CN210640824U

CN210640824U - Two-phase DC offset vernier motor controller

Info

Publication number: CN210640824U
Application number: CN201922179318.1U
Authority: CN
Inventors: 贾少锋; 李斌珂; 梁得亮; 闫宽宽; 刘进军
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-05-29
Anticipated expiration: 2029-12-06

Abstract

The utility model discloses a double-phase direct current offset vernier motor controller, including first subtractor, second subtractor, third subtractor, fourth subtractor, speed regulator, d axle current regulator, q axle current regulator, 0 axle current regulator, pulse width modulator, converter, motor position sensor, A looks and B phase current sensor and current transformer. The utility model discloses after topology optimization, the drive resource can fall for reducing half, and the control signal that control chip needs the output simultaneously also falls for original half.

Description

Two-phase DC offset vernier motor controller

Technical Field

The utility model belongs to alternating current motor drive control device, concretely relates to double-phase direct current offset vernier machine controller can be used to novel double-phase direct current offset vernier magnetic resistance and vernier permanent-magnet machine's drive control.

Background

The permanent magnet motor has the excellent characteristics of low speed and large torque, but the cost of the permanent magnet motor is high due to the higher price of the permanent magnet material, so that the application of the permanent magnet motor in industrial occasions is severely limited. Although the traditional switched reluctance motor has simple structure and low cost, the specific operation mode of the traditional switched reluctance motor determines that the noise and the vibration of the motor are large and the torque ripple is also large. These drawbacks affect the application of switched reluctance machines. In order to combine the advantages of both motors, three-phase dc-biased vernier reluctance motors have been proposed by researchers in recent years. However, the three-phase dc offset vernier motor requires too many power switches, which results in high cost of the driving and controlling units. The two-phase motor is shown in fig. 1, and includes a stator 01, a rotor 02, a winding 03, and other common structural members such as a rotating shaft, a casing, an end cover, and a position sensor. The motor can adopt a single-layer fractional-slot non-overlapping concentrated winding, the winding comprises A, B two phases, and each phase of the winding consists of two small fractional phases. The connection mode of the two small split phases is shown in figure 2. The winding current per phase is shown in fig. 3(a), 3(b) and 3 (c). When the DC bias sine current motor adopts the maximum torque current ratio control method, the amplitude of the DC excitation component needs to be kept equal to the amplitude of the AC component.

For such a dc offset motor in which each phase current includes two components, i.e., ac and dc, the existing controller generally adopts a single-phase full-bridge converter to control each phase current. The connection mode of one-phase winding of DC offset motor controller using single-phase full-bridge converter is shown in FIG. 4, and four turn-off power devices S₁₁、S₁₂、S₁₃、S₁₄The converter adopted by the controller occupies too many power electronic devices and resources of the controller.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a double-phase direct current offset vernier motor controller to what the converter that solves current controller adoption exists occupies the too much problem of power electronic device quantity and controller resource, the utility model discloses volume and weight are less, have avoided the direct risk of bridge arm that traditional structure exists in principle, have improved the system reliability, under the prerequisite of guaranteeing the controller performance, have effectively reduced power electronic device's use quantity, especially power device's use quantity, can reduce substantially the controller cost, are applicable to novel double-phase direct current offset vernier reluctance motor's drive control.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a two-phase DC offset vernier motor controller comprises a first subtracter, a second subtracter, a third subtracter, a fourth subtracter, a speed regulator, a d-axis current regulator, a q-axis current regulator, a 0-axis current regulator, a pulse width modulator, a current transformer, a motor position sensor, an A-phase current sensor, a B-phase current sensor and a current transformer;

the first subtracter is used for receiving a given value n of the rotating speed of the motor_rAnd a measured value n of the motor speed is obtained, and the difference value n is obtained_r-n is fed into a speed regulator, the output end of the speed regulator is respectively connected to a d-axis current regulator, a q-axis current regulator and a 0-axis current regulator through a second subtractor, a third subtractor and a fourth subtractor, the output ends of the d-axis current regulator, the q-axis current regulator and the 0-axis current regulator are respectively connected to a pulse width modulator, the output end of the pulse width modulator is connected to a current transformer, the output end of the current transformer is connected to a motor, a motor position sensor is connected to the motor, phase a and phase B current sensors are further connected between the current transformer and the motor, the output ends of the phase a and phase B current sensors are respectively connected to the second subtractor, the third subtractor and the fourth subtractor through current transformers, and the output end of the motor position sensor is respectively connected to the first subtractor, the pulse.

Further, the converter is composed of a direct current power supply, a first MOS field effect transistor S1, a second MOS field effect transistor S2, a third MOS field effect transistor S3, a fourth MOS field effect transistor S4, a first freewheeling diode D1, a second freewheeling diode D2, a third freewheeling diode D3, a fourth freewheeling diode D4 and a fifth freewheeling diode D5;

the drains of the first MOS field effect transistor S1, the second MOS field effect transistor S2, the third MOS field effect transistor S3 and the fourth MOS field effect transistor S4 are connected with the anode of the direct current power supply; the source electrode of the first MOS field effect transistor S1 is connected with the negative electrode of the first fly-wheel diode D1 and connected with the A end of the A-phase winding of the motor; the source electrode of the second MOS field effect transistor S2 is connected with the negative electrode of the second fly-wheel diode D2 and connected with the end B of the phase B winding of the motor; the source electrode of the third MOS field effect transistor S3 is connected with the negative electrode of the third fly-wheel diode D3 and is connected with the X end of the phase A winding of the motor; the source electrode of the fourth MOS field effect transistor S4 is connected with the negative electrode of the fourth fly-wheel diode D4 and is connected with the Y end of the B-phase winding of the motor; the cathodes of the first freewheeling diode D1, the second freewheeling diode D2, the third freewheeling diode D3, the fourth freewheeling diode D4 and the fifth freewheeling diode D5 are connected with the cathode of the direct-current power supply; the anode of the fifth freewheeling diode D5 and the midpoint A of the A, B phase winding of the motor_N、B_NConnecting; the pulse width modulator generates an A-phase PWM signal as a control signal for the gates of the first and third MOSFETs S1 and S3, and the pulse width modulator generates a B-phase PWM signal as a control signal for the gates of the second and fourth MOSFETs S2 and S4.

Compared with the prior art, the utility model discloses following profitable technological effect has:

the utility model discloses the converter is optimized traditional single-phase full-bridge converter topological structure, according to the single-phase current characteristic of load motor, but a shutoff power device of every half-bridge replaces with freewheeling diode, and the freewheeling diode who adopts need have fast recovery characteristic, and when the shutoff action is carried out to the device that can turn off, freewheeling diode can get into the on-state rapidly, constitutes motor single-phase current control circuit; because each bridge arm of the motor unidirectional current control loop only comprises a turn-off power device and a freewheeling diode, the danger of bridge arm direct connection is physically avoided, the problem of bridge arm direct connection caused by the traditional full-bridge structure converter is thoroughly solved, and the reliability and the stability of the system are enhanced.

Compare with traditional structure, constitute the utility model discloses in the power electronic device of converter, can turn-off device and diode quantity all reduce half, because the corresponding gate drive circuit that drives and to turn-off the device reduces half to the pulse width modulation output demand that is used for taking place PWM drive signal's digital signal processing also reduces in step, and required totality device is less, has reduced the volume and the weight of system, has improved the power density of system.

In conclusion, the utility model discloses volume and weight are less, have avoided the direct risk of bridge arm that traditional structure exists in principle, have improved system reliability, under the prerequisite of guaranteeing the controller performance, have effectively reduced power electronic device's use quantity, especially power device's use quantity, can reduce the controller cost by a wide margin, are applicable to novel double-phase direct current offset vernier reluctance motor's drive control.

Drawings

FIG. 1 is a schematic cross-sectional view of a two-phase DC-biased vernier reluctance motor;

FIG. 2 is a wiring diagram of the A-phase winding of the two-phase DC bias vernier reluctance motor;

FIG. 3(a) is a diagram illustrating a DC component of a phase current of a DC-biased vernier reluctance motor;

FIG. 3(b) is a schematic diagram of the AC component of one phase current of the DC-biased vernier reluctance motor;

FIG. 3(c) is a diagram of one-phase current of the DC-biased vernier reluctance motor;

fig. 4 is a schematic diagram of a connection mode (single-phase full-bridge inversion topology) of a phase winding of a conventional dc-biased motor controller;

fig. 5 is a schematic structural view of the present invention;

fig. 6 is a schematic diagram of the converter structure of the present invention.

Wherein, 1, a first subtracter; 2. a second subtractor; 3. a third subtractor; 4. a fourth subtractor; 5. a speed regulator; 6d, d-axis current regulators; 6q, q-axis current regulators; 60. a 0-axis current regulator; 7. a pulse width modulator; 8. a current transformer; 9. a motor; 10. a motor position sensor; 11. phase A and phase B current sensors; 12. a current transformer.

Detailed Description

The invention is further described with reference to the accompanying drawings:

the utility model discloses let the direct current component among the direct current bias circuit slightly be greater than alternating current component amplitude, output torque descends slightly this moment, but can guarantee that the motor current direction is unchangeable all the time when the operation, only the electric current size changes, so device S in figure 4₁₂And S₁₃The four devices output command voltage in a pulse width modulation mode only by playing a role of conducting follow current. Due to the power device S₁₂And S₁₃The winding current is not controlled, and the switching action is not required, so that the control device can be simplified into a freewheeling diode.

Through the analysis, the number of the turn-off power devices of the motor controller is reduced from 4 to 2 per phase, only one freewheeling diode is added per phase, the number of the turn-off power devices required by the whole system is reduced from 12 to 4, and the cost of the system is greatly reduced because the price of the turn-off power devices is higher than that of the freewheeling diodes.

The problem is explained by that in the field of motor control, the natural coordinate system ABC (three-phase stationary coordinate system) is often converted into two-phase stationary coordinate system α - β and synchronously rotated coordinate system dq0 (rotating coordinate system), the ABC axes are mutually different in 120 electrical angle in space, the d, q and 0 axes are mutually perpendicular in three-dimensional dq0 space and synchronously rotated around 0 axis at p omega r rotation speed, wherein p is the polar logarithm of the motor, omega_rIs the mechanical angular velocity of the motor. In the present invention, since there are only two phase windings, the conversion between the two phase stationary coordinate system and the rotating coordinate system can be directly performed.

In a traditional topological converter, each phase winding needs to be configured with two paths of PWM signals, and two groups of driving units and two paths of control signals are correspondingly needed. The utility model discloses after topology optimization, the drive resource can fall for reducing half, and the control signal that control chip needs the output simultaneously also falls for original half.

As shown in fig. 5, the present invention includes a first subtractor 1, a second subtractor 2, a third subtractor 3, a fourth subtractor 4, a speed regulator 5, a d-axis current regulator 6d, a q-axis current regulator 6q, a 0-axis current regulator 60, a pulse width modulator 7, a converter 8, a motor 9, a motor position sensor 10, a phase a and phase B current sensors 11, a current converter 12;

given value n of motor speed_rAnd the measured value n of the motor speed is sent to a first subtracter 1, n_rThe difference value of-n is fed into a speed regulator 5, and the speed regulator 5 outputs a q-axis current set value i^* _qBy adjusting i_qSo that n is_rThe difference of-n is always zero, i.e. n always follows n_rWhen the direct current bias sine current motor is in the working state of the maximum torque current ratio, the given value of the d-axis current is 0, and the given value of the q-axis current is equal to that of the 0-axis current, so that the given value i of the d-axis current can be obtained^* _dQ-axis current given value i^* _q0 given value of axial Current i^* ₀；

The motor speed measurement is a rotor position signal theta measured by a motor position sensor 10_rIs obtained by treatment, i.e. from

Obtaining;

d-axis current set value i^* _dAnd d-axis current feedback value i_dIs fed to said second subtractor 2, i^* _d-i_dIs fed to a d-axis current regulator 6d, said d-axis current regulator 6d outputting a d-axis voltage set value V^* _dBy adjusting V^* _dSo that i^* _d-i_dIs always zero, i.e. for i^* _dCarrying out no-difference tracking;

given value of q-axis current i^* _qAnd q-axis current feedback value i_qIs fed to said third subtractor 3, i^* _q-i_qIs fed into a q-axis current regulator 6q, said q-axis current regulator 6q outputting a q-axis voltage set value V^* _qBy adjusting V^* _qSo that i^* _q-i_qIs always zero, i.e. for i^* _qCarrying out no-difference tracking;

0 axis current set value i^* ₀And 0 axis current feedback value i₀Is fed to said fourth subtractor 4, i^* ₀-i₀The difference of (a) is fed to a 0-axis current regulator 60, and the 0-axis current regulator 60 outputs a 0-axis voltage set value V^* ₀By adjusting V^* ₀So that i^* ₀-i₀Is always zero, i.e. for i^* ₀Carrying out no-difference tracking;

V^* _d、V^* _q、V^* ₀inputting the signal into the pulse width modulator 7, performing space vector modulation, and generating an A-phase PWM signal and a B-phase PWM signal respectively;

as shown in fig. 6, the converter 8 is formed by connecting a dc power supply, 4 mosfets and 5 freewheeling diodes, wherein the drains of the first mosfet S1, the second mosfet S2, the third mosfet S3 and the fourth mosfet S4 are connected to the positive electrode of the dc power supply; the source electrode of the first MOS field effect transistor S1 is connected with the negative electrode of the first fly-wheel diode D1 and is connected with one end A of the phase A of the two-phase motor; the source electrode of the third MOS field effect transistor S3 is connected with the negative electrode of the third fly-wheel diode D3 and is connected with the other end X of the phase A of the two-phase motor; the source electrode of the second MOS field effect transistor S2 is connected with the negative electrode of the second fly-wheel diode D2 and is connected with the other end B of the B phase of the two-phase motor; the source electrode of the fourth MOS field effect transistor S4 is connected with the negative electrode of the third fly-wheel diode D4 and is connected with the other end Y of the B phase of the two-phase motor; the anodes of the first freewheeling diode D1, the second freewheeling diode D2, the third freewheeling diode D3 and the fourth freewheeling diode D4 are connected with the cathode of the direct-current power supply; the negative electrode of the fifth fly-wheel diode D5 is connected with the negative electrode of the direct current power supply, and the positive electrode of the fifth fly-wheel diode D5 is connected with the midpoint A of the phase winding of the two-phase motor A, B_N、B_NAre connected. The A-phase PWM signal is used as a control signal of the grid electrodes of the first MOS field effect transistor S1 and the third MOS field effect transistor S3 of the inverter, and the B-phase PWM signal is used as a control signal of the second MOS field effect transistor S2 and the fourth MOS field effect transistor S3 of the inverterA control signal for the gate of the effect transistor S4;

as shown in fig. 5, the output voltage of the converter 8 acts on the dc-biased sinusoidal current motor phase winding to control the A, B phase current of the winding of the dc-biased vernier reluctance motor 9, and generates a sinusoidal current signal with dc bias corresponding to the input PWM signal; finally, the current of the d, q and 0 axes is tracked without difference;

the A-phase and B-phase current sensors 11 respectively measure and obtain two split-phase current signals i of the A-phase_A+、i_A-B phase two split-phase current signal i_B+、i_B-Motor rotor position signal θ detected by motor position sensor 10_rAnd i_A+、i_A-、i_B+、i_B-Inputting the current into the current converter, performing stationary-rotating coordinate transformation by the current converter 12 to obtain d, q, and 0 axis current signals as d axis current feedback values i_dQ-axis current i_q0 axis current feedback value i₀；

The speed regulator 5 outputs a q-axis current set value i according to the following process_q；

The speed regulator 5 determines its input if n_rThe difference of-n is zero, keeping i at this time_qIs constant and output;

if n is_rIf the difference between-n is positive, the q-axis current given value i is continuously increased_qUntil the feedback value n of the motor rotating speed_rIs increased so that n_rN zero, holding at this time i_qIs constant to maintain n_rThe difference of n is always zero;

if n is_rThe difference between-n is negative, the given value i of the q-axis current is continuously reduced_qUntil the feedback value n of the motor rotating speed_rIs reduced so that n_rN is zero, holding time i_qIs constant to maintain n_rThe difference of n is always zero;

the d-axis current regulator outputs a d-axis voltage set value V according to the following process^* _d；

The d-axis current regulator 6d judges the input thereof, if i^* _d-i_dIf the difference value of (c) is zero, V is maintained at this time^* _dIs constant and output;

if i^* _d-i_dIf the difference value of (d) is positive, the d-axis voltage given value V is continuously increased^* _dUp to d-axis current feedback value i_dIs increased so that i^* _d-i_dIs zero, keeping V at this time^* _dIs constant to maintain i^* _d-i_dThe difference of (a) is always zero;

if i^* _d-i_dIf the difference is negative, the d-axis voltage given value V is continuously reduced^* _dUp to d-axis current feedback value i_dIs reduced so that i^* _d-i_dIs zero, keeping V at this time^* _dIs constant to maintain i^* _d-i_dThe difference of (a) is always zero;

the q-axis current regulator 6q outputs a q-axis voltage given value V^* _q0-axis current regulator 60 outputs 0-axis voltage set value V^* ₀The procedure of (2) is the same as the above-described procedure, and only the corresponding parameters need to be changed.

The generation of the A, B-phase PWM signal by the pulse width modulator 7 comprises the following processes:

(A) the pulse width modulator 7 is used for the motor rotor position signal theta_rAnd V^* _d、V^* _q、V^* _d0Rotating and static changing to obtain V^* _a、V^* _b；

Wherein

Is a given value of A AC voltage in a static coordinate system, V^* _bThe given value of the B alternating current voltage under a static coordinate system, and p is the pole pair number of the motor;

(B) modulating the resulting A phaseAC voltage duty ratio signal T_a＝V^* _a/V_dcDuty cycle signal T of B-phase AC voltage_b＝V^* _b/V_dc(ii) a For V^* ₀Outputting a DC voltage duty ratio signal T₀＝V^* ₀/V_dcIn which V is_dcIs the converter DC bus power supply voltage;

(C) finally, the duty ratio T of the A-phase PWM signal is obtained_A：T_A＝T_a+T₀(ii) a Duty ratio T of B-phase PWM signal_B：T_B＝T_b+T₀。

The current converter 12 is used for the motor rotor position signal theta_rAnd i_A+、i_A-、i_B+、i_B-Carrying out stationary-rotating coordinate transformation according to the following formula to obtain a d-axis current feedback value i_dQ axial flow feedback value i _q0 value of feedback of the axis current i₀Is the amplitude of phase A or phase B current;

the utility model discloses be suitable for and use the sensitive motor drive occasion of cost control, including but not limited to domestic appliance driving motor such as washing machine, air conditioner, dust catcher, refrigerator of consumption level, lawn mower and low-speed electric motor car driving motor etc.. The requirements for motor performance and control accuracy for these applications are often not particularly high, but are extremely cost sensitive in view of commercial production. The direct current bias vernier motor driving system with low cost and high reliability is a good choice.

Claims

1. A two-phase direct current offset vernier motor controller is characterized by comprising a first subtracter (1), a second subtracter (2), a third subtracter (3), a fourth subtracter (4), a speed regulator (5), a d-axis current regulator (6d), a q-axis current regulator (6q), a 0-axis current regulator (60), a pulse width modulator (7), a current transformer (8), a motor (9), a motor position sensor (10), an A-phase and B-phase current sensor (11) and a current converter (12);

the first subtracter (1) is used for receiving a given value n of the rotating speed of the motor_rAnd a measured value n of the motor speed is obtained, and the difference value n is obtained_r-n is fed into a speed regulator (5), the output end of the speed regulator (5) is respectively connected to a d-axis current regulator (6d), a q-axis current regulator (6q) and a 0-axis current regulator (60) through a second subtractor (2), a third subtractor (3) and a fourth subtractor (4), the output ends of the d-axis current regulator (6d), the q-axis current regulator (6q) and the 0-axis current regulator (60) are respectively connected to a pulse width modulator (7), the output end of the pulse width modulator (7) is connected to a current transformer (8), the output end of the current transformer (8) is connected to a motor (9), a motor position sensor (10) is connected to the motor (9), an a-phase and a-phase current sensor (11) is further connected between the current transformer (8) and the motor (9), and the output ends of the a-phase and B-phase current sensors (11) are respectively connected to the second subtractor (2) and the, A third subtracter (3) and a fourth subtracter (4), and the output end of the motor position sensor (10) is respectively connected to the first subtracter (1), the pulse width modulator (7) and the current converter (12).

2. The two-phase DC-biased vernier motor controller according to claim 1, wherein said current transformer (8) is composed of a DC power supply, a first MOS FET S1, a second MOS FET S2, a third MOS FET S3, a fourth MOS FET S4, a first freewheeling diode D1, a second freewheeling diode D2, a third freewheeling diode D3, a fourth freewheeling diode D4 and a fifth freewheeling diode D5;

the drains of the first MOS field effect transistor S1, the second MOS field effect transistor S2, the third MOS field effect transistor S3 and the fourth MOS field effect transistor S4 are connected with the anode of the direct current power supply; the source electrode of the first MOS field effect transistor S1 is connected with the negative electrode of the first fly-wheel diode D1 and connected with the A end of the A-phase winding of the motor (9); the source electrode of the second MOS field effect transistor S2 is connected with the negative electrode of the second fly-wheel diode D2 and connected with the B end of the B-phase winding of the motor (9); third MThe source electrode of the OS field effect transistor S3 is connected with the negative electrode of the third fly-wheel diode D3 and connected with the X end of the A-phase winding of the motor (9); the source electrode of the fourth MOS field effect transistor S4 is connected with the negative electrode of a fourth freewheeling diode D4 and connected with the Y end of the B-phase winding of the motor (9); the cathodes of the first freewheeling diode D1, the second freewheeling diode D2, the third freewheeling diode D3, the fourth freewheeling diode D4 and the fifth freewheeling diode D5 are connected with the cathode of the direct-current power supply; the positive pole of the fifth fly-wheel diode D5 and the midpoint A of A, B phase winding of the motor (9)_N、B_NConnecting; the pulse width modulator (7) generates an A-phase PWM signal as a control signal of the gates of the first and third MOSFETs S1 and S3, and the pulse width modulator (7) generates a B-phase PWM signal as a control signal of the gates of the second and fourth MOSFETs S2 and S4.