CN115694281A - Soft start and soft release control method for aviation three-level motor - Google Patents
Soft start and soft release control method for aviation three-level motor Download PDFInfo
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Abstract
The invention discloses an aviation three-stage motor soft start and soft disengagement control method based on accurate torque control, and belongs to the technical field of aviation three-stage synchronous motors; the method comprises the following steps: identifying a start command; switching on an excitation loop and measuring the rotating speed of the motor; calculating given values i of quadrature-axis and direct-axis currents through torque commands q * And i d * (ii) a Collecting the position of a motor rotor and three-phase current of a main motor to obtain alternating-axis current and direct-axis current under a two-phase rotating coordinate system; d, after the given values of the id loop and the iq loop and the feedback value are subjected to difference, u is obtained through output d '、u q ' a given value; obtaining voltages under a two-phase static coordinate system after obtaining the given voltage values ud 'and uq'; the obtained voltage u under the two-phase static coordinate system α 、u β And a SVPWM space voltage vector PWM modulation mode is adopted to output six paths of PWM waveforms to drive the IGBT to be switched on and switched off, the direct current voltage is inverted into variable frequency alternating current with the frequency consistent with the modulation voltage, and the three-level motor is driven to rotate. The invention can realize accurate torque control in the starting process of the engine and achieve no moment impact at the starting and disengaging moments.
Description
Technical Field
The invention belongs to the technical field of aviation three-stage synchronous motors, and particularly relates to an aviation three-stage motor soft start and soft disengagement control method based on accurate torque control.
Background
The aeroengine has large load moment, high rotation inertia and high required disengaging rotation speed. The electric excitation alternating current starting power generation system is less in research and application in the field of aviation in China, the existing mature control scheme is a starting control method based on a rotating speed and torque angle closed loop, the control method uses a target rotating speed as a control basis, has certain advantages for an aircraft engine with little load characteristic change, and can finish the starting of the engine by continuously increasing the duty ratio and increasing the loading capacity.
a) In the prior art, the torque can not be accurately controlled at the starting moment, and the shaft end impact of a motor is easily caused. For a starting system adopting a rotating speed and torque angle closed-loop control strategy, the output torque of a motor cannot be predicted, the load of an engine is larger or smaller under the influence of normal temperature and low temperature weather, the output torque of a starting generator changes under different conditions, and accurate torque control cannot be realized;
b) In the prior art, when a motor is disconnected, the disconnection torque cannot be accurately controlled, so that a transmission shaft generates torque impact when the engine is disconnected, and the service life of a motor shaft is shortened;
c) The constant acceleration control is friendly to the service life of the motor and the engine shaft, but when the engine load is heavy in a low-temperature day, if the output is continuously controlled according to the set acceleration, the overcurrent fault of the controller is easily generated.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides the aviation three-stage motor soft start and soft disengagement control method based on accurate torque control, which can realize accurate torque control in the starting process of an engine, has no moment impact when starting and disengaging are achieved, and enhances the reliability of a starting system.
The technical scheme of the invention is as follows: a soft starting and soft releasing control method for an aviation three-level motor comprises the following specific steps:
step 1: identifying a start command;
and 2, step: switching on an excitation loop, and measuring the rotating speed of the motor;
and step 3: finding the given torque value T according to the set rotating speed-torque curve e * Calculating the given value i of the quadrature-axis and direct-axis currents by the torque command q * And i d * As shown in the following formula,
in the formula, k T Representing the torque-current coefficient, i f Denotes the field current, L md Represents a direct axis inductance;
a) Judging the current rotating speed, if the rotating speed is less than the set soft start rotating speed:
in the formula, n represents the current rotating speed, time represents the discretization time in the embedded system, and the discretization time is accumulated according to the period; i.e. i q_max * Representing the maximum value of soft starting current, from a sectional moment T e1 Is calculated to obtain i d * Representing the given value of the direct-axis current, i q * Representing the quadrature current setpoint, iq _ base representing the soft-start current value, since it is proportional to the torqueThe proportional ratio is that the initial torque is represented, k multiplied by time represents the current increased in each control period of the embedded system in the soft start stage, the slope can be modified by adjusting the k value, and n _ weak represents the flux weakening rotating speed;
b) If the rotating speed is less than the set segmented rotating speed n1:
in the formula, T e1 Representing a segment torque of 1, k T Representing a torque-current coefficient;
c) If the rotation speed < the set segment rotation speed n2:
in the formula, T e2 The subsection torque 2 is expressed, and by analogy, a plurality of subsections can be carried out according to the torque requirement;
d) The current is given in the constant power stage, when the rotating speed of the motor reaches the constant power stage, the current is given according to the following formula,
in the formula, n _ mp represents a constant power point rotating speed, T _ mp represents a constant power point torque, and n _ final represents a disengagement rotating speed;
e) Current setting mode after reaching the disengagement speed n _ final:
when the rotating speed reaches the disengaging rotating speed, in order to avoid that the motor immediately stops outputting, a motor shaft and an engine transmission shaft collide with each other to cause overlarge torque oscillation, the output torque of the motor is controlled to slowly decrease, and the decreasing mode can be adjusted by an upper computer;
iq_final＝n_mp×T_mp×k T /n_final
wherein time 'represents an off-moment control counter, n _ final represents an off-revolution speed, k' represents an off-slope, k 'x time' represents each discrete quantity period, given i q The amount of reduction; iq _ final represents the current setpoint at the moment of disengagement;
and 4, step 4: the method comprises the following steps of collecting the position of a motor rotor and three-phase current of a main motor, and carrying out Clark and Park coordinate transformation to obtain alternating-axis current and direct-axis current under a two-phase rotating coordinate system, wherein the Clark transformation adopts constant amplitude transformation and is expressed as shown in the following formula;
in the formula u a Represents the instantaneous value of the A-phase voltage, u b Representing instantaneous value of B-phase voltage u c Representing a C phase voltage instantaneous value;
u α denotes the α -axis voltage, u β Represents a calculated value of the beta axis voltage;
u d representing the direct-axis voltage u q Represents the quadrature axis voltage;
i α representing the alpha-axis current, i β Represents a beta axis current;
i a represents the instantaneous value of the A-phase current, i b Represents the instantaneous value of the A-phase current, i c Representing the instantaneous value of the A-phase current;
i d representing direct axis winding current, i q Representing quadrature winding current, theta representing rotorA position angle;
and 5: after the difference is made between the given value and the feedback value of the id loop and the iq loop, the difference is regulated by a PI controller, and u is output d '、u q ' given value, the calculation formula is as follows:
in the formula, error d Indicating the error of the direct axis current, error q Representing quadrature axis current error, k p Denotes the proportionality coefficient, k i Expressing an integral coefficient, ud 'expressing a calculated d-axis voltage given value, and uq' expressing a calculated q-axis voltage given value;
step 6: after voltage given values ud 'and uq' are obtained, inverse Park transformation is carried out to obtain the voltage under the two-phase static coordinate system, and the transformation formula is as follows:
in the formula u α ' represents a target α -axis voltage, u β ' represents a target β -axis voltage;
and 7: the obtained voltage u under the two-phase static coordinate system α 、u β The SVPWM space voltage vector PWM modulation mode is adopted to output six paths of PWM waveforms to drive the IGBT to be switched on and off, and the direct current voltage is inverted into modulated voltage u α 、u β The variable frequency alternating current with consistent frequency drives the three-stage motor to rotate.
The invention further adopts the technical scheme that: in the step 3, the excitation current is detected in real time, and when the range of the theoretical value 5A + -1A is met, the excitation loop is considered to be switched on.
Advantageous effects
The invention has the beneficial effects that: the invention is mainly applied to the field of starting control of the aero-engine, the aero-engine is expensive in manufacturing cost, and in the starting process of the engine, the invention can protect the output torque of a starting system from smoothly changing within the bearable range of an engine rotating shaft, reduce the torque impact generated in the starting and releasing stages, reduce the torque overshoot at the starting moment from 100% to 10%, and reduce the torque impact at the releasing moment by 3 times.
Compared with a conventional aeroengine starting system, such as an air turbine starting system, a direct current motor starting system and a common variable frequency alternating current starting system, the control mode designed by the invention has the characteristics of high control precision and high speed in the aspect of solving the impact torque, the fundamental principle of realization is that the rising or falling slope of the moment at the end of the engine shaft is reduced, the air turbine starting blows the engine blades in an air entraining mode, the moment of the airflow thrust finally acting on the end of the engine shaft cannot be accurately controlled, and the soft starting and soft disengaging functions are not realized; the direct current motor is controlled to start and stop by switching on and off the contactor, the on and off of the contactor means sudden change of current, and the sudden change of current can cause the change speed of the output torque of the motor to be higher, so that the engine cannot be started smoothly; the common frequency conversion alternating current starting system can control the rotating speed by changing the frequency, but for the control of the output torque of the motor, a control scheme of smooth starting and disengaging is not provided.
Drawings
FIG. 1 is a schematic diagram of a three-stage electro-magnetic synchronous motor and a cross-linking relationship of a starting controller;
FIG. 2 is a block diagram of a three-level electro-magnetic synchronous motor precision torque control strategy;
FIG. 3 illustrates the current waveform at start-up without the present invention;
FIG. 4 shows the current waveform at the starting moment under the scheme of the invention;
FIG. 5 shows a test waveform of the output torque of the motor without using the scheme of the present invention;
FIG. 6 shows a test waveform of the motor output torque at the starting time under the scheme of the invention;
FIG. 7 shows a test waveform of the output torque of the complete motor at the starting stage under the scheme of the invention;
fig. 8 shows the motor output torque test waveform at the disengagement stage under the scheme of the invention.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
For a three-stage electrically excited synchronous motor, the three-stage electrically excited synchronous motor has the advantages that the exciting current of a main generator is adjustable, and the exciting current of a main generator rotor has great influence on the output of the motor.
The key for realizing soft start and soft release of the aero-engine is to realize accurate torque control, firstly, a three-stage synchronous motor mathematical model is established, factors such as hysteresis lag, saturation and the like of the motor are ignored in consideration of the practicability of engineering analysis, and a torque equation and a motion equation of the main generator under a dq axis of a synchronous rotation coordinate system are established.
The torque equation:
T e ＝ψ d i q -ψ q i d
therein, Ψ d 、Ψ q Respectively, a direct axis winding flux linkage and an alternating axis winding flux linkage, i d 、i q Is direct axis winding current, quadrature axis winding current, T e Is an electromagnetic torque.
Equation of motion:
T e ＝T L +J·pΩ+BΩ
wherein, T L The torque load is J, the rotational inertia of the main generator is J, the mechanical angular speed of the main generator is omega, and the system friction coefficient is B.
Looking at the motor torque equation, substituting id =0, one can get:
T e ＝ψ d i q
the torque equation is simplified, the output torque of the motor is only related to direct-axis flux linkage and main generator quadrature axis current, and the electromagnetic torque of the main generator is as follows by combining the flux linkage equation:
T e ＝L md i f i q
during starting, if the exciting current i is controlled f If the output electromagnetic torque of the motor is kept unchanged, the output electromagnetic torque of the motor is only equal to the quadrature axis current i q Accordingly, the motor AC and DC shaft currents can be controlled to control the motor to output electromagnetic torque, namely T e ∝i q 。
Based on the vector control principle, after three-phase main power generation flow is decoupled, a PID control algorithm can be adopted to carry out i d 、i q Controlling current, calculating the given values of the alternating-axis current and the direct-axis current by an electromagnetic torque instruction, firstly, subtracting the given current from the decoupled feedback current to obtain a deviation value, regulating by adopting a PID control algorithm, and respectively outputting to obtain alternating-axis voltage u and direct-axis voltage u q 、u d (ii) a Then, performing inverse park transformation based on the current rotor position to obtain voltage waveforms under a two-phase static coordinate system; and finally, outputting six paths of PWM by adopting an SVPWM voltage vector modulation mode, driving IGBT inversion to obtain three-phase alternating-current voltage, wherein a control block diagram is shown in figure 2.
Fig. 5 shows an electromagnetic torque curve acquired during starting of an aircraft engine in a torque setting manner, and a comparison shows that overshoot of 2 times of rated electromagnetic torque occurs in a region 1 in fig. 5, on one hand, because a motor has a locked-rotor moment at a low rotation speed, a given value of applied torque is too large, and overshoot occurs due to a large current; in fig. 5, the output curve of the motor in the area 2 is to reach the point that the engine disengages from the rotating speed, and it can be found that after the controller locks and outputs PWM, the torque at the end of the motor shaft has large torque oscillation, because when the motor suddenly releases force, the engine and the motor spline collide with each other to generate torque oscillation, and the larger the disengagement torque is, the larger the torque oscillation amplitude is, aiming at the above problems, a soft start and disengagement control method is designed, and the execution steps are as follows:
step 1: a start command is identified.
The controller identifies a starting command issued by an electronic controller of the engine and enters a starting control program.
Step 2: and switching on an excitation loop and measuring the rotating speed of the motor.
After a starting instruction is identified, exciting current needs to be introduced into the exciter, the controller is firstly connected with an exciting loop, then the controller can calculate the rotating speed of the motor through an electric signal fed back by a rotary transformer arranged in the three-stage electric excitation motor, and the subsequent operation is carried out, wherein the system wiring relation is shown in figure 1.
And 3, step 3: and confirming the connection of the excitation circuit, detecting the excitation current in real time, and considering the connection of the excitation circuit when the range of the theoretical value 5A + -1A is met, and performing subsequent operation.
Calculating the given values i of the quadrature-axis and direct-axis currents through the torque command q * And i d * First, the torque-current coefficient, L, is calculated md At 8.6mH, excitation current i f To 40A, the calculation was as follows.
a) The soft start speed is set to 200rpm, time is accumulated under the frequency of 5kHz, iq _ base is set to 50A, the slope k is 100/5000, and the segmented moment T e1 At 20Nm, this represents a 100A increase in current per second.
b) The segment rotation speed n1 is set to 500rpm, no field weakening control is adopted, n _ peak is set to 8000rpm, the target rotation speed is set to 6000rpm, and when the rotation speed reaches 6000rpm, the controller stops outputting.
Segment torque 1 is 20Nm, then:
c) The rotational speed segments n2, n3, n4 are set to 2000rpm, 3000rpm, 4000rpm, respectively, assuming torque requirements of 30Nm, 40Nm, 30Nm, respectively.
d) The constant power rotation speed n _ mp is set to 4000rpm, and assuming that the constant power point torque T _ mp is 30Nm, the constant power section current is calculated in the manner of
e) Current setting mode after reaching disengagement speed
When the rotating speed reaches the disengaging rotating speed of 6000rpm, in order to avoid that the motor stops outputting immediately, the motor shaft collides with the transmission shaft of the engine to cause overlarge torque oscillation, the output torque of the motor is controlled to slowly decline, and the decline mode is adjustable. k' is set to 80/5000, i.e. 80A drop per second:
and 4, step 4: the method comprises the steps of collecting the position of a motor rotor and three-phase current of a main motor, and carrying out Clark and Park coordinate transformation to obtain alternating-axis current and direct-axis current under a two-phase rotating coordinate system, wherein the Clark transformation adopts constant amplitude transformation and is expressed as the following formula.
Step 6: and after the difference is made between the id loop set value and the iq loop set value and the feedback value, the difference is regulated by a PI controller, and the ud 'and uq' set values are output, wherein the kp value is 0.0032, the ki value is 0.0015, and the calculation formula is as follows:
and 7: after the given voltage value is obtained, inverse Park transformation is carried out to obtain the voltage under the two-phase static coordinate system, and the transformation formula is as follows:
and 8: the obtained voltage u under the two-phase static coordinate system α '、u β The method adopts an SVPWM space voltage vector PWM modulation mode to output six paths of PWM waveforms to drive the IGBT to be switched on and off and invert direct-current voltage into modulated voltage u α 、u β The variable frequency alternating current with consistent frequency drives the three-stage motor to rotate.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art may make variations, modifications, substitutions and alterations within the scope of the present invention without departing from the spirit and scope of the present invention.
Claims (3)
1. A soft starting and soft releasing control method for an aviation three-level motor is characterized by comprising the following specific steps:
step 1: identifying a start command;
step 2: switching on an excitation loop and measuring the rotating speed of the motor;
and step 3: finding the given torque value T according to the set rotating speed-torque curve e * Calculating the given value i of the quadrature-axis and direct-axis currents by the torque command q * And i d * As shown in the following formula,
in the formula, k T Expressing the torque-current coefficient, i f Representing the excitation current, L md Represents the direct axis inductance;
a) Judging the current rotating speed, if the rotating speed is less than the set soft start rotating speed:
in the formula, n represents the current rotating speed, time represents the discretization time in the embedded system, and the discretization time is accumulated according to the period; i all right angle q_max * Expressing the maximum value of soft start current, from the sectional torque T e1 Is calculated to obtain i d * Representing given value of direct-axis current, i q * The method is characterized in that a quadrature axis current given value is represented, iq _ base represents a soft start current value, the soft start current value is in direct proportion to torque, namely the magnitude of initial moment, k multiplied by time represents the increased current of each control period of an embedded system in a soft start stage, the slope can be modified by adjusting the k value, and n _ weak represents the flux weakening rotating speed;
b) If the rotating speed is less than the set segmented rotating speed n1:
in the formula, T e1 Representing a segment torque of 1, k T Representing a torque-current coefficient;
c) If the rotation speed < the set segment rotation speed n2:
in the formula, T e2 The subsection torque 2 is expressed, and by analogy, a plurality of subsections can be performed according to the torque requirement;
d) The current is given in the constant power stage, when the rotating speed of the motor reaches the constant power stage, the current is given according to the following formula,
in the formula, n _ mp represents a constant power point rotating speed, T _ mp represents a constant power point torque, and n _ final represents a disengagement rotating speed;
e) Current setting mode after reaching the disengagement speed n _ final:
when the rotating speed reaches the disengaging rotating speed, in order to avoid that the motor immediately stops outputting, a motor shaft and an engine transmission shaft collide with each other to cause overlarge torque oscillation, the output torque of the motor is controlled to slowly decline, and the decline mode can be adjusted by an upper computer;
iq_final＝n_mp×T_mp×k T /n_final
wherein time 'represents a disengagement torque control counter, n _ final represents a disengagement rotational speed, k' represents a disengagement slope, k 'times' represents each discrete amount cycle, given i q The amount of reduction; iq _ final represents the current setpoint at the moment of disengagement;
and 4, step 4: collecting the position of a motor rotor and three-phase current of a main motor, and performing Clark and Park coordinate transformation to obtain alternating-axis current and direct-axis current under a two-phase rotating coordinate system;
and 5: after the difference is made between the given value and the feedback value of the id loop and the iq loop, the difference is regulated by a PI controller, and u is output d '、u q ' given value, the calculation formula is as follows:
in the formula, error d Indicating the error of the direct axis current, error q Representing quadrature axis current error, k p Denotes the proportionality coefficient, k i Expressing an integral coefficient, ud 'expressing a calculated d-axis voltage given value, and uq' expressing a calculated q-axis voltage given value;
step 6: after voltage given values ud 'and uq' are obtained, inverse Park transformation is carried out to obtain the voltage under the two-phase static coordinate system, and the transformation formula is as follows:
in the formula u α ' denotes a target α -axis voltage, u β ' represents a target β -axis voltage;
and 7: the obtained voltage u under the two-phase static coordinate system α 、u β The SVPWM space voltage vector PWM modulation mode is adopted to output six paths of PWM waveforms to drive the IGBT to be switched on and off, and the direct current voltage is inverted into modulated voltage u α 、u β The variable frequency alternating current with consistent frequency drives the three-stage motor to rotate.
2. The aviation three-level motor soft start and soft disengagement control method according to claim 1, characterized in that: in the step 3, the excitation current is detected in real time, and when the range of the theoretical value 5A + -1A is met, the excitation loop is considered to be switched on.
3. The aviation three-level motor soft start and soft disengagement control method according to claim 1, characterized in that: in the step 4, clark transformation adopts constant amplitude transformation, which is expressed as the following formula;
in the formula u a Representing instantaneous value of A-phase voltage u b Represents the instantaneous value of the B-phase voltage, u c Representing a C phase voltage instantaneous value;
u α denotes the α -axis voltage, u β Represents a calculated value of the beta axis voltage;
u d representing the direct-axis voltage u q Represents quadrature axis voltage;
i α represents the α -axis current, i β Represents a beta axis current;
i a represents the instantaneous value of the A-phase current, i b Represents the instantaneous value of the A-phase current, i c Representing a phase a current instantaneous value;
i d representing the direct axis winding current, i q Represents the quadrature winding current and theta represents the rotor position angle.
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