CN116609658A - SRM power electronic load simulation method and system - Google Patents
SRM power electronic load simulation method and system Download PDFInfo
- Publication number
- CN116609658A CN116609658A CN202310714679.XA CN202310714679A CN116609658A CN 116609658 A CN116609658 A CN 116609658A CN 202310714679 A CN202310714679 A CN 202310714679A CN 116609658 A CN116609658 A CN 116609658A
- Authority
- CN
- China
- Prior art keywords
- current
- motor
- power electronic
- electronic load
- phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims abstract description 12
- 238000005070 sampling Methods 0.000 claims description 16
- 230000004907 flux Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 8
- 238000013178 mathematical model Methods 0.000 claims description 5
- 229920006395 saturated elastomer Polymers 0.000 claims description 5
- 150000001875 compounds Chemical group 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 8
- 238000004804 winding Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 229910000976 Electrical steel Inorganic materials 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a SRM power electronic load simulation method and system, and relates to the field of motor simulation test. The invention comprises a motor controller to be tested, which is used for generating three-phase voltage; the motor simulation unit comprises three groups of simulation converters; the control unit comprises an instruction current calculation module and a PI module, wherein the instruction current calculation module is used for generating instruction current according to the phase voltage of the side of the motor to be tested, the difference value between the instruction current and the phase current of the three groups of analog converters is used for obtaining PWM driving signals through the PI module and adjusting the switching tubes of the three groups of analog converters so that the three-phase current of the side of the analog converters tracks the three-phase current of the motor to be tested. The invention can simulate the port characteristic of the switched reluctance motor in real time and realize the test of each working state of the switched reluctance motor.
Description
Technical Field
The invention relates to the field of motor simulation test, in particular to a SRM power electronic load simulation method and system.
Background
In practice, some systems are often subjected to working condition test, and the load in the test is also concerned by the research and development personnel. With the development of power electronics technology, power electronic loads have also developed, and various devices for simulating loads have been developed gradually, so that motor load simulation has also been attracting attention. In practical test, the motor has the advantages of complex operation, large energy loss, simple structure, small volume, low cost and the like. At present, a plurality of college students build and simulate a mathematical model aiming at the three-phase asynchronous motor. Then the permanent magnet synchronous motor is expanded, and the simulation research is carried out on the permanent magnet synchronous motor and the open winding permanent magnet synchronous motor by more subject groups of schools.
The switched reluctance motor (Switched Reluctance Drive, SRM) is a reluctance variable motor, and the stator and rotor structures are all in salient pole forms formed by laminating common silicon steel sheets. As can be seen, the SRM has high structural strength and simple structure, and the SRM relies on the 'magnetic resistance minimum principle', so that the magnetic resistance of the SRM changes along with the position of the rotor, the windings are only distributed on the stator, the rotor is not provided with the windings and the permanent magnets, and a small air gap exists between the stator and the rotor.
At present, the occasions of applying the switched reluctance motor are more and more, and the test of the switched reluctance motor is also more and more important, so that the simulation research of the switched reluctance motor is not satisfactory, and the method has wide significance in both the performance test of a motor controller and the body research of the motor. The conventional motor driver often needs to form an experiment platform together with a motor and a motor mechanical load to carry out operation experiments of the dragging motor under various operation working conditions, and the mechanical load of the motor is not easy to realize under laboratory conditions although the rotating motor is easy to obtain. And once the motor leaves the factory, the body parameters of the motor are basically fixed and not easy to adjust, and the generation of the motor load also depends on a complex electromechanical system to generate various mechanical loads to act on the mechanical shaft of the motor, so that the testing of the switched reluctance motor is difficult.
Disclosure of Invention
The invention provides a method and a system for simulating an SRM power electronic load, which simulate the port characteristic of a switch reluctance motor to be tested in real time.
The first aspect of the present invention provides a method for simulating an SRM power electronic load, wherein the method generates a command current according to a phase voltage of a tested motor side, and a difference value between the command current and the phase currents of the three groups of analog converters is controlled by PI to obtain PWM driving signals for adjusting switching tubes of the three groups of analog converters, so that the three-phase currents of the analog converters track the three-phase currents of the tested motor.
Further, the instruction current is:
wherein U is k As the input voltage at time k, ψ k The flux linkage at the moment k, omega is the rotating speed and theta k The position angle of the rotor at time k is theta k+1 ＝θ k +ω k+1 ·ΔT。
Further, the rotation speed ω at time k is:
ω k+1 ＝ω k +[(T e -T L -B·ω k )/J]·ΔT；
wherein T is e Is electromagnetic torque, T L The load torque, B, viscous coefficient of friction and J, moment of inertia.
Further, the electromagnetic torque at time k+1 is:
wherein A, B is a compound of formula L d 、L q Related constant, a=ψ m -L dast I m ，B＝(L d -L q )/(ψ m -L dast I m )，L dsat Is a saturated inductance L q Is phase unsaturated inductance L d Is a saturated linear inductance, I m For maximum stator current, ψ m Is I m Is the flux linkage value.
In another aspect, the present invention provides an SRM power electronic load simulation system, configured to implement an SRM power electronic load simulation method, including:
the motor controller to be tested is used for generating three-phase voltages;
the motor simulation unit comprises three groups of simulation converters;
the control unit comprises an instruction current calculation module and a PI module, wherein the instruction current calculation module is used for generating instruction current according to the phase voltage of the side of the motor to be tested, the difference value between the instruction current and the phase current of the three groups of analog converters is used for obtaining PWM driving signals through the PI module and adjusting the switching tubes of the three groups of analog converters so that the three-phase current of the side of the analog converters tracks the three-phase current of the motor to be tested.
Further, the analog converter is a back-to-back dual PWM converter.
Further, the SRM power electronic load simulation system comprises a sampling unit, wherein the sampling unit comprises a voltage sampling module and a current sampling module.
Further, the SRM power electronic load simulation system comprises an energy processing unit, wherein the energy processing module comprises a grid-connected inverter and a resistive load.
Compared with the prior art, the invention has the following effects:
the invention can simulate the mechanical port characteristic of the SRM power electronic load numerical value reaction motor and realize the numerical setting of the mechanical load of the motor; simulating the characteristics of an electrical port between the motor and the driving power supply by using a power electronic converter; the parameters of various motor bodies and the mechanical load torque of the motor simulation unit are pure digital values, and can be manually set and modified, so that the motor simulation unit can be used for an adaptability experiment of a motor driver, and the motor driver is tested to drive various motors with different parameters and drag the applicability of various mechanical loads.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of the SRM power electronic load simulation system of the present invention;
fig. 2 is a control schematic diagram of the SRM power electronic load simulation system of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Some exemplary embodiments of the invention have been described for illustrative purposes, it being understood that the invention may be practiced otherwise than as specifically shown in the accompanying drawings.
In a specific embodiment, as shown in fig. 1, an SRM power electronic load simulation system is provided, which includes a tested motor controller, a motor simulation unit, a driving module, a control unit, a sampling unit, an energy processing unit and a man-machine interaction module, wherein the tested motor controller is connected with the motor simulation unit, the control unit is connected with the motor simulation unit through the driving module, the control unit performs signal processing and related calculation and inputs the signal processing and the related calculation to the driving module, and the driving module transmits a driving signal to the motor simulator.
The motor simulation unit comprises three groups of back-to-back double PWM converters; the sampling unit comprises a voltage sampling module and a current sampling module, wherein the voltage sampling module is used for collecting three-phase voltage output by the tested motor controller, and the current sampling module is used for collecting current of the motor simulation unit and sorting the collected three-phase voltage signals and current signals.
The energy processing module comprises a grid-connected inverter and a resistance load, and the resistance load consumes energy; the tested motor controller is respectively connected with a PWM converter in the motor simulation unit through a resistive load;
the control unit comprises an instruction current calculation module and a PI module, wherein the instruction current calculation module is used for generating instruction current according to the phase voltage of the side of the motor to be tested, the difference value between the instruction current and the phase current of the three groups of analog converters is used for obtaining PWM driving signals through the PI module and adjusting the switching tubes of the three groups of analog converters so that the three-phase current of the side of the analog converters tracks the three-phase current of the motor to be tested.
The man-machine interaction module is connected with the control module, and the module can realize setting of various parameters of the simulation motor at the computer end by a user.
In a specific embodiment, a method for simulating an SRM power electronic load is provided, which is implemented based on the SRM power electronic load simulation system, and includes the following steps:
s1, a voltage sampling module collects three-phase voltage output by a tested motor controller, converts the obtained three-phase voltage analog quantity into digital quantity, and sends the digital quantity of the three-phase voltage into a motor real-time simulator for mathematical operation so as to obtain a real-time running state of the motor;
s2, inputting the obtained three-phase voltage into a command current calculation module to obtain command current.
The method for acquiring the instruction current comprises the following steps:
voltage equation for SRM:
in the psi- j 、Δu、i j 、R j And u j Flux linkage, switching tube voltage drop, current, resistance and terminal voltage of the j-th phase respectively.
The tube pressure drop was ignored.
Integrating equation 2 above can obtain the jth phase flux linkage as:
ψ j ＝∫(u j -R j i j )dt (3)
the flux linkage of an SRM can be expressed as the product of inductance and current, which in turn is a function of current and rotor position angle, so that the flux linkage, rotor displacement angle and phase current exhibit a complex nonlinear relationship as follows:
ψ j ＝L j (i j ,θ)·i j (4)
wherein L is j (i j θ) is the inductance of the j-th phase winding.
Substituting formula (4) into formula (2) to obtain:
wherein R is j i j Is the voltage drop caused by the j-th phase winding;is the electromotive force of the transformer;
is the back emf.
Mechanical equation for SRM:
according to the law of mechanics, the SRM mechanical motion equation can be obtained as follows:
wherein J, omega, T j 、T L And B and theta respectively represent rotational inertia, mechanical angular velocity of the rotor, electromagnetic torque of the j phase, load torque, viscous friction coefficient and rotor position angle.
According to the electromechanical equation of the motor:
let W be e Electric energy input to the motor winding, W f For storing magnetic energy in inductance, W c For magnetic co-energy transferred to a load, the relationship between the three is:
dW e ＝dW f +dW c (8)
based on electromagnetic knowledge, W f The definition is as follows:
W c the definition is as follows:
when the rotor works stably, if the rotor position changes by a small angle delta theta, in the process of changing delta theta, the change quantity of the magnetic energy storage and the change quantity of the electric energy in the input winding are respectively as follows:
the variation of the magnetic co-energy can be obtained as follows:
ΔW c ＝ΔW e -ΔW f ＝S ABCD -(S OBC -S OAD )＝S OAB (13)
from the law of electromechanical energy conversion, it is known that: variation of mechanical energy ΔW m ＝T e Δθ. And DeltaW c Equal to DeltaW m When Δθ is small, the current is considered to be constant, so that the electromagnetic torque T can be obtained e The method comprises the following steps:
if the influence of magnetic circuit saturation is not considered, namely, the inductance of the phase winding is assumed to be irrelevant to the magnitude of phase current, and the magnetic field edge diffusion effect is not considered, at the moment, the connection mode of the phase winding long magnetic circuit winding can neglect the influence of phase-to-phase mutual inductance, and at the unaligned position, the phase inductance is minimum, the magnetic linkage and the current are in a linear relation, and the slope of the curve is the unsaturated inductance L q . In the aligned position, the magnetic circuit is saturated, and in order to simply express this nonlinear relationship, the linear inductance L before saturation is taken d And saturation inductance L dsat As a function parameter. The flux linkage-current relationship for aligned and unaligned positions can be described as follows:
wherein A, B is a compound of formula L d 、L q Related constants.
Wherein I is m For maximum stator current, ψ m Is I m Is the flux linkage value.
The flux linkage expression of the middle position can be obtained by performing an angle interpolation calculation on the two expressions, and the angle correction expression is as follows:
the magnetization characteristics of a 12/8 pole structure switched reluctance motor can therefore be described as:
the electromagnetic torque is obtained by differentiating the angle partial derivative of the magnetic co-energy:
the mathematical model of a switched reluctance motor can be expressed by the following equation:
discretizing a motor mathematical model by using an Euler equation in one sampling time to obtain:
ω k+1 ＝ω k +[(T e -T L -B·ω k )/J]·ΔT (23)
θ k+1 ＝θ k +ω k+1 ·ΔT (24)
s3, a current sampling module collects three-phase current of the analog converter and converts the obtained three-phase current analog quantity into digital quantity;
s4, subtracting the output three-phase current digital quantity from the current digital quantity sampled by the analog side, entering the PWM pulse generator through the PI controller, and driving the analog side, so that the current of the analog side tracks the three-phase current of the motor, and the current quantity of the SRM motor is simulated by the current of the analog side.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (8)
1. The SRM power electronic load simulation method is characterized in that command current is generated according to phase voltage of a tested motor side, the difference value of the command current and the phase current of the three groups of analog converters is controlled by PI to obtain PWM driving signals, and the PWM driving signals are used for adjusting switching tubes of the three groups of analog converters so that the three-phase current of the analog converter side tracks the three-phase current of the tested motor, and the generation method of the command current comprises the following steps:
obtaining a flux linkage-current relation model according to a mathematical model of the SRM, wherein the mathematical model of the SRM comprises a voltage model, a mechanical equation and an electric communication equation;
and obtaining a torque equation according to the flux linkage-current relation model to obtain a current equation, and discretizing the current equation by adopting an Euler equation to obtain the instruction current.
2. The SRM power electronic load simulation method of claim 1, wherein the command current is:
wherein U is k As the input voltage at time k, ψ k The flux linkage at the moment k, omega is the rotating speed and theta k The position angle of the rotor at time k is theta k+1 ＝θ k +ω k+1 ·ΔT。
3. The method for simulating an SRM power electronic load according to claim 2, wherein the rotation speed ω at time k is:
ω k+1 ＝ω k +[(T e -T L -B·ω k )/J]·ΔT；
wherein T is e Is electromagnetic torque, T L The load torque, B, viscous coefficient of friction and J, moment of inertia.
4. A method for simulating an SRM power electronic load according to claim 3, wherein the electromagnetic torque at time k+1 is:
wherein A, B is a compound of formula L d 、L q Related constant, a=ψ m -L dast I m ，B＝(L d -L q )/(ψ m -L dast I m )，L dsat Is a saturated inductance L q Is phase unsaturated inductance L d Is a saturated linear inductance, I m For maximum stator current, ψ m Is I m Is the flux linkage value.
5. An SRM power electronic load simulation system for performing the SRM power electronic load simulation method of any of claims 1-4, comprising:
the motor controller to be tested is used for generating three-phase voltages;
the motor simulation unit comprises three groups of simulation converters;
the control unit comprises an instruction current calculation module and a PI module, wherein the instruction current calculation module is used for generating instruction current according to the phase voltage of the side of the motor to be tested, the difference value between the instruction current and the phase current of the three groups of analog converters is used for obtaining PWM driving signals through the PI module and adjusting the switching tubes of the three groups of analog converters so that the three-phase current of the side of the analog converters tracks the three-phase current of the motor to be tested.
6. The SRM power electronic load simulation system of claim 5, wherein the analog converter is a back-to-back dual PWM converter.
7. The SRM power electronic load simulation system of claim 5, wherein the SRM power electronic load simulation system comprises a sampling unit comprising a voltage sampling module and a current sampling module.
8. The SRM power electronic load simulation system of claim 5, wherein the SRM power electronic load simulation system comprises an energy processing unit, the energy processing module comprising a grid-tied inverter and a resistive load.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310714679.XA CN116609658A (en) | 2023-06-15 | 2023-06-15 | SRM power electronic load simulation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310714679.XA CN116609658A (en) | 2023-06-15 | 2023-06-15 | SRM power electronic load simulation method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116609658A true CN116609658A (en) | 2023-08-18 |
Family
ID=87676550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310714679.XA Pending CN116609658A (en) | 2023-06-15 | 2023-06-15 | SRM power electronic load simulation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116609658A (en) |
-
2023
- 2023-06-15 CN CN202310714679.XA patent/CN116609658A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Teja et al. | A new model reference adaptive controller for four quadrant vector controlled induction motor drives | |
| Suresh et al. | Inductance based position encoding for sensorless SRM drives | |
| CN110609230B (en) | Power level simulation driving system and method of permanent magnet synchronous motor | |
| Beccue et al. | Measurement and control of torque ripple-induced frame torsional vibration in a surface mount permanent magnet machine | |
| CN111966080B (en) | Transfer function-based permanent magnet synchronous motor and mechanical load simulation system and control method thereof | |
| Wu et al. | Accurate torque modeling with PSO-based recursive robust LSSVR for a segmented-rotor switched reluctance motor | |
| CN111857197A (en) | Three-phase alternating current motor and load simulation method and device thereof | |
| Minh et al. | Electromagnetic Torque Analysis of SRM 12/8 by Rotor/Stator Pole Angle | |
| CN108448960B (en) | Real-time simulation method for power level of four-quadrant running permanent magnet motor | |
| Demircioglu et al. | Induction motor Simulink implementation of the rotor flux oriented direct vector control method for electric vehicles | |
| Ciornei et al. | Real-Time simulation of a complete electric vehicle based on NI VeriStand integration platform | |
| CN116609658A (en) | SRM power electronic load simulation method and system | |
| CN103762916B (en) | A kind of two Y moves 30 ° of six synchronised generator VBR analogy method | |
| Hemati | The global and local dynamics of direct-drive brushless DC motors | |
| JP2003153547A (en) | Inverter tester | |
| Cui et al. | Power-hardware-in-the-loop simulator for brushless DC motor | |
| CN110568774B (en) | Motor power level semi-physical simulator | |
| Korkmaz | Speed and Torque control of an induction motor with ANN based DTC | |
| Mapa et al. | A new modelling technique for a switched reluctance machine based on the mathematical function for its inductance profile | |
| Babangida et al. | Bond Graph Modeling, Simulation, and Control of Permanent Magnet Linear Synchronous Motor: PMLSM Motor Based EVs Applications | |
| Xiao et al. | Position tracking control of two permanent magnet linear synchronous motors | |
| Norouzi et al. | High performance position control of double sided air core linear brushless DC motor | |
| Singh et al. | An ANN based X-PC target controller for speed control of permanent magnet brushless DC motor | |
| Hogipuram et al. | Design of SoC based Compact, High Bandwidth Electro-Mechanical Actuation (EMA) System for Aerospace Application | |
| CN114123878B (en) | Permanent magnet three-phase alternating current motor and load simulation method and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |