CN116683810A - Control method of variable-frequency variable-voltage permanent magnet synchronous motor - Google Patents
Control method of variable-frequency variable-voltage permanent magnet synchronous motor Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
Abstract
The invention relates to the technical field of motor control, and discloses a control method of a variable-frequency variable-voltage permanent magnet synchronous motor, which comprises the following steps: the first step: establishing a non-salient pole permanent magnet synchronous motor model and an IGBT loss model based on an output period, and establishing a relation between the non-salient pole permanent magnet synchronous motor model and the IGBT loss model; and a second step of: taking the quality of the output current of the inverter as a constraint condition, and taking the switching frequency of the inverter and the voltage of the direct current bus as constraint variables to establish an optimization target; and a third step of: the method for controlling the variable-frequency variable-voltage permanent magnet synchronous motor is used for obtaining the switching frequency and the direct-current bus voltage with the lowest IGBT loss based on the output period, optimizes the direct-current bus voltage and the switching frequency of the motor, and can reduce the IGBT loss to the greatest extent, thereby obviously reducing the junction temperature of the IGBT and prolonging the service life of the IGBT.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method of a variable-frequency variable-voltage permanent magnet synchronous motor.
Background
At present, the three-phase voltage source inverter is widely applied to the fields of variable speed drive, active power filters, uninterruptible power supplies and the like due to the characteristics of easy operation, easy control and easy realization, and becomes one of the most commonly used power electronic converters. Three-phase voltage source inverters typically employ a Space Vector Pulse Width Modulation (SVPWM) method in view of the high voltage vector pwm (SVPWM) ratio and good output waveforms. The general SVPWM switching frequency and the direct current bus voltage are fixed, but simply setting the two parameters to fixed values reduces the voltage utilization rate, increases the loss of the three-phase voltage source inverter, and enables the inverter to work in a high junction temperature environment. Related studies have shown that nearly 60% of inverter failures are caused by higher junction temperatures: every 10 ℃ of the temperature rise of the inverter, the fault rate of the inverter is increased by 1 time; the higher junction temperature also accelerates the aging of the IGBT, reducing the reliability of the inverter.
In the current technical scheme, only the method for independently optimizing the switching frequency or the direct current bus voltage of the inverter in the motor control system is adopted to reduce the junction temperature of the inverter and improve the reliability. If the effective value of the ripple wave of the output current of the inverter is taken as a constraint condition and the switching loss is taken as an objective function, the variable switching frequency is obtained to reduce the switching loss, the switching frequency is only related to the switching loss, the switching loss is only optimized, the total loss of the IGBT is not considered, and the total loss of the IGBT cannot be optimized to the minimum. And if the DC bus voltage self-adaptive controller is adopted to obtain the optimal DC bus voltage, only the quality of output current is optimized, the total loss of the IGBT is not considered, and the total loss is possibly increased, so that the control method of the variable-frequency variable-voltage permanent magnet synchronous motor is provided.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a control method of a permanent magnet synchronous motor with variable frequency and variable voltage, which solves the problems.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: a control method of a variable-frequency variable-voltage permanent magnet synchronous motor comprises the following steps:
the first step: establishing a non-salient pole permanent magnet synchronous motor model and an IGBT loss model based on an output period, and establishing a relation between the non-salient pole permanent magnet synchronous motor model and the IGBT loss model;
and a second step of: taking the quality of the output current of the inverter as a constraint condition, and taking the switching frequency of the inverter and the voltage of the direct current bus as constraint variables to establish an optimization target;
and a third step of: and obtaining the switching frequency and the direct current bus voltage with the lowest IGBT loss based on the output period by applying an optimization method.
Preferably, the specific content of the first step is:
s1: establishing a voltage equation of the motor on the d-q axis
and
v qs and vds Is the stator voltage, i qs and ids Is the stator current, R q and Rd Is a stator winding, ω er Is the rotor electrical angular velocity, p is the differential operator, lambda qs and λds Is stator flux linkage lambda f Is the flux linkage of the rotor magnet;
pi in the case of stable motor qs and pids Can be set to 0 and the stator phase voltage amplitude can be expressed as:
the d-q axis current satisfies wherein ,Imax Is the amplitude of the stator phase current, i at maximum acceleration qs ＝ max Let->
Will V cp Adding the amplitude of the stator phase voltage wherein ,/>Is the stator phase current amplitude, the electromagnetic torque of the motor is +.>
P n Is the pole pair number;
thus (2)
S2: loss P of IGBT IGBT Divided into conduction lossesAnd switching losses->The duty ratio of the IGBT in the inverter based on the SVPWM modulation method is as follows:
wherein ,for the power factor angle, modulation factor +.> in the formula ,Vdc Is the dc side voltage of the inverter;
conduction loss for a single output cycleAnd switching losses->The method comprises the following steps:
f sw for switching frequency, V ce(t) and Ice (t) on-voltage drop and on-current, E (+off)nom 、V nom and Inom Respectively the sum of the on-off loss, the voltage and the current under the specific test condition of the IGBT, V ce (t)＝I ce (t)r co +V ce0, in the formula rco Is the equivalent on-resistance of IGBT, V ce0 Is an initial conduction voltage drop;
the on-state current is:
wherein ,θ＝ωer t，The IGBT loss for a single output cycle is:
wherein , and />Is about the reference angle theta and the power factor angle +.>And the relationship between the stator phase current and the IGBT loss of the non-salient pole permanent magnet synchronous motor is established.
Preferably, the specific content of the second step is as follows:
s1: optimizing the switching frequency of IGBT loss and DC bus voltage in a single output period can obtain optimized P in the single output period IGBT A value;
s2: limiting harmonic distortion of motor phase currents to a certain range, wherein the harmonic distortion rate of the phase currents is denoted as H, and h=delta ims /I 1 ，Δ ims Current ripple effective value, I 1 Outputting a fundamental wave current effective value;
s3: calculating current ripple based on Thevenin equivalent theorem, and calculating the effective value of the current ripple of the whole output period as follows
S4: will P IGBT The integral form is converted into a series form:
wherein ,i=0, …, N represents will [0,2 pi ]]Divided into N cells.
S5: the lowest DC bus voltage that can normally operate isSatisfy->For the switching frequency, a switching frequency threshold f is set 0 The following optimization objectives are obtained:
wherein Y is defined by the rated DC bus voltage of the motor and the fixed switching frequencyThe obtained output period current ripple effective value;
V s and />Stator phase current, phase voltage amplitude and power factor angle under the same conditions;
and />For different theta i Corresponding dc bus voltage and switching frequency.
Preferably, the specific content of the third step is as follows:
s1: setting up a hidden pole type permanent magnet synchronous motor model, and obtaining a motor from a Scope module when stably operating under the rated direct current bus voltage and the fixed switching frequencyV s 、/>And m, pass->Obtaining Y;
s2: obtaining specific test conditions in IGBT device manualObtaining V nom 、I nom 、r co and Vce0 ；
S3: converting the integral form of the objective function into a sum form, and substituting the objective function and constraint conditions into a Matlab optimization tool box to obtain
S4: will differ by theta i Voltage of (2)Summing the values and averaging to obtain a voltage V dc-opt 。
(III) beneficial effects
Compared with the prior art, the invention provides a control method of a permanent magnet synchronous motor with variable frequency and variable voltage, which comprises the following steps of
The beneficial effects are that:
1. according to the control method of the variable-frequency variable-voltage permanent magnet synchronous motor, the direct-current bus voltage and the switching frequency of the motor are optimized, the IGBT loss can be reduced to the greatest extent, the junction temperature of the IGBT is obviously reduced, and the service life of the IGBT is prolonged.
2. According to the control method of the variable-frequency variable-voltage permanent magnet synchronous motor, on the basis of guaranteeing the quality of output current, the utilization rate of the direct-current bus voltage is improved, and the driving capability of an inverter is improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of a process implemented by the technique of the present invention;
FIG. 3 is a schematic diagram of current ripple slope at different linear periods;
fig. 4 is a diagram of the equivalent circuit of the davienan in linear period 1;
fig. 5 is a schematic diagram of current ripple for one switching cycle of SVPWM.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, a method for controlling a permanent magnet synchronous motor with variable frequency and variable voltage includes the following steps:
1. and establishing a hidden pole type permanent magnet synchronous motor model and an IGBT loss model based on an output period, and establishing a relation between the hidden pole type permanent magnet synchronous motor model and the IGBT loss model.
1) Establishing a voltage equation of the motor on the d-q axis
and
wherein ,vqs and vds Is the stator voltage, i qs and ids Is the stator current, R q and Rd Is a stator winding, ω er Is the rotor electrical angular velocity, p is the differential operator, lambda qs and λds Is stator flux linkage lambda f Is the flux linkage of the rotor magnets.
In the steady state of the motorpi qs and pids Can be set to 0, the stator resistance voltage drop is small and can be ignored, so that the stator phase voltage amplitude can be expressed as
In the formula, the d-q axis current must satisfy wherein ,Imax Is the magnitude of the stator phase current. In the case of maximum acceleration i qs ＝ max Let->
Compensating voltage in view of stator resistance voltage dropWill V cp Adding the amplitude of the stator phase voltage wherein ,/>Is the stator phase current magnitude. The electromagnetic torque of the motor is
wherein ,Pn Is polar logarithmic. Because the technology is based on the non-salient pole type permanent magnet synchronous motor, L is formed q ＝ d Thus, it is
2) Establishing an IGBT loss model of the inverter, wherein the loss P of the IGBT IGBT Divided into conduction lossesAnd switching lossesConduction loss is affected by load current and duty cycle, and switching loss is affected by load current, switching frequency, and dc side voltage. The modulation mode used by the technology is SVPWM, and because the SVPWM modulation method is similar to a third harmonic injection method, the duty ratio of IGBT in the inverter is
wherein ,for the power factor angle, modulation factor +.> in the formula ,Vdc Is the dc side voltage of the inverter. The technology takes an A-phase upper bridge arm IGBT of a three-phase voltage source inverter as an example, and the average switching loss and the conduction loss of a single output period are
wherein ,fsw For switching frequency, V ce(t) and Ice (t) on-voltage drop and on-current respectively,V nom and Inom Respectively the sum of the on-off loss, the voltage and the current under the specific test condition of the IGBT, V ce (t)＝I ce (t)r co +V ce0, in the formula rco Is the equivalent on-resistance of IGBT, V ce0 For the initial on-voltage drop, both are related to the IGBT junction temperature, and the equivalent on-resistance and the initial on-voltage drop can be considered as test values under specific conditions based on the loss of the output period.r co 、V ce0 、V nom and Inom Are available from the device manual of IGBTs. From the on-state current
wherein ,θ＝ωer t，Thus, IGBT loss of single output period can be obtained
wherein , and />Is about the reference angle theta and the power factor angle +.>And a dc bus voltage function. Therefore, the relationship between the stator phase current and the IGBT loss of the non-salient pole type permanent magnet synchronous motor is established.
2. And establishing an optimization target by taking the output current quality of the inverter as a constraint condition and taking the switching frequency of the inverter and the voltage of the direct current bus as constraint variables.
1) The switching frequency of IGBT loss and DC bus voltage of a single output period are optimized to obtain a single output periodP optimized during period IGBT Value, but if unconstrained, optimized P IGBT The value must be zero and therefore certain constraints must be added.
2) For an inverter, the harmonic quality of the ac side phase current is an important performance index. In order to maintain good operation of the motor, harmonic distortion of the motor phase currents needs to be limited to a certain range. Phase current harmonic distortion H can be expressed as h=Δ ims /I 1, wherein Δims Current ripple effective value, I 1 To output the fundamental current effective value. The harmonic distortion rate of the phase current can thus be expressed in terms of the current ripple effective value.
3) The current on the equivalent inductance in the inverter AC side motor control circuit is the ripple current of the AC side phase current. As shown in fig. 5, under SVPWM modulation, one switching period may be divided into eight small segments, and the current ripple of each small segment is regarded as a diagonal line, so that the current ripple variation in one switching period has seven linear periods, and four of eight basic voltage vectors of SVPWM are output. The present technique calculates the slope of the slope using the Thevenin equivalent theorem. For an inverter, the duty ratios of the three phases A, B and C are d respectively a ，d b ，d c Ranging from 0 to 1. Corresponding quasi-duty cycle d' x Can be defined as d' x ＝2d x -1 (x=a, b, c), andthe fundamental voltages output by the inverter are respectivelyTaking the slope of the current ripple of the 1 st linear period as an example, each linear period corresponds to a certain voltage combination, and the output voltages of the B phase and the C phase branches can be all equivalent to the A phase circuit, and the Thevenin equivalent circuit is shown in figure 4. Since the linear cycle time is short, the ac load voltage can be regarded as constant, and the voltage drop across the output inductor is also regarded as constant, so the output voltage of phase a +.>Then the slope of the current in the A-phase inductance can be calculated as +.>The current ripple slope calculation method of other linear periods is similar, and the calculation result is shown in fig. 3. Due to the three-phase symmetry, the current ripple of the B and C phases can be analyzed in the same way. The peak current ripple is then calculated from the slope and the time of action of its linear periodic switching state. Taking the example of calculating the current ripple peak value x, y appearing in the 1 st, 2 nd and 3 rd linear periods shown in fig. 5, let the slope of the 1 st oblique line be k 1 Slope of the 2 nd oblique line is k 2 Available->Then the average value of current ripple waves under the 1 st, 2 nd and 3 rd linear periods is calculated as x according to the peak value 2 /3、(x 2 +xy+y 2)/3 and (x2 -xy+y 2 ) And 3, finally calculating the effective value of the current ripple of the single switching period according to the average value of the current ripple of the 1 st, 2 nd and 3 rd linear periods and the action time of the switching state, wherein the effective value of the current ripple of the single switching period is as follows
On the basis, the effective value of the current ripple of the whole output period can be calculated as follows
4) The technique optimizes the IGBT loss by an optimization method, thus P is needed IGBT Conversion of integral form into series form
wherein ,i=0, …, N represents will [0,2 pi ]]Divided into N cells.
In the technology of the invention, the modulation ratio of the motor is considered to be in a linear range, and the lowest DC bus voltage which can normally operate isTherefore, the optimization needs to be satisfied->For the switching frequency, consider some +>Too low an influence on the operation of the motor, a switching frequency threshold f is also set 0 . The following optimization targets can be obtained by taking the effective value of the current ripple wave for evaluating the quality of the output current of the inverter as a constraint condition and the switching frequency and the voltage of the direct current bus as constraint variables
Wherein Y is defined by the rated DC bus voltage of the motor and the fixed switching frequencyThe obtained output periodic currentRipple effective value; />V s and />Stator phase current, phase voltage amplitude and power factor angle under the same conditions; /> and />For different theta i Corresponding dc bus voltage and switching frequency.
3. And obtaining the switching frequency and the direct current bus voltage with the lowest IGBT loss based on the output period by applying an optimization method.
1) The technology of the invention firstly builds a non-salient pole permanent magnet synchronous motor model by Matlab/Simulink, and obtains the motor from a Scope module when stably operating with rated DC bus voltage and fixed switching frequencyV s 、/>And m, pass throughY is obtained.
2) Obtaining specific test conditions in IGBT device manualObtaining V nom 、I nom 、r co and Vce0 。
3) Converting the integral form of the objective function into a sum form, and substituting the objective function and constraint conditions into a Matlab optimization tool box to obtain
4) The optimized DC bus voltage is a theta-dependent voltage i The variable value, because the direct current bus voltage frequently jumping can cause damage to the motor and the inverter, the technology of the invention has different theta i Voltage of (2)Summing the values and averaging to obtain a voltage V dc-opt As follows->
4. The implementation flow of the technology of the invention is as follows:
firstly, operating a motor at a rated DC bus voltage and a fixed switching frequency, and calculating V when the motor is stable s ，The corresponding optimum dc bus voltage and switching frequency are then obtained according to the algorithm set forth above. When the motor operates, the corresponding optimal direct current bus and switching frequency are obtained in a table look-up method. The specific flow is shown in figure 1 and figure 2.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The control method of the variable-frequency variable-voltage permanent magnet synchronous motor is characterized by comprising the following steps of:
the first step: establishing a non-salient pole permanent magnet synchronous motor model and an IGBT loss model based on an output period, and establishing a relation between the non-salient pole permanent magnet synchronous motor model and the IGBT loss model;
and a second step of: taking the quality of the output current of the inverter as a constraint condition, and taking the switching frequency of the inverter and the voltage of the direct current bus as constraint variables to establish an optimization target;
and a third step of: and obtaining the switching frequency and the direct current bus voltage with the lowest IGBT loss based on the output period by applying an optimization method.
2. The control method of a variable frequency and variable voltage permanent magnet synchronous motor according to claim 1, wherein: the specific content of the first step is as follows:
s1: establishing a voltage equation of the motor on the d-q axis
and
v qs and vds Is the stator voltage, i qs and ids Is the stator current, R q and Rd Is a stator winding, ω er Is the rotor electrical angular velocity, p is the differential operator, lambda qs and λds Is stator flux linkage lambda f Is the flux linkage of the rotor magnet;
pi in the case of stable motor qs and pids Can be set to 0 and the stator phase voltage amplitude can be expressed as:
the d-q axis current satisfies wherein ,Imax Is the amplitude of the stator phase current, i at maximum acceleration qs ＝I max Let->
Will V cp Adding the amplitude of the stator phase voltage wherein ,/>Is the stator phase current amplitude, the electromagnetic torque of the motor is +.>
P n Is the pole pair number;
thus (2)
S2: loss P of IGBT IGBT Divided into conduction lossesAnd switching losses->Modulation method inverse based on SVPWM
The duty cycle of the IGBT in the transformer is:
wherein ,for the power factor angle, modulation factor +.> in the formula ,Vdc Is the dc side voltage of the inverter;
conduction loss for a single output cycleAnd switching losses->The method comprises the following steps:
f sw for switching frequency, V ce(t) and Ice (t) on-voltage drop and on-current, E (on+off)nom 、V nom and Inom Respectively the sum of the on-off loss, the voltage and the current under the specific test condition of the IGBT, V ce (t)＝I ce (t)r co +V ce0, in the formula rco Is the equivalent on-resistance of IGBT, V ce0 Is an initial conduction voltage drop;
the on-state current is:
wherein ,θ＝ωer t，The IGBT loss for a single output cycle is:
wherein , and />Is about the reference angle theta and the power factor angle +.>And the relationship between the stator phase current and the IGBT loss of the non-salient pole permanent magnet synchronous motor is established.
3. The control method of a variable frequency and variable voltage permanent magnet synchronous motor according to claim 2, wherein: the specific content of the second step is as follows:
s1: optimizing the switching frequency of IGBT loss and DC bus voltage in a single output period can obtain optimized P in the single output period IGBT A value;
s2: limiting harmonic distortion of motor phase currents to a certain range, wherein the harmonic distortion rate of the phase currents is denoted as H, and h=delta ims /I 1 ，Δ ims Current ripple effective value, I 1 Outputting a fundamental wave current effective value;
s3: calculating current ripple based on Thevenin equivalent theorem, and calculating the effective value of the current ripple of the whole output period as follows
S4: will P IGBT The integral form is converted into a series form:
wherein ,n represents will be [0,2 pi ]]Divided into N cells.
S5: the lowest DC bus voltage that can normally operate isFor the switching frequency, a switching frequency threshold f is set 0 The following optimization objectives are obtained:
wherein Y is defined by the rated DC bus voltage of the motor and the fixed switching frequencyThe obtained output period current ripple effective value;
V s and />Stator phase current, phase voltage amplitude and power factor angle under the same conditions;
and />For different theta i Corresponding dc bus voltage and switching frequency.
4. A control method of a variable frequency and variable voltage permanent magnet synchronous motor according to claim 3, wherein:
5. a control method of a variable frequency and variable voltage permanent magnet synchronous motor according to claim 3, wherein: the third step comprises the following specific contents:
s1: setting up a hidden pole type permanent magnet synchronous motor model, and obtaining a motor from a Scope module when stably operating under the rated direct current bus voltage and the fixed switching frequencyV s 、/>And m, pass->Obtaining Y;
s2: obtaining specific test conditions in IGBT device manualObtaining V nom 、I nom 、r co and Vce0 ；
S3: converting the integral form of the objective function into a sum form, and substituting the objective function and constraint conditions into a Matlab optimization tool box to obtain
S4: will differ by theta i Voltage of (2)Summing the values and averaging to obtain a voltage V dc-opt 。
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