CN115800842B - Electric excitation doubly salient motor loss-of-magnetic fault-tolerant power generation control method for optimizing dynamic performance - Google Patents

Electric excitation doubly salient motor loss-of-magnetic fault-tolerant power generation control method for optimizing dynamic performance Download PDF

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CN115800842B
CN115800842B CN202211645837.2A CN202211645837A CN115800842B CN 115800842 B CN115800842 B CN 115800842B CN 202211645837 A CN202211645837 A CN 202211645837A CN 115800842 B CN115800842 B CN 115800842B
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史宏俊
周波
熊磊
蒋思远
于晓东
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a control method for loss-of-magnetic fault-tolerant power generation of an electro-magnetic doubly salient motor for optimizing 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 the loss of the magnetism and the power generation and reduce the copper loss. The problem of the great electric capacity of load side can lead to the electric capacity charge-discharge time longer in the feedback control process for dynamic operation effect is relatively poor when generating electricity is solved.

Description

Electric excitation doubly salient motor loss-of-magnetic fault-tolerant power generation control method for optimizing dynamic performance
Technical Field
The application relates to the field of electro-magnetic doubly salient motors, in particular to a loss-of-magnetic fault-tolerant power generation control method for an electro-magnetic doubly salient motor with optimized dynamic performance.
Background
An electro-magnetic doubly-salient motor (DSEM) is a novel brushless direct current motor developed on the basis of a switched reluctance motor. The stator is provided with an armature winding, an exciting winding and a rotor non-winding, and the structure is simple and reliable and the control is flexible. The main difference between the motor and the switch reluctance motor is that the exciting winding is embedded in the stator. Because of the existence of the exciting magnetic field, the electro-magnetic doubly-salient motor only needs to be externally connected to an uncontrolled rectifier bridge to generate power, so that the electro-magnetic doubly-salient 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.
However, aging, heating, erosion and the like of the exciting winding affect the safe operation of the system; meanwhile, the excitation side power supply also fails due to overcurrent, reverse voltage pulse and the like, and the system is in loss of magnetism when serious. When the electro-magnetic doubly salient motor loses excitation, the original control strategy is adopted, so that further electric power and power generation cannot be realized, and the fault-tolerant control strategy aiming at the loss of excitation fault of the electro-magnetic doubly salient motor has very important value.
At present, the research on fault-tolerant control strategies aiming at the loss of excitation faults of an electrically excited doubly salient motor is less and mainly focused on the field of the research on loss of excitation fault-tolerant power generation, and the fault-tolerant control strategies mainly comprise the following fault-tolerant control strategies, and each fault-tolerant control strategy has the advantages and the disadvantages: (1) Shi Liwei and the like (China, authorized date: 5.month.17.year, authorized date: CN 104579067B) discloses an excitation fault-tolerant power generation system of an electro-magnetic doubly salient motor and a control method thereof, wherein a three-phase four-bridge arm converter is applied to the three-phase electro-magnetic doubly salient motor to realize a loss-magnet fault-tolerant power generation function, and the method has larger copper loss and poorer dynamic performance in the operation process. (2) Zhou Xingwei et al discloses a four-phase electro-magnetic doubly salient motor loss-magnetic fault-tolerant power generation method (China, authorized date: 2019, 6, 4 days, authorized number: CN 107147339A) for realizing loss-magnetic fault-tolerant power generation control of the four-phase electro-magnetic doubly salient motor, wherein the method has larger copper loss and poorer dynamic performance in the operation process. (3) Wen Tengxiang and the like (China, publication date: 2018, month 6, and authority number: CN 108123646A) adopts a bridge type converter to conduct field loss fault-tolerant power generation research, simplifies the converter structure, but has larger copper loss and poorer dynamic performance in the operation process. (4) Zhao Feng and the like (China, publication date: 2019, month 17, authorization number: CN 110247597A) adopts a half bridge to control, and the problems of low power generation, larger copper consumption, poor dynamic performance and the like are also existed.
As can be seen from the above description, the existing various loss-of-field fault-tolerant control strategies often have the following problems: the two-phase windings simultaneously generate power by follow current at any moment when the DSEG is normally excited, so that the fluctuation of output voltage is small; the power generation phase after the DSEG loss of the magnetic field needs to output power to a load during power generation, and simultaneously, exciting current is provided for the next exciting phase, so that the output voltage has larger voltage fluctuation. Therefore, the capacity of the capacitor is often required to be increased to reduce voltage fluctuation during the traditional DSEG loss-of-magnetic fault-tolerant power generation, and the larger capacity of the capacitor can lead to longer charge and discharge time of the capacitor in the feedback control process, so that the dynamic operation effect is poorer during power generation.
Disclosure of Invention
Aiming at the problems and the technical requirements, the applicant provides a loss-of-magnetic fault-tolerant power generation control method of an electro-magnetic doubly-salient motor with optimized dynamic performance, and the technical scheme of the application is as follows:
a method for controlling the loss-of-magnetic fault-tolerant power generation of electrically excited doubly-salient motor with optimized dynamic performance includes such steps as parallel connection of load, voltage stabilizing capacitor and bridge type converter, star connection of three-phase windings of electrically excited doubly-salient motor, connection of outlet terminals of three-phase windings to bridge type converter, and exciting power supply U f The excitation winding of the electric excitation doubly salient motor is connected through an excitation converter;
the method for controlling the loss-of-magnetic fault-tolerant power generation of the electro-magnetic doubly-salient motor comprises the following steps:
acquiring an actual value U of motor voltage at two ends of a voltage stabilizing capacitor o Actual value i of load current flowing through load o ；
Set the voltage of 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 regulating quantity i output by the voltage loop PI regulator q0 ；
Calculating to obtain a load resistance R=U o /i o And uses the load resistor R to combine the motor voltage set value U * Output feedforward current i using feedforward control q1 ；
According to the reference current i q ＝i q0 +i q1 Rotor electrical angle θ e Calculating to obtain a three-phase current given value;
and comparing the three-phase current given value with the three-phase current actual value to obtain a comparison signal, and driving the bridge type converter of the electro-magnetic doubly-salient motor with the loss of magnetism by the comparison signal through a hysteresis output PWM signal.
The further technical proposal is that a load resistor R is combined with a motor voltage set value U * Output feedforward current i using feedforward control q1 Comprises the following calculation formula:
Figure BDA0004008085570000021
wherein x is 1 And r m Are all known parameters, r is the internal resistance of the winding, and ω is the electrical angle θ of the rotor e And the motor rotating speed is calculated by a position rotating speed converter.
According to the further technical proposal, according to the reference current i q Rotor electrical angle θ e The method for calculating the three-phase current given value comprises the following steps:
according to the rotor electric angle theta e And determining a phase angle parameter x from the actual value of the phase current of the reference phase, which is one of the phase windings;
according to the reference current i q And calculating the phase angle parameter x to obtain a given value of the three-phase current.
According to the further technical proposal, according to the reference current i q And the phase angle parameter x is calculated according to the following calculation formula to obtain the given value of the three-phase current
Figure BDA0004008085570000031
Is->
Figure BDA0004008085570000032
The further technical scheme is that the method for determining the phase angle parameter x comprises the following steps:
determining the value of a state parameter N to be 0 or 1 according to the actual value of the phase current of the reference phase;
determining the rotor electrical angle theta according to the parameter angle mapping table e Corresponding intermediate parameter t, the parameter angle corresponding table comprises different rotor electric angles theta in a control period e The corresponding relation with the intermediate parameter t;
the phase angle parameter x= -t/2+ 0.5pi + npi is determined.
The further technical scheme is that the method for determining the value of the state parameter N comprises the following steps:
when the actual value of the phase current of the reference phase is larger than 0 and the reference phase is in a forward excitation and forward power generation state, the state parameter n=0;
when the actual phase current value of the reference phase is smaller than 0 and the reference phase is in a negative excitation and negative power generation state, the state parameter n=1.
The further technical proposal is that the feedforward current i is determined q1 The method of the calculation formula of (1) comprises:
based on the expression of the instantaneous output power of the electro-magnetic doubly salient motor in the loss of magnetism, determining the instantaneous output power of the electro-magnetic doubly salient motor in the loss of magnetism power generation state when the copper loss is minimum
Figure BDA0004008085570000033
Voltage equation combined with electro-magnetic doubly salient motor
Figure BDA0004008085570000034
Obtaining
Figure BDA0004008085570000035
Wherein x is 1 ＝P x /P，P x Is iron loss.
The method further comprises the following steps:
the expression for determining the instantaneous output power of the electrically excited doubly salient motor in the case of loss of excitation is as follows:
Figure BDA0004008085570000041
wherein X is p Is the number of turns of the phase winding, X f Is the number of turns of the excitation winding,
Figure BDA0004008085570000042
is the proportionality coefficient between self inductance and mutual inductance, i fe Is the excitation current rating, i a 、i b 、i c Phase current, e, being three-phase winding afe 、e bfe 、e cfe Is the exciting counter potential omega of the three-phase winding under the rated exciting current e Is the rated rotation speed;
determining e in an electrical angle period afe +e bfe +e cfe =0, the three-phase excitation potential change rate with angle under abc coordinate system is transformed to alpha beta coordinate system to obtain
Figure BDA0004008085570000043
e α 、e β The potentials of the alpha and beta axes, respectively;
back electromotive force e of excitation afe 、e bfe 、e cfe Substituting the expression of the instantaneous output power into the expression of the instantaneous output power, and making
Figure BDA0004008085570000044
The instantaneous output power is obtained as follows:
Figure BDA0004008085570000045
wherein i is α And i β The orthogonality of the two is achieved,
Figure BDA0004008085570000046
and->
Figure BDA0004008085570000047
Orthogonalization, let i q1 2 ＝i a 2 +i b 2 +i c 2 ，/>
Figure BDA0004008085570000048
Further obtaining the instantaneous output power when the copper loss is minimum>
Figure BDA0004008085570000049
The beneficial technical effects of this application are:
the utility model discloses an electricity excitation doubly salient motor loss-magnetic fault-tolerant power generation control method for optimizing dynamic performance, which is characterized in that in the operation process of loss-magnetic fault-tolerant power generation, the output current adjustment quantity of a voltage loop PI adjuster is used as error adjustment, and feedforward control is designed to output feedforward current, so that the reference current can be rapidly calculated when the load is suddenly changed, and the output voltage stability can be ensured by combining the phase angle determined by the electrical angle of a rotor. The control method can improve the dynamic performance of the system during the loss of the magnetism and the power generation and reduce the copper loss. The problem of the great electric capacity of load side can lead to the electric capacity charge-discharge time longer in the feedback control process for dynamic operation effect is relatively poor when generating electricity is solved.
Drawings
Fig. 1 is a control system and control logic block diagram of an electro-magnetic doubly-salient motor in one embodiment of the present application.
Fig. 2 is a load switching operating current voltage operating graph of an electrically excited doubly salient motor in one example under loss of field fault tolerant power generation control in accordance with the method of the present application.
Detailed Description
The following describes the embodiments of the present application further with reference to the accompanying drawings.
The application discloses an electric excitation doubly salient motor loss-of-magnetic fault-tolerant power generation control method for optimizing dynamic performance, which is applied to a control system of the electric excitation doubly salient motor, please refer toReferring 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 type converter are connected in parallel, three-phase windings A, B, C of the electro-magnetic doubly salient motor are connected in a star-type manner, and wire outlets of the three-phase windings A, B, C are respectively connected to the bridge type converter. Excitation side power supply U f Is connected to the exciting winding L through an exciting converter f The two ends provide exciting current i f 。
The controller is connected with and controls the bridge converter and the exciting circuit. The loss-of-magnetic fault-tolerant power generation control method disclosed by the application is realized by a controller and comprises the following steps of:
step 1, obtaining an actual value U of motor voltage at two ends of a voltage stabilizing capacitor C 0 Actual value i of load current flowing through load o 。
Step 2, giving the motor voltage set value U * And the actual value U of the motor voltage 0 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 。
Step 3, calculating to obtain a load resistor r=u o /i o And uses the load resistor R to combine the motor voltage set value U * Output feedforward current i using feedforward control q1 . The method comprises the following steps of calculating according to the following calculation formula:
Figure BDA0004008085570000051
wherein x is 1 And r m Are all known parameters, r is the internal resistance of the winding, and ω is the electrical angle θ of the rotor e And the motor rotating speed is calculated by a position rotating speed converter.
The calculation is predetermined to determine the feedforward current i q1 The method of the calculation formula of (1) comprises:
(1) Based on the expression of the instantaneous output power of the electro-magnetic doubly salient motor in the loss of magnetism, determining the instantaneous output power of the electro-magnetic doubly salient motor in the loss of magnetism power generation state when the copper loss is minimum
Figure BDA0004008085570000052
The expression for determining the instantaneous output power of the electrically excited doubly salient motor in the case of loss of excitation is as follows:
Figure BDA0004008085570000061
wherein X is p Is the number of turns of the phase winding, X f Is the number of turns of the excitation winding,
Figure BDA0004008085570000062
is the proportionality coefficient between self inductance and mutual inductance, i fe Is the excitation current rating, i a 、i b 、i c Phase current, e, being three-phase winding afe 、e bfe 、e cfe Is the exciting counter potential omega of the three-phase winding under the rated exciting current e Is the rated rotational speed.
Determining e in an electrical angle period afe +e bfe +e cfe =0, the three-phase excitation potential change rate with angle under abc coordinate system is transformed to alpha beta coordinate system to obtain
Figure BDA0004008085570000063
e α 、e β The potentials of the alpha and beta axes, respectively.
Back electromotive force e of excitation afe 、e bfe 、e cfe Substituting the expression of the instantaneous output power into the expression of the instantaneous output power, and making
Figure BDA0004008085570000064
The instantaneous output power is obtained as follows:
Figure BDA0004008085570000065
wherein i is α And i β The orthogonality of the two is achieved,
Figure BDA0004008085570000066
and->
Figure BDA0004008085570000067
Orthogonalization, let i q1 2 ＝i a 2 +i b 2 +i c 2 ，
Figure BDA0004008085570000068
Further obtaining the instantaneous output power when the copper loss is minimum>
Figure BDA0004008085570000069
(2) Voltage equation combined with electro-magnetic doubly salient motor
Figure BDA00040080855700000610
Obtaining
Figure BDA00040080855700000611
Wherein x is 1 ＝P x /P，P x Is iron loss. X is x 1 And r m The value of (2) can be generally calculated in advance according to the finite element of the model machine, and is a known parameter.
Step 4, according to the reference current i q ＝i q0 +i q1 Rotor electrical angle θ e Calculating to obtain three-phase current given value i a * 、i b * 、i c * . In this step, according to the rotor electrical angle θ e And the actual value of the phase current of the reference phase, which is one of the phase windings, for example, the a-phase winding can be generally selected as the reference phase. Determining the value of the state parameter N to be 0 or 1 according to the actual value of the phase current of the reference phase: when the actual value of the phase current of the reference phase is greater than 0 and the reference phase is in the forward excitation and forward power generation states, the state parameter n=0. When the actual phase current value of the reference phase is smaller 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 loss-of-magnetic fault-tolerant power generation control method of the present application uses the [0 °,720 ° ] electrical angle range covering two electrical angle periods as one control period, and the state parameter n=0 in one electrical angle period and the state parameter n=1 in the other electrical angle period of the one control period. The state parameter N takes on values 0 and 1 alternately.
After determining the state parameter N, determining the rotor electric angle theta according to the parameter angle mapping table e The corresponding intermediate parameter t, then, can be determined as the phase angle parameter x= -t/2+ 0.5pi + npi. The parameter angle corresponding table comprises different rotor electric angles theta in a control period e Correspondence with intermediate parameter t, intermediate parameter t=arccos ((dL) α /dθ e )/dr m /dθ e ) The [0 degree, 720 degree ] of a control period can be obtained in advance according to the finite element calculation of a prototype]Different rotor electrical angles theta in electrical angle range e And the intermediate parameter t to obtain a parameter angle corresponding table, and then the rotor electric angle theta can be determined through table lookup e A corresponding intermediate parameter t.
Then according to the reference current i q And calculating the phase angle parameter x to obtain a three-phase current given value as follows:
Figure BDA0004008085570000071
step 5, setting the three-phase current to a given value i a * 、i b * 、i c * And comparing the actual value of the three-phase current to obtain a comparison signal, and outputting a PWM signal to drive the bridge type converter of the electro-magnetic doubly-salient motor with the loss of magnetism through hysteresis output.
In an example, a load switching operation graph of the electric excitation doubly salient motor according to the loss-of-magnetic fault-tolerant power generation control method is shown in fig. 2, and as can be seen from fig. 2, the electric excitation doubly salient motor can have a better dynamic operation effect under the loss-of-magnetic fault.
The method improves the control logic of the controller, does not need to make complex improvement on the structure of a control system, and has simple circuit structure. In practical application, the controller is electrically excited to doubly salientExciting current i of exciting winding of motor f To detect whether a loss of magnetic field fault occurs, a specific detection method is existing, and is not repeated in this application. When according to the exciting current i f When the loss of the excitation fault of the electro-magnetic doubly-salient motor is determined, the loss of the excitation fault-tolerant power generation control is performed according to the method provided by the application. When according to the exciting current i f When the fact that the electric excitation doubly salient motor has no loss of excitation fault is determined, uncontrolled rectification and normal 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, which is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being included within the scope of the present application.

Claims (8)

1. A method for controlling the loss-of-magnetic fault-tolerant power generation of an electrically excited doubly-salient motor with optimized dynamic performance is characterized in that a load, a voltage stabilizing capacitor and a bridge type converter are connected in parallel, three-phase windings of the electrically excited doubly-salient motor are connected in a star mode, outlet ends of the three-phase windings are respectively connected to the bridge type converter, and an excitation side power supply U is arranged on the bridge type converter f The excitation winding of the electric excitation doubly salient motor is connected through an excitation converter;
the method for controlling the loss-of-magnetic fault-tolerant power generation of the electro-magnetic doubly-salient motor comprises the following steps:
acquiring an actual value U of 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 ；
Set the voltage of 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 regulating quantity i output by the voltage loop PI regulator q0 ；
Calculating to obtain a load resistance R=U o /i o And uses the load resistor R to combine the motor voltage set value U * Output feedforward current i using feedforward control q1 ；
According to the reference current i q ＝i q0 +i q1 Rotor electrical angle θ e Calculating to obtain a three-phase current given value;
and comparing the three-phase current given value with the three-phase current actual value to obtain a comparison signal, and outputting a PWM signal to the comparison signal through hysteresis loop to drive the bridge type converter of the electro-magnetic doubly salient motor with the loss of magnetism fault.
2. The method for controlling the loss-of-field fault-tolerant power generation of an electro-magnetic doubly-salient motor according to claim 1, wherein said load resistor R is used in combination with said motor voltage set value U * Output feedforward current i using feedforward control q1 Comprises the following calculation formula:
Figure FDA0004008085560000011
wherein x is 1 And r m Are all known parameters, r is the internal resistance of the winding, and ω is the electrical angle θ of the rotor e And the motor rotating speed is calculated by a position rotating speed converter.
3. The method for controlling the loss-of-field fault-tolerant power generation of an electro-magnetic doubly-salient motor according to claim 1, wherein the method is characterized by comprising the following steps of q Rotor electrical angle θ e The method for calculating the three-phase current given value comprises the following steps:
according to the rotor electric angle theta e And determining a phase angle parameter x from the actual value of the phase current of the reference phase, which is one of the phase windings;
according to the reference current i q And calculating the phase angle parameter x to obtain a given value of the three-phase current.
4. The method for controlling the loss-of-field fault-tolerant power generation of an electro-magnetic doubly-salient motor according to claim 3, wherein the reference current i is calculated by a reference current generator q And the phase angle parameter x is calculated according to the following calculation formula to obtain the given value of the three-phase current
Figure FDA0004008085560000021
Is that
Figure FDA0004008085560000022
5. A method of loss-of-field fault-tolerant power generation control for an electro-magnetic doubly-salient motor as claimed in claim 3, wherein said method of determining a phase angle parameter x comprises:
determining the value of a state parameter N to be 0 or 1 according to the actual value of the phase current of the reference phase;
determining the rotor electrical angle theta according to the parameter angle mapping table e Corresponding intermediate parameter t, said parameter angle correspondence table comprising different rotor electrical angles θ within a control period e The corresponding relation with the intermediate parameter t;
the phase angle parameter x= -t/2+ 0.5pi + npi is determined.
6. The method for controlling the loss-of-field fault-tolerant power generation of an electro-magnetic doubly-salient motor according to claim 5, wherein the method for determining the value of the state parameter N comprises:
when the actual value of the phase current of the reference phase is larger than 0 and the reference phase is in a forward excitation and forward power generation state, the state parameter n=0;
when the actual phase current value of the reference phase is smaller 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 loss-of-field fault-tolerant power generation control of an electro-magnetic doubly-salient motor according to claim 2, wherein the feed-forward current i is determined q1 The method of the calculation formula of (1) comprises:
based on an expression of instantaneous output power of the electrically excited doubly salient motor in the field loss, determining the instantaneous output power of the electrically excited doubly salient motor in the field loss power generation state when copper loss is minimum
Figure FDA0004008085560000023
Voltage equation incorporating the electro-magnetic doubly salient motor
Figure FDA0004008085560000024
Obtaining
Figure FDA0004008085560000025
Wherein x is 1 ＝P x /P，P x Is iron loss.
8. The method of claim 7, further comprising:
the instantaneous output power of the electro-magnetic doubly salient motor when the motor loses magnetism is determined by the following expression:
Figure FDA0004008085560000031
wherein X is p Is the number of turns of the phase winding, X f Is the number of turns of the excitation winding,
Figure FDA0004008085560000032
is the proportionality coefficient between self inductance and mutual inductance, i fe Is the excitation current rating, i a 、i b 、i c Phase current, e, being three-phase winding afe 、e bfe 、e cfe Is the exciting counter potential omega of the three-phase winding under the rated exciting current e Is the rated rotation speed;
determining e in an electrical angle period afe +e bfe +e cfe =0, the three-phase excitation potential change rate with angle under abc coordinate system is transformed to alpha beta coordinate system to obtain
Figure FDA0004008085560000033
e α 、e β The potentials of the alpha and beta axes, respectively;
counter potential of excitatione afe 、e bfe 、e cfe Substituting the expression of the instantaneous output power into the expression of the instantaneous output power, and making
Figure FDA0004008085560000034
The instantaneous output power is obtained as follows: />
Figure FDA0004008085560000035
Wherein i is α And i β The orthogonality of the two is achieved,
Figure FDA0004008085560000036
and->
Figure FDA0004008085560000037
Orthogonalization, let i q1 2 ＝i a 2 +i b 2 +i c 2 ，/>
Figure FDA0004008085560000038
Further obtaining the instantaneous output power when the copper loss is minimum>
Figure FDA0004008085560000039
/>
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