CN117856665B - Method and device for starting three-level inverter permanent magnet synchronous motor in galloping mode - Google Patents
Method and device for starting three-level inverter permanent magnet synchronous motor in galloping mode Download PDFInfo
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Abstract
The invention relates to the technical field of motor control and discloses a three-level inverter permanent magnet synchronous motor galloping starting method and device, wherein the method comprises the steps of firstly detecting the shutdown state of a frequency converter, if not, repeatedly detecting, tracking the rotating speed, detecting whether the motor is in the shutdown state, if not, starting the galloping, if so, normally starting the galloping, and the method does not use a motor voltage acquisition device, thereby saving the cost and simultaneously increasing the reliability of a system; the two switching tubes of one phase lower bridge are always started when the galloping is started, so that charging voltage and large current impact of a bus are not caused, and particularly for a three-level topological structure, the inverter is protected from overvoltage stress impact in the galloping starting process, and the problem that in the prior art, bus voltage fluctuation is easy to cause and the actual operation failure rate is high is solved.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a galloping starting method and device for a permanent magnet synchronous motor of a three-level inverter.
Background
A permanent magnet synchronous motor (PERMANENT MAGNET Synchronous Motor, PMSM) is a synchronous motor that uses permanent magnets as excitation sources. It has the advantages of high efficiency, high power density, high torque density, good dynamic performance and the like, so that the method is widely applied in a plurality of fields.
The permanent magnet synchronous motor consists of a stator and a rotor. The stator is wound with three-phase symmetrical windings, and the stator windings are supplied with an alternating current power supply to generate a rotating magnetic field. The rotor is provided with permanent magnets, the magnetic fields of which interact with the magnetic fields of the stator to generate torque to operate the motor.
Galloping refers to a mode of starting that accelerates the motor from a stationary state to an operating state. In conventional starting methods, the motor typically needs to be gradually accelerated to a nominal rotational speed and then synchronized with the grid. The fly-over is started by controlling the output voltage and frequency of the inverter to enable the motor to rotate at a higher rotating speed and then to be synchronous with the power grid.
The existing permanent magnet synchronous motor galloping starts mostly by adopting a 0 vector voltage method, a motor winding short-circuit method or a 0 current flux linkage observation method; because the three-level circuit structure is complex in topology, no mature and reliable sensorless method exists at present for starting the permanent magnet synchronous motor in the three-level topology, a voltage sampling sensor is generally added, and the motor rotating speed and the real-time phase before starting are calculated by collecting the counter electromotive force of the motor.
Firstly, the problems of uncertain initial ripple width and phase of the 0 vector voltage method, the motor winding short circuit method or the 0 current flux linkage observation method are solved, busbar voltage fluctuation and even overvoltage are easy to cause, and current and torque impact is large in the starting process of the motor; the three-level structure has complex topology, the existing scheme for increasing the voltage sampling hardware increases the cost, reduces the failure rate of actual operation, and has lower economy.
Disclosure of Invention
The invention aims to provide a galloping starting method and device for a three-level inverter permanent magnet synchronous motor, and aims to solve the problem that in the prior art, bus voltage fluctuation is easy to cause, and the actual operation failure rate is high.
The invention is realized in such a way that in a first aspect, the invention provides a three-level inverter permanent magnet synchronous motor galloping starting method, which comprises the following steps:
Performing heuristic processing on a motor by a three-phase bridge-down heuristic wave generation method to obtain feedback current of the motor, judging and processing a back electromotive force instantaneous value of the motor according to a preset standard on the feedback current, and determining a pipe opening action of the next period according to a judgment and processing result;
Switching a switching tube of the next period according to the tube opening action of the next period determined by the judging process, recording a motor phase after switching the switching tube as an open phase A, and judging the feedback current of the open phase A:
If the feedback current of the open phase A which is larger than the preset current threshold value does not appear in the preset time standard, judging that the galloping start is not needed, and directly switching to a current and speed double closed loop stage;
if the feedback current of the open phase A larger than the preset current threshold value appears in the preset time standard, the rotor rotating electrical angular frequency of the motor is carried out according to the change of the feedback current of the open phase A Is determined by:
If the rotor of the motor rotates at an electrical angular frequency Less than the preset minimum frequency/>, of galloping startJudging that the galloping start is not needed, and directly switching to the current and speed double closed loop stage;
If the rotor of the motor rotates at an electrical angular frequency Is greater than the preset minimum frequency/>And judging that the galloping start is needed, switching to a 0-current closed-loop stage, and entering the current and speed double-closed-loop stage.
Preferably, the three-level inverter has a U-phase having upper bridge switches S1, S2 and lower bridge switches S3, S4, a V-phase having upper bridge switches S5, S6 and lower bridge switches S7, S8, and a W-phase having upper bridge switches S9, S10 and lower bridge switches S11, S12;
The step of performing heuristic processing on the motor by using a three-phase bridge-falling heuristic wave generation method to obtain feedback current of the motor, performing judgment processing on a back electromotive force instantaneous value of the motor on the feedback current according to a preset standard, and determining a pipe opening action of the next period according to a judgment processing result comprises the following steps:
Transmitting a probing switch driving signal to the lower bridge switches S3 and S4 of the U phase at a fixed frequency, and obtaining the corresponding output loop current of the U phase Output reflux of the V phase/>And the output reflux current/>, of the W phase; The frequency of the probing switch driving signal is 20-200 times of the maximum operating frequency of the motor;
According to preset standard The/>And said/>Judging to obtain the tube opening action of the three-level inverter in the next period;
The preset standard specifically comprises the following steps: when said 、/>、/>Are all smaller than a preset current threshold/>When the back electromotive force instantaneous value of the U phase of the motor is minimum, the lower bridge switches S3 and S4 of the U phase are continuously turned on in the next period; when (when)At the same time/>When the moment, judging that the instantaneous value of the back electromotive force of the V phase of the motor is minimum, and switching to a lower bridge switch S7 and S8 for opening the V phase in the next period; when/>At the same time/>And at this time, judging that the instantaneous value of the back electromotive force of the W phase of the motor is minimum, and switching to turn on the lower bridge switches S11 and S12 of the W phase in the next period.
Preferably, the preset time standard is a preset minimum frequency of galloping startThe corresponding electrical cycle time is twice as long.
Preferably, if the feedback current of the open phase a greater than a preset current threshold occurs within a preset time standard, the rotor rotation electrical angular frequency of the motor is performed according to the change of the feedback current of the open phase aThe step of judging of (a) includes:
recording the time when the feedback current of the open phase A larger than a preset current threshold appears as And recordOutput loop current/>, of U-phase at timeOutput reflux of the V phase/>The output reflux current of the W phase；
According to preset standardThe/>And said/>Judging to obtain the pipe opening action of the next period;
the preset standard specifically comprises the following steps: if the current open phase is U phase, and When the phase is opened next time, the phase is V phase; if the current open phase is U phase, andWhen the phase is opened next time, the phase is the W phase; if the current open phase is V phase, andWhen the phase is turned on next time, the phase is the U phase; if the current open phase is V phase, andWhen the phase is opened next time, the phase is the W phase; if the current open phase is W phase, andWhen the phase is turned on next time, the phase is the U phase; if the current open phase is W phase, andWhen the phase is opened next time, the phase is V phase;
Applying an opening driving signal to two lower bridge switches of an opening phase in the next period according to the opening operation of the three-level inverter in the next period obtained by judgment processing so as to switch corresponding switching tubes;
repeating the cycle according to a preset standard The/>And said/>Judging to obtain the opening operation of the next period, applying opening driving signals to two lower bridge switches of an opening phase in the next period according to the opening operation of the three-level inverter in the next period, so as to switch the corresponding switching tube until the opening phase A appears, and recording the time at the moment as/>; Wherein the cycle times are three times, and the motor rotates for one electric period;
According to the described And said/>Calculating the rotational electrical angular frequency/>, of the rotor at the moment of the motorAnd calculating the phase/>, of the motor rotor of the minimum back electromotive force switching electricity according to a preset standard; Wherein,；
The preset standard specifically comprises the following steps: if the current open phase is U phase and the next open phase is V phase, the phase330 °; If the current open phase is U phase and the next open phase is W phase, the phase/>330 °; If the current open phase is V phase and the next open phase is U phase, the phase/>210 °; If the current open phase is V phase and the next open phase is W phase, the phase/>90 °; If the current open phase is W phase and the next open phase is U phase, the phase/>210 °; If the current open phase is W phase and the next open phase is V phase, the phase/>90 Deg..
Preferably, the step of the 0-current closed loop phase includes:
According to the rotational electrical angular frequency of the rotor And phase/>, of the motor rotorAssigning to a rotor position observer of an electric machine to initialize the rotor position observer of the electric machine and to generate an electric angular frequency/>, based on the rotor rotationAnd the phase/>, of the motor rotorInitializing the amplitude and the phase of the output voltage of the three-level inverter; wherein the amplitude of the output voltage initialized by the three-level inverter is the rotation electrical angular frequency of the rotor of the motor at the momentThe phase of the output voltage initialized by the three-level inverter is/>, corresponding to the counter electromotive force value of the motor；
Initializing the speed loop controller of the motor to output 0, forcing the current instructions of the D axis and the Q axis controlled by the motor to be 0, enabling the three-level inverter to normally generate wave to output, simultaneously driving a rotor position observer of the motor for 4-100ms, enabling a rotor position observer model to converge to the real rotating speed and the real phase of the motor under 0 current, and obtaining the real-time rotor electric angular frequency of the motor observed by the rotor position observer of the motor at the moment。
Preferably, the step of the current and speed double closed loop stage comprises:
Electrical angular frequency of the rotor The speed loop controller is assigned to the motor, and meanwhile, the output voltage of the speed loop controller is output to serve as a current given instruction of the Q axis, so that current and speed double closed-loop control is completed;
To be used for Based on the setting of the acceleration/deceleration time, a frequency command is transmitted.
Preferably, the rotor electrical angular frequency when switching directly from the three-phase lower bridge heuristic wave generation phase to the cut-in current, speed double closed loop phaseIs 0.
In a second aspect, the present invention provides a three-level inverter permanent magnet synchronous motor galloping starting device, including:
The heuristic wave module is used for performing heuristic processing on the motor through a three-phase bridge-down heuristic wave generation method to obtain feedback current of the motor, judging and processing the back electromotive force instantaneous value of the motor according to a preset standard on the feedback current, and determining the pipe opening action of the next period according to the judging and processing result;
the judging and processing module is used for switching the switching tube of the next period according to the tube opening action of the next period determined by the judging and processing, recording the motor phase after switching the switching tube as an open phase A, and judging and processing the feedback current of the open phase A:
If the feedback current of the open phase A which is larger than the preset current threshold value does not appear in the preset time standard, judging that the galloping start is not needed, and directly switching to a current and speed double closed loop stage;
if the feedback current of the open phase A larger than the preset current threshold value appears in the preset time standard, the rotor rotating electrical angular frequency of the motor is carried out according to the change of the feedback current of the open phase A Is determined by:
If the rotor of the motor rotates at an electrical angular frequency Less than the preset minimum frequency/>, of galloping startJudging that the galloping start is not needed, and directly switching to the current and speed double closed loop stage;
If the rotor of the motor rotates at an electrical angular frequency Is greater than the preset minimum frequency/>And judging that the galloping start is needed, switching to a 0-current closed-loop stage, and entering the current and speed double-closed-loop stage.
The invention provides a galloping starting method of a three-level inverter permanent magnet synchronous motor, which has the following beneficial effects:
The invention detects the frequency converter to shut down the state at first, if otherwise detect repeatedly, carry on the rotational speed to trace, and detect the motor to be in the state of shutting down, if otherwise the galloping starts, the normal start is carried out, the invention does not use the voltage acquisition device of the motor, while having saved the cost and increased the reliability of the system; the two switching tubes of one phase lower bridge are always started when the galloping is started, so that bus charging voltage and large current impact are not caused, and particularly for a three-level (NPC) topological structure, the inverter is protected from overvoltage stress impact in the galloping starting process, and the problem that in the prior art, bus voltage fluctuation is easy to cause, and the actual operation failure rate is high is solved.
Drawings
Fig. 1 is a schematic structural diagram of a three-level inverter according to an embodiment of the present invention;
Fig. 2 is a schematic flow chart of a galloping starting method of a permanent magnet synchronous motor of a three-level inverter provided by the invention;
fig. 3 is a logic diagram of phase sequence and next period open phase judgment of a three-level inverter according to the present invention;
Fig. 4 is a graph of motor rotor phase at a minimum back emf switching point provided by the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The implementation of the present invention will be described in detail below with reference to specific embodiments.
Referring to fig. 1 and 2, a preferred embodiment of the present invention is provided.
In a first aspect, the invention provides a three-level inverter permanent magnet synchronous motor galloping starting method, and the method provided by the invention is applied to the three-level inverter and the permanent magnet synchronous motor galloping starting.
It should be noted that, in the embodiment provided in the present invention, the three-level inverter is a power electronic device for driving an ac motor, and is capable of converting electric energy of a dc power source into electric energy to be supplied to the motor, and has a U-phase, a V-phase, and a W-phase, each phase has two upper bridge switches and two lower bridge switches, specifically, the U-phase has upper bridge switches S1 and S2 and lower bridge switches S3 and S4, the V-phase has upper bridge switches S5 and S6 and lower bridge switches S7 and S8, and the W-phase has upper bridge switches S9 and S10 and lower bridge switches S11 and S12.
More specifically, the upper bridge switch and the lower bridge switch are generally referred to as two parts in an inverter topology structure, and are used for controlling an output voltage, and the upper bridge switch and the lower bridge switch jointly realize adjustment and control of the output voltage by controlling on and off of a switching tube.
Specifically, in the embodiment of the invention, the galloping starting method of the three-level inverter permanent magnet synchronous motor is divided into three phases, wherein the first phase is a three-phase lower bridge trial wave generation phase, the second phase is a 0-current closed loop phase, and the third phase is a cut-in current and speed double closed loop phase.
The first stage is performed first, and the determination is made based on the acquired data, whether the third stage is performed directly or whether the second stage is performed first and then the third stage is performed.
Specifically, in the first stage, three-phase bridge-down probing wave generation stage:
The first step, a probing switch driving signal is sent to the lower bridge switches S3 and S4 of the U phase at a fixed frequency, and the corresponding output loop current of the U phase is obtained Output reflux of V phase/>Output reflux current of W phase/>; Wherein the switching frequency is typically 20-200 times the maximum frequency of operation of the motor, e.g. 100Hz electrical frequency of maximum operation of the motor, where the switching frequency is optionally 2.0kHz-20.0kHz.
More specifically, according to a preset standard pair、/>/>And judging to obtain the opening operation of the three-level inverter in the next period.
More specifically, for pairing、/>/>The preset standard for the judgment processing specifically comprises: when/>、、/>Are all smaller than a preset current threshold/>When the back electromotive force instantaneous value of the U phase of the motor is minimum, the lower bridge switches S3 and S4 of the U phase are continuously turned on in the next period; when/>At the same time/>When the moment, judging that the instantaneous value of the back electromotive force of the V phase of the motor is minimum, and switching to a lower bridge switch S7 and S8 for opening the V phase in the next period; when/>At the same time/>And at this time, judging that the instantaneous value of the back electromotive force of the W phase of the motor is minimum, and switching to turn on the lower bridge switches S11 and S12 of the W phase in the next period.
Step two, switching the corresponding switching tube in the next period according to the tube opening action of the three-level inverter in the next period obtained by judgment processing, and obtaining a corresponding open phase A; wherein the open phase A is a motor phase for connecting with a power source to provide voltage and current to the motor, at this time、/>/>Are all smaller than a preset current threshold/>。
Third, keep opening phase A unchanged and opposite、/>/>Judging the line number value:
If the minimum frequency is started at the preset galloping The open-phase current does not appear to be greater than the preset current threshold/>, within twice the corresponding electrical cycle timeJudging that the motor is in a static state, directly switching to a cut-in current and speed double closed loop stage without starting a flying vehicle, and recording/>=0。
If the minimum frequency is started at the preset gallopingOccurs/is > within twice the corresponding electrical cycle time、/>/>Greater than a preset current threshold/>In this case, the corresponding time is recorded as/>And record/>Output loop current I u1/>, of U phase at timeOutput reflux I v1/>, of V phaseOutput reflux current I w1/>, of W phase。
According to preset standard pairs、/>/>And judging to obtain the pipe opening action of the next period.
The preset standard specifically comprises the following steps: if the current open phase is U phase, andWhen the phase is opened next time, the phase is V phase; if the current open phase is U phase and/>When the phase is opened next time, the phase is the W phase; if the current open phase is V phase and/>When the phase is turned on next time, the phase is the U phase; if the current open phase is V phase and/>When the phase is opened next time, the phase is the W phase; if the current open phase is W phase and/>When the phase is turned on next time, the phase is the U phase; if the current open phase is W phase, andAnd when the phase is opened next time, the phase is V phase.
Referring to fig. 3, fig. 3 is a logic diagram of phase sequence and next period open phase judgment provided by the present invention.
And fourthly, applying an opening driving signal to two lower bridge switches of the opening phase in the next period according to the opening operation of the three-level inverter in the next period, so as to switch the corresponding switching tube.
Repeating the cycle according to the preset standard pair、/>And/>Judging to obtain the opening operation of the next period, applying opening driving signals to two lower bridge switches of the opening phase in the next period according to the opening operation of the three-level inverter in the next period, so as to switch the corresponding switching tube until the opening phase A appears, and recording the time at the moment as/>; Wherein the cycle number is three, and the motor rotates for one electrical cycle.
Fifth step, according toAnd/>Calculating the rotational electrical angular frequency/>, of the rotor at the moment of the motorAnd calculating the phase/>, according to a preset standard, of the motor rotor for obtaining the minimum back electromotive force switching electricity; Wherein/>。
The preset standard specifically comprises the following steps: if the current open phase is U phase and the next open phase is V phase, then the phase330 °; If the current open phase is U phase and the next open phase is W phase, phase/>330 °; If the current open phase is V phase and the next open phase is U phase, then phase/>210 °; If the current open phase is V phase and the next open phase is W phase, then phase/>90 °; If the current open phase is W phase and the next open phase is U phase, then phase/>210 °; If the current open phase is W phase and the next open phase is V phase, then phase/>90 Deg..
Referring to fig. 4, fig. 4 is a phase diagram of a motor rotor at a minimum back emf switching point provided by the present invention.
According to the basic principle of power electronics, when the rotor position is between 210 degrees and 150 degrees, the back electromotive force of the U phase is minimum, if S3 and S4 are conducted at the moment, all other switching tubes are closed, and anti-parallel freewheeling diodes D7, D8, D11 and D12 on the V, W two-phase lower bridge are reversely turned off and are not conducted, so that the three-phase current of the motor is 0 at the moment.
And so on, when the rotor position is 330-90 degrees, the back electromotive force of the V phase is minimum, if S7 and S8 are conducted at the moment, all other switching tubes are closed, and anti-parallel freewheeling diodes D3, D4, D11 and D12 on the U, W two-phase lower bridge are reversely turned off and are not conducted, so that the three-phase current of the motor is 0 at the moment.
When the rotor position is between 90 degrees and 210 degrees, the back electromotive force of the W phase is minimum, if at the moment, S11 and S12 are conducted, all other switching tubes are closed, and anti-parallel freewheeling diodes D3, D4, D7 and D8 on the U, W two-phase lower bridge are reversely turned off and are not conducted, so that the three-phase current of the motor is 0.
When the rotor position is 330-360 degrees, the counter electromotive force of the U phase is an intermediate value, at the moment, in the S3 and S4 conduction stage, under the condition of positive sequence UVW, the counter electromotive force of the V phase is minimum, the counter electromotive forces of the W phase are maximum, the D11 and the D12 are reversely turned off and are not conducted, the D7 and the D8 are conducted, the motor current flows from the U phase to the V phase, under the condition of reverse sequence UWV, the counter electromotive force of the W phase is minimum, the counter electromotive forces of the V phase are maximum, the counter electromotive forces of the D7 and the D8 are reversely turned off and are not conducted, the D11 and the D12 are conducted, and the motor current flows from the U phase to the W phase.
Thus, when the U-phase current increases slowly from 0 to exceed the set current thresholdAt this time, it can be determined that the absolute position of the motor rotor is 330 °.
Similarly, when the V-phase current increases gradually from 0 to exceed the set current thresholdAt this time, it can be determined that the absolute position of the motor rotor is 90 ° (positive sequence UVW) or 210 ° (reverse sequence UWV).
When the W-phase current gradually increases from 0 to exceed the set current threshold valueAt this time, it can be determined that the absolute position of the motor rotor is 210 ° (positive sequence UVW) or 90 ° (reverse sequence UWV).
According to the principle, the motor rotor speed and the rotor phase before starting can be calculated by setting specific switching logic.
Sixth step, when the rotor rotates at the electrical angular frequencyWhen the frequency is smaller than the preset minimum frequency for starting the galloping, the current and speed switching stage is directly switched into a switching-in current and speed double-closed loop stage, and/>, the switching-in current and speed double-closed loop stage is recorded=0。
And when the calculated frequency is greater than the preset minimum galloping starting frequency, switching to a 0-current closed loop stage.
Seventh step, according to the rotation electric angular frequency of the rotorAnd phase/>, of the motor rotorAssigning a value to a rotor position observer of the electric machine to initialize the rotor position observer of the electric machine and to determine the electric angular frequency/>, according to the rotation of the rotorAnd phase/>, of the motor rotorInitializing the amplitude and the phase of the output voltage of the three-level inverter; wherein the amplitude of the output voltage initialized by the three-level inverter is the motor back electromotive force value corresponding to the rotor rotation electrical angular frequency of the motor at the moment, and the phase of the output voltage initialized by the three-level inverter is/>。
Eighth step, initializing the speed loop controller of the motor to output 0, forcing the current command of the D axis and the Q axis controlled by the given motor to be 0, enabling the three-level inverter to normally generate wave output, simultaneously driving the rotor position observer of the motor for 4-100ms, enabling the rotor position observer model to converge to the real rotating speed and the real phase of the motor under 0 current, and obtaining the real-time rotor electric angular frequency of the motor observed by the rotor position observer of the motor at the moment。
Third stage, switching-in current and speed double closed loop stage:
Ninth, the electric angular frequency of the rotor is increased And assigning the current to a speed loop controller of the motor, and simultaneously outputting the output voltage of the speed loop controller as a current given instruction of a Q axis to complete current and speed double closed-loop control.
Tenth step ofBased on the setting of the acceleration/deceleration time, a frequency command is transmitted.
Referring to fig. 2, the basic flow of the embodiment provided by the present invention is: detecting the shutdown state of the frequency converter, if not, repeating the detection, if so, carrying out rotation speed tracking, and detecting whether the motor is in the shutdown state, and if not, starting the galloping, if so, starting normally.
The invention provides a galloping starting method of a three-level inverter permanent magnet synchronous motor, which has the following beneficial effects:
The invention detects the frequency converter to shut down the state at first, if otherwise detect repeatedly, carry on the rotational speed to trace, and detect the motor to be in the state of shutting down, if otherwise the galloping starts, the normal start is carried out, the invention does not use the voltage acquisition device of the motor, while having saved the cost and increased the reliability of the system; the two switching tubes of one phase lower bridge are always started when the galloping is started, so that bus charging voltage and large current impact are not caused, and particularly for a three-level (NPC) topological structure, the inverter is protected from overvoltage stress impact in the galloping starting process, and the problem that in the prior art, bus voltage fluctuation is easy to cause, and the actual operation failure rate is high is solved.
In a second aspect, the present invention provides a three-level inverter permanent magnet synchronous motor galloping starting device, including:
The three-phase bridge-down heuristic wave-sending module is used for realizing a three-phase bridge-down heuristic wave-sending stage:
Performing heuristic processing on a motor by a three-phase bridge-down heuristic wave generation method to obtain feedback current of the motor, judging and processing a back electromotive force instantaneous value of the motor according to a preset standard on the feedback current, and determining a pipe opening action of the next period according to a judgment and processing result;
Switching a switching tube of the next period according to the tube opening action of the next period determined by the judging process, recording a motor phase after switching the switching tube as an opening phase A, judging the feedback current of the opening phase A, and determining whether the galloping start is needed according to the judging process result;
the method comprises the following specific steps:
If the feedback current of the open phase A which is larger than the preset current threshold value does not appear in the preset time standard, judging that the galloping start is not needed, and directly switching to a current and speed double closed loop stage;
If the feedback current of the open phase A larger than the preset current threshold appears in the preset time standard, judging that the galloping start is needed, and recording the time of the feedback current of the open phase A larger than the preset current threshold as T1;
Repeatedly and circularly judging the back electromotive force instantaneous value of the motor according to a preset standard, determining the opening operation of the next period according to the judging result, switching the switching tube of the next period according to the opening operation of the next period determined by the judging process until the opening phase A appears, and recording the time at the moment as T2;
calculating the rotor rotational electrical angular frequency of the motor based on said T1 and said T2 And a minimum back emf switching motor rotor phase θ est when the rotor rotates an electrical angular frequency/>Less than the preset minimum frequency/>, of galloping startWhen the rotor rotates, the electric angular frequency/>, is directly switched to a current and speed double closed loop stageIs greater than the preset minimum frequency/>When the current is switched to a 0-current closed loop stage;
The 0 current closed loop module is used for realizing the 0 current closed loop stage:
According to the rotational electrical angular frequency of the rotor And phase/>, of the motor rotorInitializing the amplitude and the phase of the output voltage of a rotor position observer and a three-level inverter of the motor;
Initializing the speed loop controller of the motor to output 0, forcing the current instructions of the D axis and the Q axis controlled by the motor to be 0, enabling the three-level inverter to normally generate wave to output, simultaneously driving a rotor position observer of the motor for 4-100ms, enabling a rotor position observer model to converge to the real rotating speed and the real phase of the motor under 0 current, and obtaining the real-time rotor electric angular frequency of the motor observed by the rotor position observer of the motor at the moment ；
The switching-in current and speed double-closed-loop module is used for realizing switching-in current and speed double-closed-loop stages:
Electrical angular frequency of the motor rotor The speed loop controller is assigned to the motor, and meanwhile, the output voltage of the speed loop controller is output to serve as a current given instruction of the Q axis, so that current and speed double closed-loop control is completed;
To be used for Based on the setting of the acceleration/deceleration time, a frequency command is transmitted.
In this embodiment, for specific implementation of each module in the above embodiment of the apparatus, please refer to the description in the above embodiment of the method, and no further description is given here.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. The galloping starting method of the three-level inverter permanent magnet synchronous motor is characterized by comprising the following steps of:
Performing heuristic processing on a motor by a three-phase bridge-down heuristic wave generation method to obtain feedback current of the motor, judging and processing a back electromotive force instantaneous value of the motor according to a preset standard on the feedback current, and determining a pipe opening action of the next period according to a judgment and processing result;
Switching a switching tube of the next period according to the tube opening action of the next period determined by the judging process, recording a motor phase after switching the switching tube as an open phase A, and judging the feedback current of the open phase A:
If the feedback current of the open phase A which is larger than the preset current threshold value does not appear in the preset time standard, judging that the galloping start is not needed, and directly switching to a current and speed double closed loop stage;
If the feedback current of the open phase A larger than the preset current threshold appears in the preset time standard, judging the rotor rotating electrical angular frequency W est of the motor according to the change of the feedback current of the open phase A:
If the rotor rotation electric angular frequency W est of the motor is smaller than the preset galloping start minimum frequency W min, judging that galloping start is not needed, and directly switching to the current and speed double closed loop stage;
If the rotor rotation electric angular frequency W est of the motor is larger than the preset galloping start minimum frequency W min, judging that galloping start is needed, switching to a 0-current closed-loop stage, and then entering the current and speed double-closed-loop stage;
The three-level inverter has a U-phase with upper bridge switches S1, S2 and lower bridge switches S3, S4, a V-phase with upper bridge switches S5, S6 and lower bridge switches S7, S8, and a W-phase with upper bridge switches S9, S10 and lower bridge switches S11, S12;
The step of performing heuristic processing on the motor by using a three-phase bridge-falling heuristic wave generation method to obtain feedback current of the motor, performing judgment processing on a back electromotive force instantaneous value of the motor on the feedback current according to a preset standard, and determining a pipe opening action of the next period according to a judgment processing result comprises the following steps:
Transmitting a probing switch driving signal to the lower bridge switches S3 and S4 of the U phase at a fixed frequency, and obtaining corresponding output loop current Iu0 of the U phase, output reflux Iv0 of the V phase and output reflux current Iw0 of the W phase; the frequency of the probing switch driving signal is 20-200 times of the maximum operating frequency of the motor;
Judging the Iu0, the Iv0 and the Iw0 according to a preset standard to obtain the tube opening action of the three-level inverter in the next period;
The preset standard specifically comprises the following steps: when the I Iu 0I, the I Iv 0I and the I Iw0I are smaller than a preset current threshold value Imin, judging that the instantaneous value of the back electromotive force of the U phase of the motor is minimum at the moment, and continuously opening the lower bridge switches S3 and S4 of the U phase in the next period; when |Iu0| > Imin and |Iv0| > Iw0|, judging that the instantaneous value of the back electromotive force of the V phase of the motor is minimum at the moment, and switching to turn on the lower bridge switches S7 and S8 of the V phase in the next period; when |Iu0| > Imin and |Iv0| < Iw0|, judging that the instantaneous value of the back electromotive force of the W phase of the motor is minimum at the moment, and switching to turn on the lower bridge switches S11 and S12 of the W phase in the next period;
If the feedback current of the open phase a greater than the preset current threshold occurs within the preset time standard, the step of determining the rotor rotation electrical angular frequency W est of the motor according to the change of the feedback current of the open phase a includes:
Recording the time of the feedback current of the open phase A which is larger than a preset current threshold as T1, and recording the output loop current Iu1 of the U phase, the output reflux Iv1 of the V phase and the output reflux current Iw1 of the W phase at the moment of T1;
Judging the Iu0, the Iv0 and the Iw0 according to a preset standard to obtain a pipe opening action of the next period;
The preset standard specifically comprises the following steps: if the current opening phase is U phase, and Iu1> Imin, |iv1| > Imin, |iw1| < Imin, the next opening phase is V phase; if the current opening phase is U phase, and Iu1> Imin, |Iv1| < Imin, |Iw1| > Imin, then the next opening phase is W phase; if the current opening phase is V phase, and I Iu 1I > Imin, iv1> Imin and I Iw1I < Imin, the next opening phase is U phase; if the current opening phase is V phase, and Iiu 1I < Imin, iv1> Imin, and IIw1I > Imin, the next opening phase is W phase; if the current opening phase is W phase and Iiu 1I > Imin, |Iv1| < Imin, iw1> Imin, then the next opening phase is U phase; if the current opening phase is W phase and Iiu 1I < Imin, |Iv1I > Imin and Iw1> Imin, the next opening phase is V phase;
Applying an opening driving signal to two lower bridge switches of an opening phase in the next period according to the opening operation of the three-level inverter in the next period obtained by judgment processing so as to switch corresponding switching tubes;
Repeatedly cycling, judging the Iu0, the Iv0 and the Iw0 according to a preset standard to obtain a tube opening action of the next period, applying opening driving signals to two lower bridge switches of an opening phase in the next period according to the tube opening action of the three-level inverter obtained by the judging process, so as to switch corresponding switching tubes until the opening phase A appears, and recording the time at the moment as T2; wherein the cycle times are three times, and the motor rotates for one electric period;
according to the T1 and the T2, calculating the rotor rotation electric angular frequency West of the motor at the moment, and calculating the phase θest of the motor rotor of the minimum back electromotive force switching electricity according to a preset standard; wherein west= (2pi)/(T2-T1);
The preset standard specifically comprises the following steps: if the current open phase is the U phase and the next open phase is the V phase, the phase θest is 330 degrees; if the current open phase is the U phase and the next open phase is the W phase, the phase θest is 330 degrees; if the current opening phase is V phase and the next opening phase is U phase, the phase θest is 210 degrees; if the current opening phase is V phase and the next opening phase is W phase, the phase θest is 90 degrees; if the current open phase is the W phase and the next open phase is the U phase, the phase θest is 210 degrees; if the current open phase is the W phase and the next open phase is the V phase, the phase θest is 90 °.
2. The method for starting a three-level inverter permanent magnet synchronous motor according to claim 1, wherein the preset time standard is twice the electric cycle time corresponding to the minimum preset galloping start frequency W min.
3. The method for starting a three-level inverter permanent magnet synchronous motor galloping of claim 1, wherein the step of the 0-current closed-loop phase comprises:
assigning values to a rotor position observer of the motor according to the rotor rotation electrical angular frequency West and the phase theta est of the motor rotor so as to initialize the rotor position observer of the motor, and initializing the amplitude and the phase of the output voltage of the three-level inverter according to the rotor rotation electrical angular frequency West and the phase theta est of the motor rotor; the amplitude of the output voltage initialized by the three-level inverter is a motor back electromotive force value corresponding to the rotor rotation electrical angular frequency W est of the motor at the moment, and the phase of the output voltage initialized by the three-level inverter is theta est;
And initializing and outputting the speed loop controller of the motor to be 0, forcing the current instructions of the D axis and the Q axis controlled by the motor to be 0, enabling the three-level inverter to normally generate wave and output, simultaneously driving a rotor position observer of the motor for 4-100ms, enabling a rotor position observer model to converge to the real rotating speed and the real phase of the motor under 0 current, and obtaining the real-time rotor electric angular frequency W fly of the motor observed by the rotor position observer of the motor at the moment.
4. A method of starting a three level inverter permanent magnet synchronous motor runaway as defined in claim 3 wherein said step of current, speed double closed loop phase comprises:
Assigning the rotor electric angular frequency W fly to a speed loop controller of the motor, and simultaneously outputting the output voltage of the speed loop controller as a current given instruction of the Q axis to complete current and speed double closed-loop control;
Based on W fly, a frequency command is transmitted according to the set acceleration/deceleration time.
5. The method of claim 4, wherein the rotor electrical angular frequency W fly is 0 when switching from the three-phase lower bridge probing ripple stage directly to the cut-in current, speed double closed loop stage.
6. A three-level inverter permanent magnet synchronous motor galloping starting device, characterized in that the galloping starting device is used for realizing the three-level inverter permanent magnet synchronous motor galloping starting method according to any one of claims 1 to 5, and comprises the following steps:
The heuristic wave module is used for performing heuristic processing on the motor through a three-phase bridge-down heuristic wave generation method to obtain feedback current of the motor, judging and processing the back electromotive force instantaneous value of the motor according to a preset standard on the feedback current, and determining the pipe opening action of the next period according to the judging and processing result;
the judging and processing module is used for switching the switching tube of the next period according to the tube opening action of the next period determined by the judging and processing, recording the motor phase after switching the switching tube as an open phase A, and judging and processing the feedback current of the open phase A:
If the feedback current of the open phase A which is larger than the preset current threshold value does not appear in the preset time standard, judging that the galloping start is not needed, and directly switching to a current and speed double closed loop stage;
If the feedback current of the open phase A larger than the preset current threshold appears in the preset time standard, judging the rotor rotating electrical angular frequency W est of the motor according to the change of the feedback current of the open phase A:
If the rotor rotation electric angular frequency W est of the motor is smaller than the preset galloping start minimum frequency W min, judging that galloping start is not needed, and directly switching to the current and speed double closed loop stage;
If the rotor rotation electric angular frequency W est of the motor is larger than the preset galloping start minimum frequency W min, the galloping start is judged to be needed, the current is switched to a 0-current closed-loop stage, and then the current and speed double-closed-loop stage is entered.
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