of a magnetic levitation train, and a computer-readable storage medium.
Background
The high-speed magnetic suspension train adopts a linear motor driving technology, and abandons wheels, a transmission mechanism and a traffic mode of contacting with a track of the traditional wheel-track train, so that the speed of the magnetic suspension train can be greatly improved. The high-speed maglev train system mainly comprises a traction system and a control system thereof, a trackside feed cable group, a trackside switch station, a long stator linear motor and the like. The traction system provides traction force required by running for the high-speed maglev train.
The control of the long stator linear motor of the normally-conductive magnetic-type high-speed magnetic-levitation train is provided with several main control modes of stator magnetic field orientation, air gap magnetic field orientation and rotor magnetic field orientation, but in order to keep the stability of a levitation air gap and reduce the interference of stator current to the levitation air gap, the control mode based on the rotor orientation Id =0 is basically applied at present. The control mode has the advantages of simple control, but independent control of the exciting current and the stator current also exists, and unified efficiency control is lacked. The vehicle-mounted excitation coil generates heat excessively, and particularly generates heat more seriously during low-speed running, so that the whole copper consumption of the train is larger.
Therefore, how to reduce the overall copper consumption of the train while stabilizing the suspension air gap is a problem to be solved by the technical personnel in the field.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for coordinating and controlling a stator and a rotor of a magnetic-levitation train and a computer-readable storage medium, which can reduce the overall copper consumption of the train while stabilizing a levitation air gap.
In order to solve the above technical problem, an embodiment of the present application provides a method for coordinating and controlling a stator and a rotor of a magnetic levitation train, including:
acquiring position information, speed information, train length, excitation parameter information and ground stator section switch information of a magnetic-levitation train;
determining a first resistance value according to the position information, the ground stator section switching information and the power supply mode of the magnetic suspension train;
determining a stator loop d-axis mutual inductance value according to the position information, the speed information and the train length;
processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariant rule to determine the total copper consumption of the stator and the excitation;
and converting the total copper loss according to a minimum total copper loss principle to obtain a d-axis current compensation value and an excitation current compensation value.
Optionally, when the power supply mode of the magnetic-levitation train is dual-end power supply, correspondingly, determining the first resistance value according to the position information, the ground stator segment switching information, and the power supply mode of the magnetic-levitation train includes:
according to the position information and the ground stator section switch information, the length of a cable and the length of a stator section, connected to the corresponding stator section, of the current transformer are determined;
the first resistance value R is calculated according to the following formula s ，
R cable1 ＝k r1 l r1 ；R cable2 ＝k r2 l r2 ；
R motor ＝k m l s ；
Wherein R is cable1 Representing the first feeder cable resistance, R cable2 Representing the second feeder cable resistance, R motor Representing the resistance, k, of a long stator synchronous machine r1 Denotes the resistivity of the first cable,/ r1 Representing the length of the cable, k, connecting the first current transformer to the corresponding stator segment r2 Denotes the resistivity of the second cable,/ r2 Representing the length of the cable, k, connecting the second current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment lengths are indicated.
Optionally, the processing the excitation parameter information, the first resistance value, and the stator loop d-axis mutual inductance value based on a preset d-axis air gap invariance rule, and determining total copper consumption of the stator and the excitation includes:
the total copper consumption P is calculated according to the following formula lossSum ，
P lossRs ＝1.5R s (i d 2 +i q 2 )
P lossRf ＝R f (i fc -L ad i d /M af ) 2 ；
Wherein, P lossRs Denotes stator copper loss, P lossRf Denotes the excitation copper loss, R f Representing the resistance value, R, of the excitation circuit s Represents a first resistance value, i q Representing instantaneous q-axis current value, i d Representing instantaneous d-axis current value, i fc Represents the conventional control fixed excitation current value, L ad Representing d-axis mutual inductance, M, of the stator loop af Representing the mutual inductance value of the excitation loop; the excitation parameter information includes an instantaneous q-axis current value i q Instantaneous d-axis current value i d Conventional control of fixed excitation current value i fc And the mutual inductance value M of the excitation loop af 。
Optionally, the converting the total copper loss according to the principle of minimum total copper loss to obtain the d-axis current compensation value and the excitation current compensation value includes:
utilizing the d-axis current compensation value to conduct derivation on the total copper consumption to obtain a d-axis current compensation value
And excitation current compensation value
Optionally, the method further comprises:
and correcting the resistance value of the excitation circuit according to the excitation circuit resistance value, the temperature change coefficient and the current temperature value corresponding to the preset temperature value.
Optionally, after the converting the total copper loss according to the principle of minimum total copper loss to obtain the d-axis current compensation value and the excitation current compensation value, the method further includes:
and transmitting the d-axis current compensation value to a ground converter control device so that the ground converter control device can adjust the d-axis current according to the d-axis current compensation value.
Optionally, after the converting the total copper loss according to the principle of minimum total copper loss to obtain the d-axis current compensation value and the excitation current compensation value, the method further includes:
and transmitting the excitation current compensation value to a vehicle-mounted suspension excitation control device so that the vehicle-mounted suspension excitation control device can adjust the excitation current according to the excitation current compensation value.
The embodiment of the application also provides a coordination control device for the stator and the rotor of the magnetic-levitation train, which comprises an acquisition unit, a first determination unit, a second determination unit, a processing unit and a conversion unit;
the acquisition unit is used for acquiring position information, speed information, train length, excitation parameter information and ground stator section switching information of the magnetic-levitation train;
the first determining unit is used for determining a first resistance value according to the position information, the ground stator section switch information and the power supply mode of the magnetic-levitation train;
the second determining unit is used for determining a d-axis mutual inductance value of the stator loop according to the position information, the speed information and the train length;
the processing unit is used for processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule to determine total copper consumption of the stator and excitation;
and the conversion unit is used for converting the total copper consumption according to the minimum total copper consumption principle to obtain a d-axis current compensation value and an excitation current compensation value.
Optionally, when the power supply mode of the magnetic-levitation train is single-ended power supply, correspondingly, the first determining unit is configured to determine, according to the position information and the ground stator segment switching information, a length of a cable and a length of a stator segment, where the current transformer is connected to the corresponding stator segment;
the first resistance value R is calculated according to the following formula s ，
R s ＝R cable +R motor ；
R cable ＝k r l r ；
R motor ＝k m l s ；
Wherein R is cable Representing the feeder cable resistance, R motor Denotes the long stator synchronous machine resistance, k r Denotes the resistivity of the cable,/ r Representing the length of the cable, k, connecting the current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment lengths are indicated.
Optionally, when the power supply mode of the magnetic-levitation train is double-end power supply, correspondingly, the first determining unit is configured to determine, according to the position information and the ground stator segment switching information, a length of a cable and a length of a stator segment, where the current transformer is connected to the corresponding stator segment;
the first resistance value R is calculated according to the following formula s ，
R cable1 ＝k r1 l r1 ；R cable2 ＝k r2 l r2 ；
R motor ＝k m l s ；
Wherein R is cable1 Representing the first feeder cable resistance, R cable2 Representing the second feeder cable resistance, R motor Denotes the long stator synchronous machine resistance, k r1 Denotes the resistivity of the first cable,/ r1 Representing the length of the cable, k, connecting the first current transformer to the corresponding stator segment r2 Denotes the resistivity of the second cable,/ r2 Representing the length of the cable, k, connecting the second current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment lengths are indicated.
Optionally, the second determining unit is configured to determine a coupling length between the train and the energized stator segment according to the position information and the speed information;
the mutual inductance value L of the d axis of the stator loop is calculated according to the following formula ad ，
Wherein L is adall Representing the corresponding inductance value, l, of the train when it is all in one stator section car Is expressed in terms of length, l ch Indicating the coupling length of the train to the energized stator segment, l ch ≤l car 。
Optionally, the processing unit is configured to calculate the total copper consumption P according to the following formula lossSum ，
P lossRs ＝1.5R s (i d 2 +i q 2 )
P lossRf ＝R f (i fc -L ad i d /M af ) 2 ；
Wherein, P lossRs Denotes stator copper loss, P lossRf Denotes the excitation copper loss, R f Representing the resistance value, R, of the excitation circuit s Represents a first resistance value, i q Representing instantaneous q-axis current value, i d Representing instantaneous d-axis current value, i fc Represents the conventional control fixed exciting current value, L ad Representing d-axis mutual inductance, M, of the stator loop af Representing the mutual inductance value of the excitation loop; the excitation parameter information includes an instantaneous q-axis current value i q Instantaneous d-axis current value i d Conventional control of fixed excitation current value i fc And the mutual inductance value M of the excitation loop af 。
Optionally, the converting unit is configured to derive the total copper consumption by using the d-axis current compensation value to obtain a d-axis current compensation value
And excitation current compensation value
Optionally, a correction unit is further included;
the correction unit is used for correcting the resistance value of the excitation loop according to the resistance value of the excitation loop corresponding to the preset temperature value, the temperature change coefficient and the current temperature value.
Optionally, a d-axis current adjusting unit is further included;
and the d-axis current adjusting unit is used for transmitting the d-axis current compensation value to a ground converter control device, so that the ground converter control device can adjust the d-axis current according to the d-axis current compensation value.
Optionally, the device further comprises an excitation current adjusting unit;
and the excitation current adjusting unit is used for transmitting the excitation current compensation value to the vehicle-mounted suspension excitation control device so as to facilitate the vehicle-mounted suspension excitation control device to adjust the excitation current according to the excitation current compensation value.
The embodiment of the application also provides a magnetic-levitation train stator and rotor coordination control device, which comprises:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the coordinated control method for the stator and the rotor of the magnetic-levitation train as described in any one of the above.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for coordinating and controlling a stator and a rotor of a magnetic-levitation train as described in any one of the above embodiments are implemented.
According to the technical scheme, the position information, the speed information, the train length, the excitation parameter information and the ground stator section switching information of the magnetic suspension train are obtained; determining a first resistance value according to the position information, the ground stator section switch information and the power supply mode of the magnetic-levitation train; the first resistance value is an important parameter affecting the stator copper loss. Determining a stator loop d-axis mutual inductance value according to the position information, the speed information and the train length; the d-axis mutual inductance value of the stator loop is an important parameter influencing the excitation copper consumption. In order to stabilize the air gap distance of the magnetic field in the air gap vertical direction and realize the uniform control of stator copper consumption and excitation copper consumption, the excitation parameter information, the first resistance value and the stator loop d-axis mutual inductance value can be processed based on a preset d-axis air gap invariance rule, so as to determine the total copper consumption of the stator and the excitation. And converting the total copper loss according to the minimum principle of the total copper loss to obtain a d-axis current compensation value and an excitation current compensation value. The compensation of d-axis current and the compensation of exciting current can be realized according to the d-axis current compensation value and the exciting current compensation value, so that the overall copper consumption of excitation and a stator is reduced, and the overall efficiency of a train is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings required for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for coordinating and controlling a stator and a rotor of a magnetic-levitation train according to an embodiment of the present disclosure;
fig. 2 is a schematic distribution diagram of a magnetic-levitation train motor stator segment according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a coordinated control device for a stator and a rotor of a magnetic levitation train according to an embodiment of the present application;
fig. 4 is a schematic diagram of a hardware structure of a magnetic levitation train stator and rotor coordination control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the present application.
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings.
Next, a method for coordinating and controlling a stator and a rotor of a magnetic-levitation train provided in an embodiment of the present application will be described in detail. Fig. 1 is a flowchart of a method for coordinating and controlling a stator and a rotor of a magnetic-levitation train according to an embodiment of the present application, where the method includes:
s101: and acquiring position information, speed information, train length, excitation parameter information and ground stator section switch information of the magnetic-levitation train.
In the embodiment of the present invention, in order to realize cooperative control of the excitation current and the stator current, basic parameters related to the excitation current and the stator current need to be acquired. The basic parameters comprise position information, speed information, train length, excitation parameter information and ground stator segment switch information of the train. The excitation parameter information may include an instantaneous q-axis current value, an instantaneous d-axis current value, a conventional control fixed excitation current value, and a mutual inductance value of the excitation loop.
S102: and determining a first resistance value according to the position information, the ground stator section switching information and the power supply mode of the magnetic-levitation train.
The first resistance value is an important parameter affecting the stator copper loss.
The power supply modes of the magnetic-levitation train are various, and common power supply modes comprise single-end power supply and double-end power supply. Different power supply modes are provided, and the way of calculating the first resistance value is different.
When the train is positioned at different positions of the motor stator segment and the power supply modes are different, the generated first resistance value is different. In specific implementation, the length of the cable and the length of the stator section, connected to the corresponding stator section, of the current transformer can be determined according to the position information and the ground stator section switch information.
Taking single-ended power supply as an example, the first resistance value R can be calculated according to the following formula s ，
R s ＝R cable +R motor ；
R cable ＝k r l r ；
R motor ＝k m l s ；
Wherein R is cable Representing the feeder cable resistance, R motor Representing the resistance, k, of a long stator synchronous machine r Representing the resistivity of the cable,/ r Representing the length of cable, k, connecting the current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment length is indicated. k is a radical of r And k m Are generally fixed values, according to conventional techniquesCoefficient of resistance setting k of the cable r That is, k is set according to the resistance coefficient of the long stator synchronous motor in the conventional art m And (4) finishing.
Taking double-end power supply as an example, in order to reduce the circulating current, the control currents of the two converters are the same, and the first resistance value R can be calculated according to the equivalent circuit s ，
R cable1 ＝k r1 l r1 ；R cable2 ＝k r2 l r2 ；
R motor ＝k m l s ；
Wherein R is cable1 Representing the first feeder cable resistance, R cable2 Representing the second feeder cable resistance, R motor Denotes the long stator synchronous machine resistance, k r1 Denotes the resistivity of the first cable,/ r1 Representing the length of the cable, k, connecting the first current transformer to the corresponding stator segment r2 Denotes the resistivity of the second cable,/ r2 Representing the length of the cable, k, connecting the second current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment length is indicated.
In practical applications, in order to improve efficiency, a long stator motor generally adopts a segmented power supply, as shown in fig. 2, a distribution schematic diagram of a magnetic suspension train motor stator segment provided by an embodiment of the present invention is shown, and in fig. 2, the motor stator segment includes three segments, which are a motor stator segment 1, a motor stator segment 2, and a motor stator segment 3.L is m1 Denotes the length, L, of the stator segment 1 of the motor m2 Indicates the length, L, of the stator segment 2 of the motor m3 Indicating the length of the stator segment 3 of the motor. When a train is on the motor stator section 1, the switch is controlled to be switched on and switched off to supply power to the motor stator section 1 through the switch, when the converter 1 is only used for supplying power, the power is supplied to a single end, then KB1 is switched on, KM1 is switched on, and other switches are switched off; when the converter 1 and the converter 2 are both powered, namely, double-end power supply, the KB1, the KB2 and the KM1 are combined, and other switches are all separated.
l r With respect to train position, power supply mode and ground stator segment switching information, as shown in FIG. 2 when a train is in the motor stator segment 1 with single end power supply, i r ＝L 1 。
S103: and determining a d-axis mutual inductance value of the stator loop according to the position information, the speed information and the train length.
The d-axis mutual inductance value of the stator loop is an important parameter influencing the excitation copper consumption.
In practical application, the coupling length of the train and the electrified stator section can be determined according to the position information and the speed information; the mutual inductance value L of the d axis of the stator loop is calculated according to the following formula ad ，
Wherein L is adall Representing the inductance, l, corresponding to a train when all of the train is in one stator segment car Is expressed as a column length, l ch Indicating the coupling length of the train to the energized stator segment,/ ch ≤l car 。
S104: and processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule to determine the total copper consumption of the stator and the excitation.
In order to stabilize the air gap distance of the magnetic field in the air gap vertical direction and realize the uniform control of stator copper consumption and excitation copper consumption, the stator copper consumption and the excitation copper consumption can be summarized, and the total copper consumption P is calculated according to the following formula lossSum ，
P lossRs ＝1.5R s (i d 2 +i q 2 )
P lossRf ＝R f (i fc -L ad i d /M af ) 2 ；
Wherein, P lossRs Denotes stator copper loss, P lossRf Represents the excitation copper loss, R f Representing the resistance value, R, of the excitation circuit s Represents a first resistance value, i q Representing instantaneous q-axis current value, i d Representing instantaneous d-axis current value, i fc Represents the conventional control fixed excitation current value, L ad Representing the d-axis mutual inductance, M, of the stator loop af Representing the mutual inductance value of the excitation loop; the excitation parameter information includes an instantaneous q-axis current value i q Instantaneous d-axis current value i d Conventional control of fixed excitation current value i fc And the mutual inductance value M of the excitation loop af 。
S105: and converting the total copper consumption according to a minimum total copper consumption principle to obtain a d-axis current compensation value and an excitation current compensation value.
In practical application, the d-axis current compensation value can be used for carrying out derivation on the total copper consumption to obtain the d-axis current compensation value
And excitation current compensation value
According to the technical scheme, the position information, the speed information, the train length, the excitation parameter information and the ground stator section switching information of the magnetic suspension train are obtained; determining a first resistance value according to the position information, the ground stator section switching information and the power supply mode of the magnetic suspension train; the first resistance value is an important parameter affecting the stator copper loss. Determining a stator loop d-axis mutual inductance value according to the position information, the speed information and the train length; the stator loop d-axis mutual inductance value is an important parameter influencing the excitation copper consumption. In order to stabilize the air gap distance of the magnetic field in the air gap vertical direction and realize the uniform control of stator copper loss and excitation copper loss, the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop can be processed based on a preset d-axis air gap invariance rule, so as to determine the total copper loss of the stator and the excitation. And converting the total copper consumption according to a minimum total copper consumption principle to obtain a d-axis current compensation value and an excitation current compensation value. The compensation of the d-axis current and the compensation of the exciting current can be realized according to the d-axis current compensation value and the exciting current compensation value, so that the overall copper consumption of the excitation and the stator is reduced, and the overall efficiency of the train is improved.
In the embodiment of the present invention, it is considered that the temperature value may affect the resistance value of the excitation circuit, and therefore, in practical application, the resistance value of the excitation circuit may be corrected according to the resistance value of the excitation circuit, the temperature change coefficient, and the current temperature value corresponding to the preset temperature value.
R f ＝R f0 (1+α(t-20))；
Wherein R is f0 The resistance value is shown when the temperature is 20 degrees, alpha represents the temperature change coefficient, and t represents the current temperature.
The resistance value of the excitation loop is corrected based on the temperature value, and the resistance value of the excitation loop corresponding to the current temperature can be calculated more accurately, so that the d-axis current compensation value calculated based on the resistance value of the excitation loop is more suitable for the actual condition of train operation.
In the embodiment of the invention, after the d-axis current compensation value is obtained, the d-axis current compensation value can be transmitted to the ground converter control device, so that the ground converter control device can adjust the d-axis current according to the d-axis current compensation value.
After the excitation current compensation value is obtained, the excitation current compensation value can be transmitted to the vehicle-mounted suspension excitation control device, so that the vehicle-mounted suspension excitation control device can adjust the excitation current according to the excitation current compensation value.
By adjusting the d-axis current and the exciting current, the exciting of the train and the overall copper consumption of the stator can be reduced after the current is adjusted, and therefore the overall efficiency of the train is improved.
Fig. 3 is a schematic structural diagram of a magnetic-levitation train stator and rotor coordination control device provided in an embodiment of the present application, including an obtaining unit 31, a first determining unit 32, a second determining unit 33, a processing unit 34, and a converting unit 35;
the acquiring unit 31 is used for acquiring position information, speed information, train length, excitation parameter information and ground stator section switch information of the magnetic-levitation train;
the first determining unit 32 is configured to determine a first resistance value according to the position information, the ground stator segment switching information, and a power supply mode of the magnetic-levitation train;
the second determining unit 33 is configured to determine a d-axis mutual inductance value of the stator loop according to the position information, the speed information, and the train length;
the processing unit 34 is configured to process the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule, and determine total copper consumption of the stator and the excitation;
and the conversion unit 35 is configured to convert the total copper consumption according to the minimum total copper consumption principle to obtain a d-axis current compensation value and an excitation current compensation value.
Optionally, when the power supply mode of the magnetic-levitation train is single-ended power supply, correspondingly, the first determining unit is configured to determine, according to the position information and the ground stator section switching information, the length of the cable and the length of the stator section, where the current transformer is connected to the corresponding stator section;
the first resistance value R is calculated according to the following formula s ，
R s ＝R cable +R motor ；
R cable ＝k r l r ；
R motor ＝k m l s ；
Wherein R is cable Representing the resistance of the feeder cable, R motor Representing the resistance, k, of a long stator synchronous machine r Representing the resistivity of the cable,/ r Representing the length of cable, k, connecting the current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment lengths are indicated.
Optionally, when the power supply mode of the magnetic-levitation train is double-end power supply, correspondingly, the first determining unit is configured to determine, according to the position information and the ground stator segment switching information, a length of a cable and a length of a stator segment, where the current transformer is connected to the corresponding stator segment;
the first resistance value R is calculated according to the following formula s ，
R cable1 ＝k r1 l r1 ；R cable2 ＝k r2 l r2 ；
R motor ＝k m l s ；
Wherein R is cable1 Representing the first feeder cable resistance, R cable2 Representing the second feeder cable resistance, R motor Denotes the long stator synchronous machine resistance, k r1 Denotes the resistivity of the first cable,/ r1 Representing the length of the cable, k, connecting the first current transformer to the corresponding stator segment r2 Denotes the resistivity of the second cable,/ r2 Representing the length of the cable, k, connecting the second current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment length is indicated.
Optionally, the second determining unit is configured to determine a coupling length between the train and the energized stator segment according to the position information and the speed information;
the mutual inductance value L of the d axis of the stator loop is calculated according to the following formula ad ，
Wherein L is adall Representing the inductance, l, corresponding to a train when all of the train is in one stator segment car Is expressed in terms of length, l ch Indicating the coupling length of the train to the energized stator segment, l ch ≤l car 。
Optionally, the processing unit is configured to calculate the total copper consumption P according to the following formula lossSum ，
P lossRs ＝1.5R s (i d 2 +i q 2 )
P lossRf ＝R f (i fc -L ad i d /M af ) 2 ；
Wherein, P lossRs Denotes stator copper loss, P lossRf Represents the excitation copper loss, R f Representing the resistance value, R, of the excitation circuit s Represents a first resistance value, i q Representing instantaneous q-axis current value, i d Representing instantaneous d-axis current value, i fc Represents the conventional control fixed exciting current value, L ad Representing the d-axis mutual inductance, M, of the stator loop af Representing the mutual inductance value of the excitation loop; the excitation parameter information includes an instantaneous q-axis current value i q Instantaneous d-axis current value i d Conventional control of fixed excitation current value i fc And the mutual inductance value M of the excitation loop af 。
Optionally, the conversion unit is configured to derive the total copper consumption by using the d-axis current compensation value to obtain a d-axis current compensation value
And excitation current compensation value
Optionally, a correction unit is further included;
and the correction unit is used for correcting the resistance value of the excitation loop according to the excitation loop resistance value, the temperature change coefficient and the current temperature value corresponding to the preset temperature value.
Optionally, a d-axis current adjusting unit is further included;
and the d-axis current adjusting unit is used for transmitting the d-axis current compensation value to the ground converter control device so that the ground converter control device can adjust the d-axis current according to the d-axis current compensation value.
Optionally, the device further comprises an excitation current adjusting unit;
and the excitation current adjusting unit is used for transmitting the excitation current compensation value to the vehicle-mounted suspension excitation control device so as to facilitate the vehicle-mounted suspension excitation control device to adjust the excitation current according to the excitation current compensation value.
The description of the features in the embodiment corresponding to fig. 3 may refer to the related description of the embodiment corresponding to fig. 1, and is not repeated here.
According to the technical scheme, the position information, the speed information, the train length, the excitation parameter information and the ground stator section switching information of the magnetic suspension train are obtained; determining a first resistance value according to the position information, the ground stator section switch information and the power supply mode of the magnetic-levitation train; the first resistance value is an important parameter affecting the stator copper loss. Determining a stator loop d-axis mutual inductance value according to the position information, the speed information and the train length; the stator loop d-axis mutual inductance value is an important parameter influencing the excitation copper consumption. In order to stabilize the air gap distance of the magnetic field in the air gap vertical direction and realize the uniform control of stator copper loss and excitation copper loss, the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop can be processed based on a preset d-axis air gap invariance rule, so as to determine the total copper loss of the stator and the excitation. And converting the total copper loss according to the minimum principle of the total copper loss to obtain a d-axis current compensation value and an excitation current compensation value. The compensation of d-axis current and the compensation of exciting current can be realized according to the d-axis current compensation value and the exciting current compensation value, so that the overall copper consumption of excitation and a stator is reduced, and the overall efficiency of a train is improved.
Fig. 4 is a schematic diagram of a hardware structure of a magnetic-levitation train stator and rotor coordination control device 40 provided in the embodiment of the present application, including:
a memory 41 for storing a computer program;
a processor 42 for executing a computer program to implement the steps of the coordinated control method for the stator and the rotor of the magnetic-levitation train as described in any of the above embodiments.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for coordinating and controlling a stator and a rotor of a magnetic-levitation train as described in any of the above embodiments are implemented.
The magnetic-levitation train stator and rotor coordination control method, device and computer readable storage medium provided by the embodiments of the present application are described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part. It should be noted that, for those skilled in the art, without departing from the principle of the present application, the present application can also make several improvements and modifications, and those improvements and modifications also fall into the protection scope of the claims of the present application.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Claims (13)
1. A method for coordinating and controlling a stator and a rotor of a magnetic-levitation train is characterized by comprising the following steps:
acquiring position information, speed information, train length, excitation parameter information and ground stator section switch information of a magnetic suspension train;
determining a first resistance value according to the position information, the ground stator section switch information and the power supply mode of the magnetic-levitation train;
determining a stator loop d-axis mutual inductance value according to the position information, the speed information and the train length;
processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule to determine the total copper consumption of the stator and the excitation;
and converting the total copper loss according to a minimum total copper loss principle to obtain a d-axis current compensation value and an excitation current compensation value.
2. The method of claim 1, wherein when the power supply mode of the maglev train is double-ended power supply, correspondingly, the determining the first resistance value according to the position information, the ground stator segment switch information, and the power supply mode of the maglev train comprises:
according to the position information and the ground stator section switch information, determining the length of a cable and the length of a stator section, connected to the corresponding stator section, of the current transformer;
the first resistance value R is calculated according to the following formula s ，
R cable1 ＝k r1 l r1 ；R cable2 ＝k r2 l r2 ；
R motor ＝k m l s ；
Wherein R is cable1 Representing the first feeder cable resistance, R cable2 Representing the second feeder cable resistance, R motor Representing the resistance, k, of a long stator synchronous machine r1 Denotes the resistivity of the first cable,/ r1 Representing the length of the cable, k, connecting the first current transformer to the corresponding stator segment r2 Denotes the resistivity of the second cable,/ r2 Representing the length of the cable, k, connecting the second current transformer to the corresponding stator segment m Expressing the resistivity of the long stator synchronous machine,/ s The stator segment lengths are indicated.
3. The method for the coordinated control of the stator and the rotor of the maglev train according to claim 1, wherein the step of processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule to determine the total copper consumption of the stator and the excitation comprises the following steps:
the total copper consumption P is calculated according to the following formula lossSum ，
Wherein, P lossRs Denotes stator copper loss, P lossRf Represents the excitation copper loss, R f Representing the resistance value, R, of the excitation circuit s Represents a first resistance value, i q Representing instantaneous q-axis current value, i d Representing instantaneous d-axis current value, i fc Represents the conventional control fixed exciting current value, L ad Representing the d-axis mutual inductance, M, of the stator loop af Representing the mutual inductance value of the excitation loop; the excitation parameter information includes an instantaneous q-axis current value i q Instantaneous d-axis current value i d Conventional control of fixed excitation current value i fc And the mutual inductance value M of the excitation loop af 。
4. A method of coordinating and controlling a stator and a rotor of a magnetic-levitation train as recited in claim 3, wherein the converting the total copper loss according to the minimum total copper loss principle to obtain the d-axis current compensation value and the exciting current compensation value comprises:
utilizing the d-axis current compensation value to conduct derivation on the total copper consumption to obtain a d-axis current compensation value
And excitation current compensation value
5. The method for coordinately controlling the stator and the rotor of the magnetic-levitation train as claimed in claim 4, further comprising:
and correcting the resistance value of the excitation circuit according to the excitation circuit resistance value, the temperature change coefficient and the current temperature value corresponding to the preset temperature value.
6. The method for coordinately controlling the stator and the rotor of the magnetic-levitation train as claimed in any one of claims 1 to 5, further comprising, after the converting the total copper loss according to the minimum principle of the total copper loss to obtain the d-axis current compensation value and the excitation current compensation value:
and transmitting the d-axis current compensation value to a ground converter control device so that the ground converter control device can adjust the d-axis current according to the d-axis current compensation value.
7. The method for coordinately controlling the stator and the rotor of the magnetic-levitation train as claimed in any one of claims 1 to 5, further comprising, after the converting the total copper loss according to the minimum principle of the total copper loss to obtain the d-axis current compensation value and the excitation current compensation value:
and transmitting the excitation current compensation value to a vehicle-mounted suspension excitation control device so that the vehicle-mounted suspension excitation control device can adjust the excitation current according to the excitation current compensation value.
8. A magnetic-levitation train stator and rotor coordination control device is characterized by comprising an acquisition unit, a first determination unit, a second determination unit, a processing unit and a conversion unit;
the acquisition unit is used for acquiring position information, speed information, train length, excitation parameter information and ground stator section switching information of the magnetic-levitation train;
the first determining unit is used for determining a first resistance value according to the position information, the ground stator section switch information and the power supply mode of the magnetic-levitation train;
the second determining unit is used for determining a d-axis mutual inductance value of the stator loop according to the position information, the speed information and the train length;
the processing unit is used for processing the excitation parameter information, the first resistance value and the d-axis mutual inductance value of the stator loop based on a preset d-axis air gap invariance rule to determine total copper consumption of the stator and excitation;
and the conversion unit is used for converting the total copper consumption according to the minimum total copper consumption principle to obtain a d-axis current compensation value and an excitation current compensation value.
9. The coordinated control device for the stator and the rotor of the magnetic-levitation train as recited in claim 8, further comprising a correction unit;
and the correction unit is used for correcting the resistance value of the excitation circuit according to the resistance value of the excitation circuit, the temperature change coefficient and the current temperature value corresponding to the preset temperature value.
10. The magnetic-levitation train stator and rotor coordination control device as recited in claim 8 or 9, further comprising a d-axis current adjusting unit;
and the d-axis current adjusting unit is used for transmitting the d-axis current compensation value to a ground converter control device, so that the ground converter control device can adjust the d-axis current according to the d-axis current compensation value.
11. The magnetic-levitation train stator and rotor coordination control device as claimed in claim 8 or 9, further comprising an excitation current adjusting unit;
the excitation current adjusting unit is used for transmitting the excitation current compensation value to the vehicle-mounted suspension excitation control device, so that the vehicle-mounted suspension excitation control device can adjust the excitation current according to the excitation current compensation value.
12. The utility model provides a magnetic-levitation train stator, rotor coordinated control device which characterized in that includes:
a memory for storing a computer program;
a processor for executing said computer program to implement the steps of the method of coordinated control of a stator and a rotor of a magnetic-levitation train as claimed in any one of claims 1 to 7.
13. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program, which when executed by a processor, implements the steps of the method for coordinated control of a stator and a rotor of a magnetic-levitation train according to any one of claims 1 to 7.
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| CN103647489A (en) * | 2013-12-12 | 2014-03-19 | 东南大学 | Hybrid excitation synchronous motor efficiency optimized control method |
| CA2940974A1 (en) * | 2014-02-28 | 2015-09-03 | Bae Systems Controls Inc. | Machine loss modeling for improved field oriented control accuracy |
| DE102014223014A1 (en) * | 2014-11-12 | 2016-05-12 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining loss-optimal current setpoint specifications of current components of a separately excited synchronous motor |
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