WO2012020153A1 - Procédé de régulation du couple électromagnétique de moteurs électriques de traction de véhicules ferroviaires - Google Patents

Procédé de régulation du couple électromagnétique de moteurs électriques de traction de véhicules ferroviaires Download PDF

Info

Publication number
WO2012020153A1
WO2012020153A1 PCT/ES2011/000120 ES2011000120W WO2012020153A1 WO 2012020153 A1 WO2012020153 A1 WO 2012020153A1 ES 2011000120 W ES2011000120 W ES 2011000120W WO 2012020153 A1 WO2012020153 A1 WO 2012020153A1
Authority
WO
WIPO (PCT)
Prior art keywords
electromagnetic torque
tem
voltage
null
switching states
Prior art date
Application number
PCT/ES2011/000120
Other languages
English (en)
Spanish (es)
Inventor
Txomin Nieva Fatela
Adur Alberdi Ugarte
Haizea GAZTAÑAGA ARANZAMENDI
Original Assignee
Trainelec, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trainelec, S.L. filed Critical Trainelec, S.L.
Priority to CN2011800394120A priority Critical patent/CN103069710A/zh
Publication of WO2012020153A1 publication Critical patent/WO2012020153A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
    • B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
    • 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
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
    • 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
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the methods and procedures used to regulate and control the electromagnetic torque of electric traction motors that are used in railway vehicles, such as trains, subways or trams.
  • the traction equipment consists of a single DC / AC conversion stage formed by inverters generally based on IGBT transistors, which by switching said transistors control and power a series of electric motors that They divide the wheels of the railway vehicle.
  • the converter is responsible for providing the electric traction motors with the voltage and frequency waveform they require to achieve the requested performance at all times.
  • the method object of the invention employs a voltage converter that takes a continuous voltage from a catenary to power electric motors in charge of driving the wheels of the railway vehicle.
  • the voltage converter consists of
  • some inverters that connect with electric motors to control their flow and electromagnetic torque.
  • Said inverters are formed by a series of transistors that switch between active switching states that correspond to a non-zero voltage at the output of the voltage inverter, and states of null switching corresponding to a null voltage at the output of the inverter, so that by means of the selective switching of said transistors the windings of the electric traction motors are excited.
  • the present invention proposes the insertion of hybrid null vectors that generate additional null switching states of the transistors, which overlap the switching states (active and null) calculated by the flow and torque controls. In this way, a controlled decrease in the electromagnetic torque of the electric traction motor is achieved in the event of sudden increases in voltage in the catenary.
  • the insertion of said hybrid null vectors is carried out when the electromagnetic torque of an electric traction motor has exceeded a preset upper limit, and the hybrid null vectors are deactivated when the electromagnetic torque (Tem) reaches a reference torque level.
  • Tem electromagnetic torque
  • Both the preset upper limit of the electromagnetic torque of the electric traction motor and the reference torque level of the electric motor are defined according to the application and to meet the requirements imposed in each case.
  • a method of very advantageous characteristics is thus obtained, acquiring its own life and preferential character for the application function to which it is intended in relation to the regulation of the electromagnetic torque of electric motors of traction of railway vehicles.
  • Figure 1 shows a voltage converter that takes the continuous voltage of a catenary to power the electric traction motors of a railway vehicle.
  • Figure 2 shows a block diagram of a stator flow control system and the electromagnetic torque of an electric traction motor of a railway vehicle.
  • Figure 3 shows spatial vectors of the stator flow and the rotor flow of the electric traction motor expressed in fixed alpha-beta coordinates representing a three-phase system in a two-axis plane.
  • Figure 4 shows a block diagram of the method of regulating the electromagnetic torque of electric motors object of the invention.
  • Figure 5 shows a diagram of the insertion of a null hybrid vector as a function of the evolution of the electromagnetic torque of the electric motor.
  • Traction equipment of railway vehicles such as trains, subways, or trams, have voltage converters that feed a series of
  • the voltage converters (1) are formed by inverters (2) generally based on
  • a voltage converter (1) is formed by two inverters (2) that take a continuous (Vcatenary) voltage from a catenary to feed and
  • Each inverter (2) has six transistors (TR1, ... TR6) IGBTs, distributed in pairs, and each pair is connected to a winding
  • the transistors (TR1, ... TR6) IGBTs switch between active switching states (EA) that correspond to a non-zero voltage at the output of the inverter (2), and zero switching states (EN) that ⁇ correspond to a zero voltage at the output of the inverter (2).
  • EA active switching states
  • EN zero switching states
  • CF stator flow control block
  • CP electromagnetic torque control block
  • the stator flow ( ⁇ 3 ) is controlled by guiding it according to a predefined path and by the application of null switching states (EN) in a synchronized manner with said predefined path.
  • the electromagnetic torque (Tem) is controlled by a sliding control.
  • a control variable called flow hysteresis level (i
  • This control variable represents the threshold of instantaneous stator flow comparison ( ⁇ 3 ) to calculate the switching instants of the transistors (TR1, ... TR6) IGBTs.
  • the flow hysteresis level ( ⁇ 3 ⁇ 4 ⁇ ) is compared with the stator flow ( ⁇ 3 ) in a comparison block (C) to calculate the active switching states (EA) of the transistors (TR1, ... TR6 ) IGBTs.
  • Vbus the bus voltage of the inverter (2).
  • Avj / hi is a variation in flow hysteresis
  • Figure 3 shows spatial vectors of the stator flow ( ⁇ 3 ) and the rotor flow ( ⁇ ⁇ ) of the electric motor (3) represented in fixed alpha-beta coordinates representing a three-phase system in a two-axis plane. It is an explanatory figure of the effect of the acceleration / deceleration of the stator flow ( ⁇ 3 ) of the electric motor (3) on the electromagnetic torque (Tem) of said motor.
  • the stator flow vector ( ⁇ 3 ) can be accelerated or decelerated. If the level of flow hysteresis (i
  • the stator flow vector (vj / s ) is decelerated by decreasing the angle (p) between the rotor flow ( ⁇ ⁇ ) and the stator flow ( ⁇ 3 ). This decrease causes a reduction in the electromagnetic torque (Tem) of the electric motor (3).
  • FIG. 4 shows a block diagram of the control acting on positive derivatives in the bus voltage (Vbus) of the inverter (2) caused by variations in the voltage of the catenary (Vcatenary).
  • the way to detect these derivatives is to compare the difference between the bus voltage (V bu s) at that time and the average value of the bus voltage (Vbus avg) with a detection threshold.
  • This detection threshold is defined according to the required limitation of the peak current in the electric motor (3) and electromagnetic torque (Tem) in each application.
  • - li when a positive derivative in the bus voltage (Vt, U s) is detected, the component (v
  • the invention proposes the insertion of hybrid null vectors corresponding to additional null switching states (ENV) to force the generation of a null voltage at the inverter output (2). That is, the insertion of a hybrid null vector is equivalent to stopping the stator flow vector ( ⁇ 3 ), whereby the angle (p) of offset between the rotor flow ( ⁇ ⁇ ) and the stator flow ( ⁇ 3 ) decreases, and therefore so does the electromagnetic torque (Tem) of the electric motor (3).
  • the hybrid null vectors are generated in the generation block (G), in the manner indicated in Figure 5, so that the hybrid null vectors are inserted when the electromagnetic pair (Tem) has exceeded an upper limit (Hybrid tem margin) , and are deactivated when the electromagnetic torque (Tem) reaches the reference torque level (Tem_ref). This value must be defined based on the maximum peak torque imposed by the application.
  • the hybrid null vectors guarantee the control of the electromagnetic torque (Tem) within the specified ranges, preventing the electromagnetic torque (Tem) from being controlled during transient increases in the bus voltage (V bus ).
  • the additional null switching states (ENV) caused by the insertion of the hybrid null vectors overlap the active switching states (EA) calculated in the comparison block (C), so that by insertion of these hybrid null vectors a zero output voltage is caused in the inverter (2), which implies an immediate decrease in the electromagnetic torque (Tem) of the electric motor (3) preventing it from being uncontrolled.
  • the regulation method of the invention is preferably applied to converters that have inverters with six IGBT transistors, although it could be applied to other types of topologies, or other types of transistors, without the concept of the invention being altered by it.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Ac Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de régulation du couple électromagnétique de moteurs électriques de traction de véhicules ferroviaires, qui utilise des inverseurs qui prélèvent une tension continue pour alimenter des moteurs électriques et commander leur couple électromagnétique (Tem), les inverseurs étant constitués de transistors (Tr1...Tr6) qui commutent entre des états de commutation actifs (E.A) qui correspondent à une tension non nulle à la sortie de l'inverseur, et des états de commutation nuls (E. N) qui correspondent à une tension nulle à la sortie de l'inverseur, le couple électromagnétique (Tem) des moteurs électriques étant régulé par insertion sélective de vecteurs nuls hybrides qui génèrent des états de commutation nuls (E.N.V) supplémentaires correspondants à une tension nulle à la sortie de l'inverseur, diminuant ainsi le couple électromagnétique (Tem) du moteur électrique face à des variations de la tension continue.
PCT/ES2011/000120 2010-08-12 2011-04-14 Procédé de régulation du couple électromagnétique de moteurs électriques de traction de véhicules ferroviaires WO2012020153A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011800394120A CN103069710A (zh) 2010-08-12 2011-04-14 用于调节铁路车辆的电力牵引发动机的电磁转矩的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP201001061 2010-08-12
ES201001061A ES2374918B1 (es) 2010-08-12 2010-08-12 Método de regulación del par electromagnético de motores eléctricos de tracción de vehículos ferroviarios.

Publications (1)

Publication Number Publication Date
WO2012020153A1 true WO2012020153A1 (fr) 2012-02-16

Family

ID=45561333

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2011/000120 WO2012020153A1 (fr) 2010-08-12 2011-04-14 Procédé de régulation du couple électromagnétique de moteurs électriques de traction de véhicules ferroviaires

Country Status (3)

Country Link
CN (1) CN103069710A (fr)
ES (1) ES2374918B1 (fr)
WO (1) WO2012020153A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1393950A2 (fr) * 2002-08-29 2004-03-03 Siemens Aktiengesellschaft Train de roulement pour véhicules ferroviaires

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1194464C (zh) * 2002-11-15 2005-03-23 清华大学 空间矢量调制的感应电动机变结构转矩直接控制方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1393950A2 (fr) * 2002-08-29 2004-03-03 Siemens Aktiengesellschaft Train de roulement pour véhicules ferroviaires

Non-Patent Citations (6)

* Cited by examiner, † Cited by third party
Title
CARLOS ORTEGA ET AL.: "The Use of Small Voltage Vectors of Matrix Converters in Direct Torque Control of Induction Machines..", 12TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE., 1 August 2006 (2006-08-01), pages 314 - 319 *
GUANG-YE LI ET AL.: "Permanent magnet synchronous motor direct torque control with zero vector based on intelligent method.", MACHINE LEARNING AND CYBERNETICS, 2009 INTERNATIONAL CONFERENCE ON., 12 July 2009 (2009-07-12), pages 755 - 760. *
OZKOP E ET AL.: "Direct torque control of induction motor using space vector modulation (SVM-DTC).", POWER SYSTEM CONFERENCE, 2008. MEPCON 2008. 12TH INTERNATIONAL MIDDLE-EAST., 12 March 2008 (2008-03-12), pages 368 - 372, XP031284997 *
PODDAR G ET AL.: "Direct Torque and Frequency Control of Double-Inverter-Fed Slip-Ring Induction Motor Drive.", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol. 51, no. 6, 1 February 2004 (2004-02-01), pages 1329 - 1337, XP011122341, DOI: doi:10.1109/TIE.2004.837897 *
ROMERAL L ET AL.: "Torque ripple reduction in a PMSM driven by direct torque control.", POWER ELECTRONICS SPECIALISTS CONFERENCE, 2008. PESC 2008., 15 June 2008 (2008-06-15), pages 4745 - 4751, XP031300699 *
ZAIMEDDINE R ET AL.: "Direct Torque Control scheme for dual-three-phase induction motor.", 2010 INTERNATIONAL POWER ELECTRONICS CONFERENCE : IPEC-SAPPORO 2010 - [ECCE ASIA], 21 June 2010 (2010-06-21), SAPPORO, JAPAN, pages 3007 - 3014, XP031728878 *

Also Published As

Publication number Publication date
CN103069710A (zh) 2013-04-24
ES2374918A1 (es) 2012-02-23
ES2374918B1 (es) 2013-02-18

Similar Documents

Publication Publication Date Title
US9849806B1 (en) Current based six step control
TWI408070B (zh) 軌道車輛之煞車能量回復系統，變電所與方法及用於此系統之軌道車輛
JP4819970B2 (ja) 電動機駆動用電力変換装置
US7511438B2 (en) Electric braking of machinery with a plurality of inverter-fed motors
ES2384001T3 (es) Controlador de vehículo eléctrico
WO2009084290A1 (fr) Appareil convertisseur, dispositif de commande et unité d'entraînement de machine tournante électrique
ES2958657T3 (es) Vehículo y método de control del mismo y sistema
US9762165B2 (en) Control device for electric car
JP5025818B2 (ja) 電動機駆動用電力変換装置
JP5191351B2 (ja) 電力変換装置
WO2020137219A1 (fr) Dispositif d'entraînement pour machine dynamoélectrique et procédé d'entraînement
ES2743686T3 (es) Dispositivo de ajuste y un accionamiento eléctrico de un ascensor
CN107406233B (zh) 用于电梯系统的六相电动机
JP6203036B2 (ja) 電気車制御装置
JP2016140204A (ja) 電気車制御装置
JP2010130837A (ja) 鉄道車両用モータ駆動制御装置
ES2640914T3 (es) Operar un dispositivo trifásico utilizando alimentación monofásica
WO2012020153A1 (fr) Procédé de régulation du couple électromagnétique de moteurs électriques de traction de véhicules ferroviaires
JP5714158B1 (ja) モータ駆動装置
US10525843B1 (en) Common mode current reduction hybrid drive system
EP3083468B1 (fr) Stratégie pwm pour un entraînement à récupération multiniveau
JP4784290B2 (ja) モータ駆動装置
JP7187870B2 (ja) モータシステム
WO2022130731A1 (fr) Dispositif de commande de moteur, unité intégrée électromécanique, système convertisseur d'amplification, système de véhicule électrique et procédé de commande de moteur
JP6099724B1 (ja) 電動機制御装置

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201180039412.0

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11816130

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11816130

Country of ref document: EP

Kind code of ref document: A1