CN115800842A - Excitation-free fault-tolerant power generation control method for electric excitation double-salient motor with optimized dynamic performance - Google Patents
Excitation-free fault-tolerant power generation control method for electric excitation double-salient motor with optimized dynamic performance Download PDFInfo
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Abstract
The application discloses a field failure fault-tolerant power generation control method for an electro-magnetic doubly salient motor with optimized dynamic performance, and relates to the field of electro-magnetic doubly salient motors. The control method can improve the dynamic performance of the system during magnetic loss power generation and reduce copper loss. The problem of the great capacitance capacity of load side can lead to that the electric capacity charge-discharge time is longer among the feedback control process for dynamic operation effect is relatively poor when generating electricity is solved.
Description
Technical Field
The application relates to the field of doubly salient electro-magnetic motors, in particular to a method for controlling the loss-of-field fault-tolerant power generation of a doubly salient electro-magnetic motor with optimized dynamic performance.
Background
An electrically excited doubly salient motor (DSEM) is a novel brushless direct current motor developed on the basis of a switched reluctance motor. The stator of the motor is provided with an armature winding and an excitation winding, and the rotor is provided with no winding, so that the motor is simple and reliable in structure and flexible to control. It differs from a switched reluctance machine primarily in that the stator embeds a field winding. Due to the existence of the excitation magnetic field, the electric excitation double-salient pole motor only needs to be externally connected to an uncontrolled rectifier bridge to generate electricity, so that the electric excitation double-salient pole motor has good fault-tolerant capability and is suitable for severe working conditions. Meanwhile, when the load or the speed changes, the output voltage can be kept constant by adjusting the exciting current, and the control is very flexible. Has wide application prospect in the fields of aviation wind power generation and the like.
But the aging, heating, erosion and the like of the excitation winding can influence the safe operation of the system; meanwhile, the excitation side power supply can also be in failure due to overcurrent, reverse voltage pulse and the like, and system loss of excitation is caused in serious cases. When the electric excitation doubly salient motor loses excitation, the original control strategy cannot be used for further electric driving and power generation, so that the fault-tolerant control strategy for the demagnetization fault of the electric excitation doubly salient motor has very important value.
At present, the research on the fault-tolerant control strategy aiming at the field loss fault of the electric excitation doubly salient motor is less, and the fault-tolerant control strategy mainly focuses on the field of the research on the field loss fault-tolerant power generation, and mainly comprises the following fault-tolerant control strategies which respectively have advantages and disadvantages: (1) Shiliwei et al, discloses an excitation fault-tolerant power generation system of an electro-excitation doubly salient motor and a control method thereof (China, grant date: 5 and 17 months in 2017, and grant number: CN 104579067B), applies a three-phase four-bridge-arm converter to a three-phase electro-excitation doubly salient motor to realize a demagnetization fault-tolerant power generation function, and the method has the advantages of high copper consumption and poor dynamic performance in the operation process. (2) "a four-phase electric excitation double-salient motor demagnetization fault-tolerant power generation method" (china, authorization day: 6/4/2019, and authorization number: CN 107147339A) disclosed by zhongxingwei et al realizes the four-phase electric excitation double-salient motor demagnetization fault-tolerant power generation control, and the method has high copper consumption and poor dynamic performance in the operation process. (3) An excitation fault-tolerant power generation system of an electro-magnetic doubly salient motor and a control method thereof (China, published: 6 and 5 in 2018, and an authorization number: CN 108123646A) disclosed by Wentangxiang and the like adopt a bridge converter to carry out excitation fault-tolerant power generation research, so that the structure of the converter is simplified, but the provided method has high copper consumption and poor dynamic performance in the operation process. (4) The invention discloses an excitation failure fault-tolerant power generation system of an electro-magnetic doubly salient motor and a control method thereof (China, published: 2019, 9, 17 and an authorization number: CN 110247597A) which adopt half-bridge control, and the problems of low power generation power, high copper consumption, poor dynamic performance and the like exist.
As can be seen from the above description, the existing various demagnetization fault-tolerant control strategies often have the following problems: when the DSEG is excited normally, the two-phase windings continue current and generate power at any time, so that the fluctuation of output voltage is small; and after the DSEG is demagnetized, the power generation phase needs to output power to a load when generating power, and meanwhile, excitation current is also provided for the next excitation phase, so that the output voltage has larger voltage fluctuation. Therefore, the capacity of the capacitor is increased to reduce voltage fluctuation when the traditional DSEG is subjected to magnetic loss fault-tolerant power generation, and the charging and discharging time of the capacitor is longer in the feedback control process due to the larger capacity of the capacitor, so that the dynamic operation effect is poorer during power generation.
Disclosure of Invention
In view of the above problems and technical needs, the present applicant provides a method for controlling the loss-of-field fault-tolerant power generation of an electro-magnetic doubly salient motor with optimized dynamic performance, and the technical scheme of the present application is as follows:
a magnetic loss fault-tolerant power generation control method for an electro-magnetic doubly salient motor with optimized dynamic performance comprises the steps that a load, a voltage stabilizing capacitor and a bridge converter are connected in parallel, three-phase windings of the electro-magnetic doubly salient motor are connected in a star mode, the wire outlet ends of the three-phase windings are connected to the bridge converter respectively, and the electro-magnetic side is electrically connected with the bridge converterSource U f Connecting an excitation winding of an electrically excited doubly salient motor through an excitation converter;
the field loss fault-tolerant power generation control method for the doubly salient electro-magnetic motor comprises the following steps:
obtaining actual value U of motor voltage at two ends of voltage stabilizing capacitor o And an actual value i of the load current through the load o ；
Setting the voltage of the motor to a given value U * And the actual value U of the motor voltage o The difference value of the voltage loop PI regulator is used as the input of the voltage loop PI regulator to obtain the current regulation quantity i output by the voltage loop PI regulator q0 ；
Calculating to obtain load resistance R = U o /i o And combining the load resistor R with the motor voltage given value U * Outputting a feedforward current i by feedforward control q1 ；
According to a reference current i q ＝i q0 +i q1 And rotor electrical angle theta e Calculating to obtain a three-phase current given value;
and comparing the three-phase current set value with the three-phase current actual value to obtain a comparison signal, and outputting a PWM (pulse width modulation) signal to the comparison signal through a hysteresis loop to drive a bridge converter of the electric excitation doubly salient motor with the loss of field fault.
The further technical scheme is that a load resistor R is combined with a given value U of the motor voltage * Outputting a feedforward current i by feedforward control q1 The method comprises the following steps of:
wherein x is 1 And r m All are known parameters, r is the internal resistance of the winding, and omega is the electrical angle theta of the rotor e And calculating the obtained motor rotating speed through the position rotating speed converter.
The further technical scheme is that the reference current i is used for measuring the current q And rotor electrical angle theta e The method for calculating the given value of the three-phase current comprises the following steps:
according to rotor electrical angle theta e Determining a phase angle parameter x with the actual phase current value of a reference phase, wherein the reference phase is one phase winding;
according to a reference current i q And calculating the phase angle parameter x to obtain the three-phase current given value.
The further technical scheme is that the reference current i is used for measuring the current q Calculating the sum phase angle parameter x according to the following calculation formula to obtain the given value of the three-phase current
Is composed of
The further technical scheme is that the method for determining the phase angle parameter x comprises the following steps:
determining the value of the state parameter N as 0 or 1 according to the actual phase current value of the reference phase;
determining the rotor electrical angle theta according to the parameter angle corresponding table e Corresponding intermediate parameter t, the parameter angle corresponding table comprises different rotor electrical angles theta in a control period e Corresponding relation with the intermediate parameter t;
and determining a phase angle parameter x = -t/2+0.5 pi + N pi.
The further technical scheme is that the method for determining the value of the state parameter N comprises the following steps:
when the actual phase current value of the reference phase is greater than 0 and the reference phase is in a forward excitation and forward power generation state, the state parameter N =0;
and when the actual phase current value of the reference phase is less than 0 and the reference phase is in a negative excitation and negative power generation state, the state parameter N =1.
The further technical scheme is that the feed-forward current i is determined q1 The method of calculating a formula of (a) comprises:
determining the instantaneous output power of the electrically excited doubly salient motor with the minimum copper consumption in a field loss power generation state based on the expression of the instantaneous output power of the electrically excited doubly salient motor in the field loss state
Voltage equation of combined electric excitation doubly salient motor
To obtain
Wherein x is 1 ＝P x /P，P x Is iron loss.
The further technical scheme is that the method also comprises the following steps:
the expression for determining the instantaneous output power of the electric excitation doubly salient motor during the loss of the field is as follows:
wherein, X p Is the number of turns of the phase winding, X f Is the number of turns of the field winding,
is the proportionality coefficient between self-inductance and mutual inductance, i fe Is the field current rating, i a 、i b 、i c Phase current of a three-phase winding, e afe 、e bfe 、e cfe Is the excitation back-emf, omega, of the three-phase winding under the rated excitation current e Is the rated rotation speed;
determining e within one electrical angle period afe +e bfe +e cfe =0, obtained by converting the rate of change of the three-phase excitation potential with the angle in the abc coordinate system to the α β coordinate system
e α 、e β Potentials of the α axis and the β axis, respectively;
will excite counter potential e afe 、e bfe 、e cfe Substituting the expression of (a) into the expression of the instantaneous output power, and making
The obtained instantaneous output power is:
wherein i α And i β The two-dimensional orthogonal transmission line is orthogonal,
and
orthogonal to i q1 2 ＝i a 2 +i b 2 +i c 2 ，
Further obtaining the instantaneous output power when the copper consumption is minimum
The beneficial technical effect of this application is:
the application discloses a field failure fault-tolerant power generation control method for an electro-magnetic doubly salient motor, which is used for optimizing dynamic performance, in the field failure fault-tolerant power generation operation process, a voltage loop PI regulator outputs current regulation quantity as error regulation, and feedforward control is designed to output feedforward current, so that reference current can be rapidly calculated when load is suddenly changed, and the stability of output voltage can be ensured by combining a phase angle determined by a rotor electrical angle. The control method can improve the dynamic performance of the system during loss of excitation power generation and reduce copper loss. The problem of the great capacitance capacity of load side can lead to that the electric capacity charge-discharge time is longer among the feedback control process for dynamic operation effect is relatively poor when generating electricity is solved.
Drawings
Fig. 1 is a control system and a control logic block diagram of an electrically excited doubly salient machine in an embodiment of the present application.
Fig. 2 is a load switching operating current-voltage operating curve diagram of an electrically excited doubly salient motor in an example when the magnetically excited doubly salient motor is subjected to the magnetically-lost fault-tolerant power generation control according to the method of the application under the condition of a magnetically-lost fault.
Detailed Description
The following description of the embodiments of the present application will be made with reference to the accompanying drawings.
The application discloses a field failure fault-tolerant power generation control method for an electro-magnetic doubly salient motor with optimized dynamic performance, which is applied to a control system of the electro-magnetic doubly salient motor, please refer to the control system shown in fig. 1, in the control system of the electro-magnetic doubly salient motor, a load R, a voltage stabilizing capacitor C and a bridge converter are connected in parallel, three-phase windings A, B and C of the electro-magnetic doubly salient motor are connected in a star shape, and outlet terminals of the three-phase windings A, B and C are respectively connected to the bridge converter. Excitation side power supply U f Connected to the field winding L by a field converter f Both ends supply an exciting current i f 。
The controller is connected with and controls the bridge converter and the excitation circuit. The loss-of-magnetization fault-tolerant power generation control method is realized by a controller and comprises the following steps:
Step 3, calculating to obtain load resistance R = U o /i o And combining a load resistor R with a given motor voltage value U * Outputting a feedforward current i by feedforward control q1 . The method comprises the following steps of calculating according to the following calculation formula:
wherein x is 1 And r m All are known parameters, r is the internal resistance of the winding, and omega is the electrical angle theta of the rotor e And calculating the obtained motor rotating speed through the position rotating speed converter.
The calculation is derived in advance to determine the feed forward current i q1 The method of calculating a formula of (1) comprises:
(1) Determining the instantaneous output power of the electrically excited doubly salient motor with the minimum copper consumption in a field loss power generation state based on the expression of the instantaneous output power of the electrically excited doubly salient motor in the field loss state
The expression for determining the instantaneous output power of the electric excitation doubly salient motor during field loss is as follows:
wherein, X p Is the number of turns of the phase winding, X f Is the number of turns of the field winding,
is the proportionality coefficient between self-inductance and mutual inductance, i fe Is the field current rating, i a 、i b 、i c Phase current of three-phase winding, e afe 、e bfe 、e cfe Is the excitation back-emf, omega, of the three-phase winding under the rated excitation current e Is the rated speed.
Determining e within one electrical angle period afe +e bfe +e cfe =0, obtained by converting the rate of change of the three-phase excitation potential with the angle in the abc coordinate system to the α β coordinate system
e α 、e β The potentials of the alpha and beta axes, respectively.
Will excite counter potential e afe 、e bfe 、e cfe Is substituted into the expression of the instantaneous output power, andorder to
The obtained instantaneous output power is:
wherein i α And i β The two-dimensional orthogonal transmission line is orthogonal,
and
is orthogonal to i q1 2 ＝i a 2 +i b 2 +i c 2 ，
Further obtaining the instantaneous output power when the copper consumption is minimum
(2) Voltage equation of combined electric excitation doubly salient motor
To obtain
Wherein x is 1 ＝P x /P，P x Is iron loss. x is a radical of a fluorine atom 1 And r m The values of (A) can be generally obtained by pre-calculation according to finite elements of a prototype, and are known parameters.
Step 4, according to the reference current i q ＝i q0 +i q1 And rotor electrical angle theta e Calculating to obtain the given value i of the three-phase current a * 、i b * 、i c * . In the step, according to the rotor electrical angle theta e Determining a phase angle parameter from the actual phase current value of the reference phaseThe number x, the reference phase, is one of the phase windings, e.g., the a-phase winding may generally be selected as the reference phase. Determining the value of the state parameter N as 0 or 1 according to the actual phase current value of the reference phase: and when the actual phase current value of the reference phase is greater than 0 and the reference phase is in a forward excitation and forward power generation state, the state parameter N =0. And when the actual phase current value of the reference phase is less than 0 and the reference phase is in a negative excitation and negative power generation state, the state parameter N =1.
In one embodiment, the field loss fault-tolerant power generation control method of the application takes an electrical angle range of [0 °,720 ° ] covering two electrical angle periods as one control period, and a state parameter N =0 in one electrical angle period and a state parameter N =1 in the other electrical angle period of the one control period. The state parameter N takes the values 0 and 1 alternately.
After the state parameter N is determined, the rotor electrical angle theta is determined according to the parameter angle corresponding table e Corresponding to the intermediate parameter t, the phase angle parameter x = -t/2+0.5 pi + N pi can be determined. The parameter angle corresponding table comprises different rotor electrical angles theta in a control period e Corresponding relation with intermediate parameter t, intermediate parameter t = arccos ((dL) α /dθ e )/dr m /dθ e ) Can obtain [0 degrees and 720 degrees ] of a control period in advance according to finite element calculation of a prototype]Different rotor electrical angles theta within the electrical angle range e Obtaining a parameter angle corresponding table with the intermediate parameter t, and determining the rotor electrical angle theta through table look-up e Corresponding intermediate parameter t.
Then according to the reference current i q And calculating the phase angle parameter x to obtain the given value of the three-phase current as follows:
step 5, setting the three-phase current to a given value i a * 、i b * 、i c * Comparing the actual value of the three-phase current to obtain a comparison signal, and outputting a PWM (pulse-width modulation) signal to drive the electro-magnetic doubly salient motor with the loss of field fault through a hysteresis loop according to the comparison signalThe bridge converter of (1).
In one example, a load switching operation curve graph when the double-salient electro-magnetic motor operates according to the loss-of-magnetization fault-tolerant power generation control method is shown in fig. 2, and as can be seen from fig. 2, the double-salient electro-magnetic motor can also have a good dynamic operation effect under the loss-of-magnetization fault.
The method improves the control logic of the controller, does not need to carry out complex improvement on the structure of a control system, and has simple circuit structure. In practical application, the controller electrically excites the exciting current i of the exciting winding of the doubly salient motor f Whether a loss of field fault occurs is detected, a specific detection method is available, and details are not repeated in the application. When dependent on the field current i f And when the doubly salient electro-magnetic motor is determined to have a demagnetization fault, carrying out demagnetization fault-tolerant power generation control according to the method provided by the application. When dependent on the field current i f And when the fact that the electric excitation doubly salient motor has no loss-of-field fault is determined, uncontrolled rectification constant-power generation operation control is carried out according to a traditional excitation current hysteresis control strategy.
What has been described above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations directly derived or suggested to those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being within the scope of the present application.
Claims (8)
1. The method is characterized in that a load, a voltage stabilizing capacitor and a bridge converter are connected in parallel, three-phase windings of an electro-magnetic doubly salient motor are connected in a star mode, the leading-out ends of the three-phase windings are connected to the bridge converter respectively, and an excitation side power supply U is connected with the bridge converter in a U-shaped mode f The excitation winding of the electric excitation doubly salient motor is connected through an excitation converter;
the field loss fault-tolerant power generation control method of the electro-magnetic doubly salient motor comprises the following steps:
acquiring the actual value U of the motor voltage at two ends of the voltage-stabilizing capacitor o And an actual value i of a load current flowing through the load o ；
Setting the voltage of the motor to a given value U * And the actual value of the motor voltage U o The difference value of the voltage loop PI regulator is used as the input of the voltage loop PI regulator to obtain the current regulating quantity i output by the voltage loop PI regulator q0 ；
Calculating to obtain load resistance R = U o /i o And combining the load resistor R with the given value U of the motor voltage * Outputting a feedforward current i by feedforward control q1 ；
According to a reference current i q ＝i q0 +i q1 And rotor electrical angle theta e Calculating to obtain a three-phase current set value;
and comparing the three-phase current set value with the three-phase current actual value to obtain a comparison signal, and outputting a PWM (pulse width modulation) signal to the comparison signal through a hysteresis loop to drive a bridge converter of the electrically excited doubly salient motor with the loss of field fault.
2. The method according to claim 1, wherein said load resistor R is used in combination with said given motor voltage value U to control power generation with loss of field fault tolerance * Outputting a feedforward current i by feedforward control q1 The method comprises the following steps of:
wherein x is 1 And r m All are known parameters, r is the internal resistance of the winding, and omega is the electrical angle theta of the rotor e And calculating the obtained motor rotating speed through the position rotating speed converter.
3. The method for fault-tolerant power generation with de-excitation of an electro-magnetic doubly salient motor according to claim 1, wherein the de-excitation fault-tolerant power generation control method is characterized by being based on a reference current i q And rotor electrical angle theta e The method for calculating the given value of the three-phase current comprises the following steps:
according to rotor electrical angle theta e Phase current of reference phaseValue determining a phase angle parameter x, the reference phase being one of the phase windings;
according to the reference current i q And calculating the phase angle parameter x to obtain the given value of the three-phase current.
4. The method according to claim 3, wherein the de-excitation fault-tolerant power generation control method is performed according to the reference current i q Calculating the sum phase angle parameter x according to the following calculation formula to obtain the given value of the three-phase current
Is composed of
5. The method for controlling the field loss fault-tolerant power generation of the doubly salient electro-magnetic motor according to claim 3, wherein the method for determining the phase angle parameter x comprises the following steps:
determining the value of the state parameter N as 0 or 1 according to the actual phase current value of the reference phase;
determining the rotor electrical angle theta according to the parameter angle corresponding table e Corresponding intermediate parameter t, the parameter angle corresponding table comprises different rotor electrical angles theta in a control period e Corresponding relation with the intermediate parameter t;
and determining the phase angle parameter x = -t/2+0.5 pi + N pi.
6. The method for controlling the field loss fault-tolerant power generation of the doubly salient electro-magnetic motor according to claim 5, wherein the method for determining the value of the state parameter N comprises the following steps:
when the actual phase current value of the reference phase is greater than 0 and the reference phase is in a forward excitation and forward power generation state, the state parameter N =0;
and when the actual phase current value of the reference phase is less than 0 and the reference phase is in a negative excitation and negative power generation state, the state parameter N =1.
7. The method for fault-tolerant power generation with de-excitation of an electro-magnetic doubly salient motor according to claim 2, wherein a feed-forward current i is determined q1 The method of calculating a formula of (a) comprises:
determining the instantaneous output power of the electrically-excited doubly-salient motor when the copper consumption is minimum in a field loss power generation state based on the expression of the instantaneous output power of the electrically-excited doubly-salient motor in the field loss state
Combining a voltage equation of the electro-magnetic doubly salient machine
To obtain
Wherein x is 1 ＝P x /P，P x Is iron loss.
8. The method of claim 7, further comprising:
determining the expression of the instantaneous output power of the electric excitation doubly salient motor during the loss of the excitation as follows:
wherein, X p Is the number of turns of the phase winding, X f Is the number of turns of the field winding,
is the proportionality coefficient between self-inductance and mutual inductance, i fe Is the rated value of the exciting current i a 、i b 、i c Phase current of a three-phase winding, e afe 、e bfe 、e cfe Three-phase winding under rated exciting currentExcitation counter potential of, omega e Is the rated rotational speed;
determining e within one electrical angle period afe +e bfe +e cfe =0, obtained by converting the rate of change of the three-phase excitation potential with the angle in the abc coordinate system to the α β coordinate system
e α 、e β Potentials of the α axis and the β axis, respectively;
will excite counter potential e afe 、e bfe 、e cfe Substituting the expression into the expression of instantaneous output power, and making
The obtained instantaneous output power is:
wherein i α And i β The two-dimensional orthogonal transmission line is orthogonal,
and
is orthogonal to i q1 2 ＝i a 2 +i b 2 +i c 2 ，
Further obtaining the instantaneous output power when the copper consumption is minimum
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