CN115542147A - Power-stage motor simulation device - Google Patents
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Abstract
The invention provides a power-level motor simulation device which comprises a coupling circuit, an analog simulation controller, a voltage amplification module and power supply equipment, wherein the coupling circuit comprises a first input end, a second input end and a first output end; one end of the coupling circuit is used for being connected with the tested frequency converter, and the other end of the coupling circuit is connected with the output end of the voltage amplification module; the input end of the voltage amplification module is connected with the voltage output end of the simulation controller, the power input end of the voltage amplification module is connected with the power supply equipment, and the signal acquisition end of the simulation controller is used for being connected with the tested frequency converter. The frequency converter in the traditional motor simulator is replaced by the voltage amplification module, and a control method based on the voltage amplification module is provided, so that the structure and control of the power-level motor simulation device are simpler, the calculation amount required by the simulation controller is reduced, the control precision is more accurate than the pulse voltage control load current of the frequency converter, in addition, the content of load current harmonic waves is reduced, and the requirements of frequency converter testing and verification can be met.
Description
Technical Field
The invention relates to the technical field of power-level motor simulation, in particular to a power-level motor simulation device.
Background
The frequency converter is used as the heart of a modern alternating current speed regulating system, and plays a decisive role in the whole system no matter in an electric transmission system or a wind power system, a photovoltaic power generation system and a grid-connected system. In order to test the technical indexes such as reliability, safety, flexibility, overall efficiency and the like of the motor under various motor operating conditions, complete performance test tests are generally required during the development process and delivery check.
When the performance test and the power assessment test are carried out on the whole frequency converter of the electric transmission system, the test of an alternating current/direct current transmission test platform is still mainly used in the prior art, as shown in fig. 1, a matched motor load is required to be used for the frequency converter to be tested, and then the frequency converter is connected with a counter-traction motor and a load converter through a transmission shaft, so that the platform has the defects of complex structure, high energy consumption, inflexible parameter adjustment and the like.
The semi-physical simulation technology is a technology which is started in the last 60 th century, has undergone development for more than half a century, and has penetrated into various fields of national economy at present. With the decreasing cost of building systems, more and more manufacturers introduce this technology at the beginning of the design and throughout the product design.
Hardware-in-the-loop emulation is divided into three different types: the signal, power and physical level hardware is emulated in a loop. Most commonly, signal level simulation is performed, i.e. the simulation is composed of a controller board and a simulator, and control objects of the controller board, such as a frequency converter, a load (motor) and the like, are placed in the real-time simulator as virtual objects, which has the disadvantage that only the controller board hardware and the control software are subjected to function and performance tests. As shown in fig. 1, the physical-level hardware-in-loop simulation is composed of a frequency converter, a load (motor) and a load dragging system, so that the system has a complex structure and inflexible parameter adjustment, and can be used only by matching a specific load.
The problem can be well solved by introducing a Power Hardware-in-the-loop (PHIL) technology into a traditional frequency converter performance test platform. As shown in fig. 2, the decoupling and calculation of the real-time motor model are performed by collecting the PWM pulse voltage output from the port of the frequency converter to obtain the current instruction, and the actual port voltage current is generated by using the power converter, so that the current instruction can be used for the performance test and the power check test of the frequency converter system instead of the actual motor.
However, such a system inevitably has the following disadvantages:
1) The simulated motor current tracking control precision is not high. The output voltage of the frequency converter of the motor simulator is in a level form and is output in a nonlinear voltage mode, so that current tracking control can be carried out only through high-frequency level change, current can shake back and forth near reference current, and harmonic content is increased.
2) The frequency converter of the motor simulator has high switching frequency. In order to ensure the current tracking control precision, the requirement of higher switching frequency is inevitably put forward to the frequency converter of the motor simulator, and the switching frequency is generally 5 to 10 times of that of the frequency converter to be tested.
3) The frequency converter has a complex structure. When the frequency of a switching device in the frequency converter is raised to the limit, the frequency converter can only adopt a multi-level converter with more complexity such as three-level converter, five-level converter and the like to raise the output switching frequency of the frequency converter, so that the structure, the control strategy and the like of the frequency converter are more complicated, and the required cost is higher.
Disclosure of Invention
In view of the above, it is necessary to provide a power stage motor simulation apparatus for solving the above technical problems.
A power stage motor simulation apparatus comprising: the device comprises a coupling circuit, an analog-to-digital controller, a voltage amplification module and power supply equipment;
one end of the coupling circuit is used for being connected with a tested frequency converter, and the other end of the coupling circuit is connected with the output end of the voltage amplification module;
the input end of the voltage amplification module is connected with the voltage output end of the simulation controller, the power input end of the voltage amplification module is connected with the power supply equipment, and the signal acquisition end of the simulation controller is used for being connected with the tested frequency converter.
In one embodiment, the coupling circuit includes a first inductor and a first resistor, a first end of the first resistor is used for being connected with the frequency converter to be tested, a second end of the first resistor is connected with a first end of the first inductor, and a second end of the first inductor is connected with an output end of the voltage amplification module.
In one embodiment, the number of the coupling circuits is three, the number of the voltage amplification modules is three, one end of each coupling circuit is used for being connected with the output end of one phase of the frequency converter to be tested, and the other end of each coupling circuit is connected with the output end of one voltage amplification module.
In one embodiment, the voltage amplification module comprises a linear voltage amplifier.
In one embodiment, the simulation controller is configured to collect three-phase voltages output by the measured frequency converter and actual three-phase currents flowing through the coupling circuit, calculate a reference phase current and a motor torque value according to the three-phase voltages and an output rotation speed, calculate a motor rotation speed according to the motor torque value, and output the motor rotation speed to the controller of the measured frequency converter; and calculating to obtain a voltage value of the voltage amplification module according to the reference phase current and the actual three-phase current, and outputting the voltage value of the voltage amplification module to the voltage amplification module.
In one embodiment, the simulation controller comprises a voltage acquisition module, a current acquisition module, a motor model module, a current tracking control module, a kinematics model module and a voltage output module;
the input end of the voltage acquisition module and the input end of the current acquisition module are respectively used for being connected with the tested frequency converter, the output end of the current acquisition module is connected with the first input end of the motor model module, the output end of the voltage acquisition module and the first output end of the motor model module are respectively connected with the input end of the current tracking control module, and the output end of the current tracking control module is connected with the input end of the voltage amplification module through the voltage output module;
the second input end of the motor model module is connected with the output end of the kinematics model module, the second output end of the motor model module is connected with the input end of the kinematics model module, and the output end of the kinematics model module is also used for being connected with the tested frequency converter.
In one embodiment, the output end of the kinematic model module is further used for connecting with a controller of the frequency converter to be tested.
In one embodiment, the voltage acquisition module is used for acquiring three-phase voltages output by the frequency converter to be tested and sending the three-phase voltages to the motor model module; the current acquisition module is used for acquiring actual three-phase current flowing through the coupling circuit and sending the three-phase current to the motor model module.
In one embodiment, the motor model module calculates a reference phase current and a motor torque value according to the three-phase voltage and the output rotating speed of the kinematic model module; and the kinematic model module calculates the motor rotating speed according to the motor torque value and outputs the motor rotating speed to a controller of the tested frequency converter.
In one embodiment, the current tracking control module is configured to calculate a voltage value of the voltage amplification module according to the reference phase current and the actual three-phase current, and output the voltage value of the voltage amplification module to the voltage amplification module through the voltage output module.
According to the power level motor simulation device, the frequency converter in the traditional motor simulator is replaced by the voltage amplification module, and the control method based on the voltage amplification module is provided, so that the structure and control of the power level motor simulation device are simpler, the calculation amount required by the simulation controller is reduced, the control precision is more accurate than the pulse voltage control load current of the frequency converter, in addition, the content of load current harmonics is also reduced, and the requirements of frequency converter testing and verification can be met.
Drawings
FIG. 1 is a system block diagram of a conventional frequency converter testing system based on an AC drive test;
FIG. 2 is a system block diagram of a frequency converter testing system for a general PHIL;
FIG. 3 is a block diagram of a power stage motor simulation apparatus according to an embodiment;
fig. 4 is a block diagram of a single-phase coupling circuit current tracking control in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application 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 present application and are not intended to limit the present application.
Example one
In this embodiment, as shown in fig. 3, a power stage motor simulation apparatus is provided, which includes: the device comprises a coupling circuit, an analog-to-digital controller, a voltage amplification module and power supply equipment; one end of the coupling circuit is used for being connected with a tested frequency converter, and the other end of the coupling circuit is connected with the output end of the voltage amplification module; the input end of the voltage amplification module is connected with the voltage output end of the analog-to-digital converter, the power input end of the voltage amplification module is connected with the power supply equipment, and the signal acquisition end of the analog-to-digital converter is used for being connected with the tested frequency converter.
Specifically, the simulation controller is used for collecting signals of the frequency converter to be tested and performing model calculation, and in addition, the simulation controller is also used for controlling the voltage amplification module and controlling the multiple of the output voltage, and the coupling circuit is used for filtering current and voltage signals output by the frequency converter to be tested. The power supply equipment is used for supplying power to the voltage amplification module and providing a stable power supply.
In one embodiment, the voltage amplification module comprises a linear voltage amplifier.
In this embodiment, the voltage output end of the analog-to-digital controller is connected to the non-inverting input end of the linear voltage amplifier, and the inverting input end of the linear voltage amplifier is used for connecting to the reference voltage source. Therefore, the analog-to-digital controller can enable the linear voltage amplifier to output amplified voltages of different multiples by inputting different voltages to the non-inverting input end of the linear voltage amplifier.
In the embodiment, the frequency converter in the traditional motor simulator is replaced by the voltage amplification module, and the control method based on the voltage amplification module is provided, so that the structure and control of the power-level motor simulation device are simpler, the calculation amount required by the simulation controller is reduced, the control precision is more accurate than the control precision of the pulse voltage of the frequency converter for controlling the load current, in addition, the content of the harmonic wave of the load current is also reduced, and the requirements of testing and verifying the frequency converter can be met.
In one embodiment, the coupling circuit includes a first inductor and a first resistor, a first end of the first resistor is used for being connected with the frequency converter to be tested, a second end of the first resistor is connected with a first end of the first inductor, and a second end of the first inductor is connected with an output end of the voltage amplification module.
In this embodiment, the coupling circuit is formed by connecting an inductor and a resistor in series, and the coupling circuit includes an inductor and a resistor, so that the coupling circuit may also be referred to as an RL coupling circuit, and thus, current and voltage signals output by the frequency converter to be tested can be effectively filtered.
In one embodiment, the number of the coupling circuits is three, the number of the voltage amplification modules is three, one end of each coupling circuit is used for being connected with the output end of one phase of the frequency converter to be tested, and the other end of each coupling circuit is connected with the output end of one voltage amplification module.
In this embodiment, the frequency converter to be tested has three-phase output terminals, the three-phase output terminals of the frequency converter to be tested are three a/B/C phases, and the number of the coupling circuits is three, so that each of the coupling circuits includes a first inductor and a first resistor, a first end of each of the first resistors is used for being connected to the frequency converter to be tested, a second end of each of the first resistors is connected to a first end of the first inductor, and a second end of the first inductor is connected to the output terminal of the voltage amplification module. Therefore, each phase output of the frequency converter to be tested can be filtered and amplified by the voltage amplification module.
In one embodiment, the simulation controller is configured to collect three-phase voltages output by the measured frequency converter and actual three-phase currents flowing through the coupling circuit, calculate a reference phase current and a motor torque value according to the three-phase voltages and an output rotation speed, calculate a motor rotation speed according to the motor torque value, and output the motor rotation speed to the controller of the measured frequency converter; and calculating to obtain a voltage value of the voltage amplification module according to the reference phase current and the actual three-phase current, and outputting the voltage value of the voltage amplification module to the voltage amplification module.
In this embodiment, the analog-to-digital controller calculates a voltage value required by the linear voltage amplifier and outputs the voltage value to the linear voltage amplifier for amplification, thereby finally forming closed-loop tracking control of the load current of the frequency converter.
In one embodiment, the simulation controller comprises a voltage acquisition module, a current acquisition module, a motor model module, a current tracking control module, a kinematics model module and a voltage output module; the input end of the voltage acquisition module and the input end of the current acquisition module are respectively used for being connected with the tested frequency converter, the output end of the current acquisition module is connected with the first input end of the motor model module, the output end of the voltage acquisition module and the first output end of the motor model module are respectively connected with the input end of the current tracking control module, and the output end of the current tracking control module is connected with the input end of the voltage amplification module through the voltage output module; the second input end of the motor model module is connected with the output end of the kinematics model module, the second output end of the motor model module is connected with the input end of the kinematics model module, and the output end of the kinematics model module is also used for being connected with the tested frequency converter.
In one embodiment, the output end of the kinematic model module is further used for connecting with a controller of the frequency converter to be tested.
In one embodiment, the voltage acquisition module is used for acquiring three-phase voltages output by the frequency converter to be tested and sending the three-phase voltages to the motor model module; the current acquisition module is used for acquiring actual three-phase current flowing through the coupling circuit and sending the three-phase current to the motor model module. The motor model module calculates a reference phase current and a motor torque value through the three-phase voltage and the output rotating speed of the kinematic model module; and the kinematic model module calculates the motor rotating speed according to the motor torque value and outputs the motor rotating speed to a controller of the tested frequency converter. The current tracking control module is used for calculating the voltage value of the voltage amplification module according to the reference phase current and the actual three-phase current, and outputting the voltage value of the voltage amplification module to the voltage amplification module through the voltage output module.
In the embodiment, the RL electric coupling circuit is connected with the A/B/C three phases of the frequency converter to be tested, and the simulation analog controller collects the three-phase voltage (V) output by the frequency converter to be tested s_a /V s_b /V s_c ) And the actual three-phase current (I) flowing through the RL electric coupling circuit a /I b /I c ) The motor model passes through three-phase voltage (V) s_a /V s_b /V s_c ) Calculating a reference phase current (I) from the output speed (wm) of the kinematic model ref_a /I ref_b /I ref_c ) And a motor Torque value (Torque) which is used for calculating the rotating speed (wm) of the motor by a kinematic model and is output to a controller of the frequency converter to be tested through a speed encoder, and a reference phase current (I) ref_a /I ref_b /I ref_c ) With actual three-phase current (I) a /I b /I c ) For current tracking control, the current tracking control model calculates the voltage value (V) required by the linear voltage amplifier linv_a /V linv_b /V linv_c ) And the current is output to a linear voltage amplifier through a DA (digital-to-analog) to be amplified, and finally, closed-loop tracking control of the load current of the frequency converter is formed.
Example two
In this embodiment, as shown in fig. 3, the power stage motor simulator is also referred to as a motor simulator. The motor simulator comprises an RL coupling circuit, an analog simulation controller, a linear voltage amplifier and a power supply device. The RL electric coupling circuit is a filter circuit consisting of three groups of inductors L and resistors R, and each group of RL electric coupling circuits is respectively connected with one phase of the frequency converter to be tested and the corresponding linear voltage amplifier; the simulation controller is used for data acquisition, model calculation and control of the linear voltage amplifier; the linear voltage amplifier consists of three independent amplifiers and is connected with the three phases of the tested frequency converter through an RL coupling circuit; the power supply device is used for providing a stable power supply for the linear voltage amplifier.
The power level motor simulation device is connected with the A/B/C three-phase of the frequency converter to be tested through the RL electric coupling circuit, and the simulation controller collects the three-phase voltage (V) output by the frequency converter to be tested s_a /V s_b /V s_c ) And the actual three-phase current (I) flowing through the RL electric coupling circuit a /I b /I c ) The motor model module passes through three-phase voltage (V) s_a /V s_b /V s_c ) Calculating a reference phase current (I) from the output speed (wm) of the kinematic model module ref_a /I ref_b /I ref_c ) And a motor Torque value (Torque) which is used for calculating the rotating speed (wm) of the motor by a kinematic model and is output to a controller of the frequency converter to be tested through a speed encoder, and a reference phase current (I) ref_a /I ref_b /I ref_c ) With actual three-phase current (I) a /I b /I c ) The current tracking control model module is used for current tracking control to calculate the voltage value (V) required by the linear voltage amplifier linv_a /V linv_b /V linv_c ) And the current is output to a linear voltage amplifier through a DA (digital-to-analog) for amplification, and finally, closed-loop tracking control of the load current of the frequency converter is formed.
The accuracy of the load current of the frequency converter is determined by the control accuracy of the analog controller to the linear voltage amplifier, so the current tracking control principle is shown in fig. 4. Wherein, because the voltage DA output range of the analog-to-digital controller and the input control voltage range of the linear voltage amplifier are generally a lower voltage range (for example, -10V- + 10V), it is necessary to multiply V by a voltage amplifying system k linv_x Adjusted to a range acceptable for a linear voltage amplifier.
According to the principle of single-phase RL coupling circuit, a differential equation can be obtained as shown in formula (1)
Wherein V s_x For the frequency converter under test, I x Phase current, V, for RL circuit linv_x Is the linear voltage amplifier output voltage.
Phase current I x Phase current reference value I by feedforward control ref_x Obtained by calculation of the previous motor model.
I in the formula (1) x Quilt I ref_x Substituted, so formula (1) can be tailored to relate to V linv_x The expression (c). Using feed-forward control V ff_x Can obtain V linv_x Expression (c):
to compensate V ff_x Error of calculation to obtain more accurate I x Controlling effectsThe line current is regulated and controlled by adopting a current error PI, and the line current error is regulated and controlled by a line current error pair V ff_x And (6) compensating.
The frequency converter in the motor simulator is replaced by the linear voltage amplifier, and the control method based on the linear voltage amplifier is provided, so that the structure and control of the whole motor simulator are simpler, the calculation amount required by the simulation controller is reduced, the control precision is more accurate than the pulse voltage control load current of the frequency converter, the content of load current harmonic waves is reduced, and the requirements of frequency converter testing and verification can be met.
1. The system complexity is reduced, and the structure is simpler. The application replaces the traditional frequency converter with a linear voltage amplifier, so that the load current control is not based on a complex frequency converter topological structure any more, and the design process of the frequency converter is omitted.
2. The control method is simple, and the calculated amount of the model is reduced. Due to the fact that frequency converter equipment is omitted, complex calculation processes such as coordinate transformation, space vector control and switching device control are not needed in the control method, only the voltage needing to be output by the linear transformer needs to be calculated, and control complexity is greatly reduced.
3. The control precision of the load current is improved. The traditional pulse voltage output by adopting the frequency converter is subjected to current tracking control, so that the actual current has larger fluctuation near a reference value, and the voltage output by adopting the linear voltage amplifier is subjected to load current tracking control, so that the load current tracking control effect is better.
4. The harmonic content of the load current is reduced. The pulse voltage for current tracking control results in larger current fluctuation, while the linear voltage amplifier for load current control results in less current harmonics.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A power stage motor simulation apparatus, comprising: the device comprises a coupling circuit, an analog-to-digital controller, a voltage amplification module and power supply equipment;
one end of the coupling circuit is used for being connected with a tested frequency converter, and the other end of the coupling circuit is connected with the output end of the voltage amplification module;
the input end of the voltage amplification module is connected with the voltage output end of the analog-to-digital converter, the power input end of the voltage amplification module is connected with the power supply equipment, and the signal acquisition end of the analog-to-digital converter is used for being connected with the tested frequency converter.
2. The power-stage motor simulation device according to claim 1, wherein the coupling circuit comprises a first inductor and a first resistor, a first end of the first resistor is used for being connected with the frequency converter to be tested, a second end of the first resistor is connected with a first end of the first inductor, and a second end of the first inductor is connected with the output end of the voltage amplification module.
3. The power-stage motor simulation device according to claim 1, wherein the number of the coupling circuits is three, the number of the voltage amplification modules is three, one end of each coupling circuit is used for being connected with an output end of one phase of the frequency converter under test, and the other end of each coupling circuit is connected with an output end of one voltage amplification module.
4. The power stage motor simulation arrangement of claim 1, wherein the voltage amplification module comprises a linear voltage amplifier.
5. The power-stage motor simulation device according to any one of claims 1 to 4, wherein the simulation controller is configured to collect three-phase voltages output by the measured frequency converter and actual three-phase currents flowing through the coupling circuit, calculate a reference phase current and a motor torque value according to the three-phase voltages and an output rotation speed, calculate a motor rotation speed according to the motor torque value, and output the motor rotation speed to the controller of the measured frequency converter; and calculating to obtain a voltage value of the voltage amplification module according to the reference phase current and the actual three-phase current, and outputting the voltage value of the voltage amplification module to the voltage amplification module.
6. The power stage motor simulation apparatus of claim 5, wherein the simulation controller comprises a voltage acquisition module, a current acquisition module, a motor model module, a current tracking control module, a kinematic model module, and a voltage output module;
the input end of the voltage acquisition module and the input end of the current acquisition module are respectively used for being connected with the tested frequency converter, the output end of the current acquisition module is connected with the first input end of the motor model module, the output end of the voltage acquisition module and the first output end of the motor model module are respectively connected with the input end of the current tracking control module, and the output end of the current tracking control module is connected with the input end of the voltage amplification module through the voltage output module;
the second input end of the motor model module is connected with the output end of the kinematics model module, the second output end of the motor model module is connected with the input end of the kinematics model module, and the output end of the kinematics model module is also used for being connected with the tested frequency converter.
7. The power stage motor simulation apparatus of claim 6, wherein the output of the kinematic model module is further configured to be connected to a controller of the frequency converter under test.
8. The power-stage motor simulation device according to claim 6, wherein the voltage acquisition module is configured to acquire three-phase voltages output by the frequency converter to be tested, and send the three-phase voltages to the motor model module; the current acquisition module is used for acquiring actual three-phase current flowing through the coupling circuit and sending the three-phase current to the motor model module.
9. The power-stage motor simulation apparatus of claim 8, wherein the motor model module calculates a reference phase current and a motor torque value from the three-phase voltage and the output rotation speed of the kinematic model module; and the kinematic model module calculates the motor rotating speed according to the motor torque value and outputs the motor rotating speed to a controller of the tested frequency converter.
10. The power-stage motor simulation apparatus of claim 9, wherein the current tracking control module is configured to calculate a voltage value of the voltage amplification module according to the reference phase current and an actual three-phase current, and output the voltage value of the voltage amplification module to the voltage amplification module through the voltage output module.
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| CN117110751A (en) * | 2023-08-25 | 2023-11-24 | 上海莘汭驱动技术有限公司 | Servo motor driver adjustment and measurement system and method |
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