CN102868355A - Method for controlling voltage balancing of direct current bus capacitors during indication of induction motor parameter - Google Patents
Method for controlling voltage balancing of direct current bus capacitors during indication of induction motor parameter Download PDFInfo
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- CN102868355A CN102868355A CN2012103205038A CN201210320503A CN102868355A CN 102868355 A CN102868355 A CN 102868355A CN 2012103205038 A CN2012103205038 A CN 2012103205038A CN 201210320503 A CN201210320503 A CN 201210320503A CN 102868355 A CN102868355 A CN 102868355A
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Abstract
The invention relates to the field of motor control, in particular to a method for controlling voltage balancing of direct current bus capacitors during indication of an induction motor parameter. When a motor parameter is identified, through detecting voltages on two direct current bus capacitors of an inverter, a controller compares the two voltage, a proper on or off state is selected for discharging the direct current bus capacitor with a higher voltage in premise of no influence on identifying the motor parameter, and thus voltage balancing of the two direct current bus capacitors is maintained. After the method is adopted, on the basis of ensuring that an identification test of sensing the motor parameter can be normally carried out, the on or off state of the inverter can be simply regulated through the controller, the direct current bus capacitor with higher voltage is discharged, and the voltage balancing of a direct current bus is controlled.
Description
Technical field
The present invention relates to Motor Control Field, particularly a kind of method of when the identifying motor parameter, controlling the dc-link capacitance electric voltage equalization.
Background technology
The diode clamping tri-level inverter because of have main power circuit IGBT withstand voltage low, harmonic wave of output voltage content is little etc., and characteristics are widely used in high pressure, high-power PWM rectification and inversion occasion, and vector control is with exciting current and the torque current decoupling zero of motor, realize the Instantaneous Control of torque with rotor field-oriented method, so the Vector Control System of Induction Motor of three-level inverter power supply relatively is fit to high performance high-power frequency control degree occasion.But vector control needs the identifying motor parameter, and parameter of electric machine identification algorithm needs suitable inverter control method, when the uneven pressure of three-level inverter dc-link capacitance, capacitance voltage is less than the DC bus-bar voltage of half in the upper and lower electric capacity, and the another one capacitance voltage is greater than the DC bus-bar voltage of half, therefore voltage has increased IGBT pipe voltage stress greater than the electric capacity of half DC bus-bar voltage and makes again the parameter of electric machine be difficult to accurate identification, so the Pressure and Control of three-level inverter dc-link capacitance are quite important during parameter of electric machine identification.
Summary of the invention
The technical issues that need to address of the present invention be how under the prerequisite that guarantees accurate identifying motor parameter the control inverter dc-link capacitance all press.
For solving above-mentioned technical problem, the dc-link capacitance pressure equalizing control method of induction motor parameter identification of the present invention may further comprise the steps,
A, the on off state by controller selection inverter carries out respectively DC experiment and single-phase test to motor, calculates the parameter of electric machine by test data;
B in induction motor parameter identification process of the test, detects respectively the voltage at dc-link capacitance C1 and C2 two ends by checkout gear;
C judges that the voltage at dc-link capacitance C1 two ends whether greater than the voltage at C2 two ends, if so, then enters steps d; If not, then enter step e;
D on the feedback current that guarantees the induction motor parameter identification test can the basis of tracing preset electric current, selects the on off state of inverter to dc-link capacitance C1 discharge by controller, return step b;
E on the feedback current that guarantees the induction motor parameter identification test can the basis of tracing preset electric current, selects the on off state of inverter to dc-link capacitance C2 discharge by controller, return step b.
Further, the inverter that parameter of electric machine identification test is adopted among the described step a is Diode-clamped Three-level Inverter.
Further, inverter switching states is as follows on the every circuitry phase of definition Diode-clamped Three-level Inverter: when Sx1, Sx2 conducting, Sx3, Sx4 are designated as the P state when turn-offing; Sx2, Sx3 conducting, Sx1, Sx4 are designated as the O state when turn-offing; Sx1, Sx2 are designated as the N state when turn-offing Sx3, Sx4 conducting; Inverter selects three kinds of on off states to be respectively PNN, NPN, NNP among the described step a.
Further, when giving dc-link capacitance C1 discharge in the described steps d, the on off state that inverter is selected is one of POO, OOP, three kinds of states of OPO.
Further, when giving dc-link capacitance C2 discharge among the described step e, the on off state that inverter is selected is one of PNN, NNP, three kinds of states of NPN.
Further, checkout gear described in the step b is the Hall voltage transducer.
After adopting said method, normally carry out on the basis of induction motor parameter identification test guaranteeing, can simply regulate the on off state of inverter by controller, to higher the discharging of dc-link capacitance voltage, the control DC bus-bar voltage becomes all pressures.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is that the asynchronous machine of three-level inverter power supply is simplified systematic schematic diagram.
When Fig. 2 is parameter of electric machine identification in three phase windings one are in the circuit theory diagrams of open-circuit condition mutually.
Two phase winding short-circuit schematic diagrams when Fig. 3 is parameter of electric machine identification in three phase windings.
Fig. 4 a is inverter IGBT on off state schematic diagram under the P state.
Fig. 4 b is inverter IGBT on off state schematic diagram under the O state.
Fig. 4 c is inverter IGBT on off state schematic diagram under the N state.
Fig. 5 a is that the PNN state current flows to schematic diagram.
Fig. 5 b is that the NPN state current flows to schematic diagram.
Fig. 5 c is that the NNP state current flows to schematic diagram.
Fig. 6 is the structured flowchart of parameter of electric machine discrimination method.
Fig. 7 a is that the POO state current flows to schematic diagram.
Fig. 7 b is that the OPO state current flows to schematic diagram.
Fig. 7 c is that the OOP state current flows to schematic diagram.
Fig. 8 is Pressure and Control experimental waveform in the parameter of electric machine identification.
Embodiment
Dc-link capacitance pressure equalizing control method when the present invention is a kind of non-synchronous motor parameter identification of practical engineering, the inverter that the present invention adopts is Diode-clamped Three-level Inverter.Fig. 1 is that the asynchronous machine of three-level inverter power supply is simplified systematic schematic diagram, and asynchronous machine replaces with the three-phase winding model among the figure.
Non-synchronous motor parameter identification method commonly used is mainly and utilizes DC experiment test stator resistance at present, locked rotor test (realizing by single-phase test) identification stator and rotor leakage inductance and rotor resistance, the mutual inductance between no-load test identification stator and rotor.In some cases can not electric rotating machine during the identifying motor parameter, need under stall, obtain main inductance and rotor time constant, these tests are finished in single-phase test substantially entirely, therefore, all parameters that DC experiment and single-phase test can the identification asynchronous machines.The present invention respectively with the principle Analysis of DC experiment and single-phase test operating state and the uneven reason of Diode-clamped Three-level Inverter bus capacitor voltage, for imbalance a kind of control strategy is proposed, this control strategy can solve the unbalanced of dc-link capacitance, can improve again the precision of parameter of electric machine discrimination method simultaneously.
When adopting Diode-clamped Three-level Inverter to carry out DC experiment or single-phase test, the PWM mode of the on off state of three-level inverter during not according to traditional dynamic normal operation modulated, but adopting static lower some switch to be in opening state or off state always, this modulator approach is because the limitation that on off state is selected can not go according to the traditional dc-link capacitance balance of voltage strategy control all to press.For the relation between non-synchronous motor parameter identification process and the three-level inverter dc-link capacitance voltage is described, the parameter identification process is summed up as DC experiment and single-phase test.The direct voltage that needs in order to obtain identification during DC experiment, with motor U, V, the phase winding in W three phase windings are in open-circuit condition (as shown in Figure 2) or with two-phase (V, W or U, V or U, W) control signal of brachium pontis is identical, is about to two phase winding short circuits of motor, as shown in Figure 3, apply direct current signal to motor, the amplitude of this d. c. voltage signal is the duty ratio that DC bus-bar voltage multiply by switch.
Single-phase test be on the DC experiment basis with given electric current stack AC signal, the type of drive of its inverter driving flowing mode during with DC experiment is identical, so is DC experiment at this with single-phase test equivalence.Main power circuit equivalence is for as shown in Figure 3 during parameter identification.
So step a of the present invention selects the on off state of inverter by controller, motor is carried out respectively DC experiment and single-phase test, calculates the parameter of electric machine by test data.As an example of the U circuitry phase example the on off state among Fig. 1 is defined: work as Sa1, Sa2 conducting Sa3, Sa4 are designated as P state, Sa2 when turn-offing, Sa3 conducting Sa1, Sa4 are designated as O state, Sa1 when turn-offing, Sa2 turn-offs Sa3, is designated as the N state during Sa4 conducting, and the on off state of three-phase is as shown in table 1.Fig. 4 a, Fig. 4 b, Fig. 4 c are inverter IGBT on off state under the corresponding on off state of P, O, N.
The on off state of table 1 three-level inverter (x=a, b, c)
| On off state | S x1 | S x2 | S x3 | S x4 |
| P | ON | ON | OFF | OFF |
| O | OFF | ON | ON | OFF |
| N | OFF | OFF | ON | ON |
When carrying out DC experiment, generally select three kinds of states to test respectively, then can obtain the parameter of electric machine to the result of the test averaged of three kinds of states, these three kinds of states are respectively PNN, NPN, NNP, wherein the current path of PNN state is: C1 positive pole-Sa1-Sa2-U phase motor winding-winding neutral point N-V phase winding (W phase winding in parallel)-Sb3-Sb4 (Sc3 in parallel-Sc4)-the C2 negative pole; Another current circuit is: and C2 positive pole-clamping diode D5-Sa2-U phase motor winding-winding neutral point N-V phase winding (W phase winding in parallel)-Sb3-Sb4 (Sc3 in parallel-Sc4)-the C2 negative pole, its current direction is shown in Fig. 5 a, the load impedance in loop is: (Rsa+ ω * Lsa)+(Rsb+ ω Lsb) // (Rsb+ ω Lsb), and wherein Rsa is the equivalent resistance of motor winding; Lsa is the self-induction of winding; ω is the power frequency that flows through the motor winding.Can obtain equally the current path of NPN state and NNP, the current path of NPN state is: and C1 positive pole-Sb1-Sb2-V phase motor winding-winding neutral point N-U phase winding (W phase winding in parallel)-Sa3-Sa4 (Sc3 in parallel-Sc4)-the C2 negative pole; Another current circuit is: and C2 positive pole-clamping diode-Sb2-V phase motor winding-winding neutral point N-UU phase winding (W phase winding in parallel)-Sa3-Sa4 (Sc3 in parallel-Sc4)-the C2 negative pole, its current direction is shown in Fig. 5 b, and the current path of NNP state is: and C1 positive pole-Sc1-Sc2-W phase motor winding-winding neutral point N-U phase winding (V phase winding in parallel)-Sa3-Sa4 (Sb3 in parallel-Sb4)-the C2 negative pole; Another current circuit is: and C2 positive pole-clamping diode-Sc2-W phase motor winding-winding neutral point N-U phase winding (V phase winding in parallel)-Sa3-Sa4 (Sb3 in parallel-Sb4)-the C2 negative pole, its current direction is shown in Fig. 5 c, these three kinds of states have two discharge loops as we can see from the figure, this will cause lower capacitor discharge speed faster than upper electric capacity, electric capacity tends to non-equilibrium state gradually up and down, and along with fully discharge will appear in electric capacity under the increase of operating time and exciting current, and upper electric capacity is full of busbar voltage, makes the circuit cisco unity malfunction.
In like manner also can obtain on off state and the current direction of single-phase test, in single-phase test, two phase windings that can choose motor as the loop or with behind two winding parallels of motor as a loop, its on off state is consistent with DC experiment, is that current reference value in the single-phase test contains alternating component.
In order to determine the size of voltage on the dc-link capacitance, the step b of the inventive method detects respectively the voltage at dc-link capacitance C1 and C2 two ends by checkout gear in induction motor parameter identification process of the test.Here checkout gear adopts the Hall voltage transducer.
Then the voltage of judging dc-link capacitance C1 two ends by step c if so, then enters steps d whether greater than the voltage at C2 two ends; If not, then enter step e.
D on the feedback current that guarantees the induction motor parameter identification test can the basis of tracing preset electric current, selects the on off state of inverter to dc-link capacitance C1 discharge by controller, return step b.
E on the feedback current that guarantees the induction motor parameter identification test can the basis of tracing preset electric current, selects the on off state of inverter to dc-link capacitance C2 discharge by controller, return step b.
In conjunction with Fig. 6 and parameter of electric machine identification basic principle, can find out, owing to the existence of compensating network, switching over can not cause the change of the sense of current in the parameter identification process, will cause the compensating network cisco unity malfunction if the sense of current changes.So when selecting inverter switching states among steps d and the step e, must guarantee that the compensating network feedback current of induction motor parameter identification test can the tracing preset electric current.Because when testing, select state PNN, NPN, NNP tests respectively, then can obtain the parameter of electric machine to the result of the test averaged of three kinds of states.Therefore, in identification, choose PNN, NNP, the NPN on-off mode is during as direct current or single-phase test, need to consider that upper capacitance voltage greater than lower capacitance voltage, make, lower capacitor voltage equalizing must selected PNN, NNP, during the NPN condition mode arrange other on off states so that on capacitor discharge, but the sudden change of choosing and can not cause the motor winding current of on off state based on this analysis, can be chosen POO, OOP, OPO is as upper capacitor discharge loop, POO, OOP, the current path of three kinds of states of OPO is respectively such as Fig. 7 a, shown in Fig. 7 b and Fig. 7 c, choose these on off states and will make electric capacity C1 be in discharge condition.So select PNN, NNP during the NPN condition mode, selects POO in the steps d, OOP, a kind of capacitor C 1 of giving in three kinds of states of OPO is discharged.In like manner, the voltage on detecting dc-link capacitance C2 is during greater than the voltage on the C1, selects a kind of to capacitor C 2 discharges in PNN, NNP, three kinds of states of NPN among the step e.
Therefore, can make the equilibrium of bus capacitor voltage by by-pass cock state repeatedly.Because when frequency converter is directly connected on the electrical network, its DC bus-bar voltage is very high, so high voltage can not directly be added on the motor stator winding, therefore need to carry out copped wave control to DC bus-bar voltage, obtain a mean value very low, the high frequency voltage pulse train that duty ratio is regulated with compensating network, behind this direct voltage process motor winding very little ripple component is arranged, be difficult to accurately measure with voltage sensor, for accurate Calculation winding resistance and reactance, calculate the pressure drop of motor winding at this by detecting busbar voltage and duty cycle of switching size, simultaneously the conduction voltage drop of computational process taking into account inverter IGBT.Fig. 8 is Pressure and Control experimental waveform in the parameter of electric machine identification.Adopt the method not only to accomplish the complete equipilibrium control of bus capacitor, and calculate very accurately the parameter of electric machine.
Claims (6)
1. the dc-link capacitance pressure equalizing control method of an induction motor parameter identification is characterized in that, may further comprise the steps:
A, the on off state by controller selection inverter carries out respectively DC experiment and single-phase test to motor, calculates the parameter of electric machine by test data;
B in induction motor parameter identification process of the test, detects respectively the voltage at dc-link capacitance C1 and C2 two ends by checkout gear;
C judges that the voltage at dc-link capacitance C1 two ends whether greater than the voltage at C2 two ends, if so, then enters steps d; If not, then enter step e;
D on the feedback current that guarantees the induction motor parameter identification test can the basis of tracing preset electric current, selects the on off state of inverter to dc-link capacitance C1 discharge by controller, return step b;
E on the feedback current that guarantees the induction motor parameter identification test can the basis of tracing preset electric current, selects the on off state of inverter to dc-link capacitance C2 discharge by controller, return step b.
2. according to the dc-link capacitance pressure equalizing control method of induction motor parameter identification claimed in claim 1, it is characterized in that: the inverter that parameter of electric machine identification test is adopted among the described step a is Diode-clamped Three-level Inverter.
3. according to the dc-link capacitance pressure equalizing control method of induction motor parameter identification claimed in claim 2, it is characterized in that,
Inverter switching states is as follows on the every circuitry phase of definition Diode-clamped Three-level Inverter: when Sx1, Sx2 conducting, Sx3, Sx4 are designated as the P state when turn-offing; Sx2, Sx3 conducting, Sx1, Sx4 are designated as the O state when turn-offing; Sx1, Sx2 are designated as the N state when turn-offing Sx3, Sx4 conducting; Inverter selects three kinds of on off states to be respectively PNN, NPN, NNP among the described step a.
4. according to the dc-link capacitance pressure equalizing control method of induction motor parameter identification claimed in claim 3, it is characterized in that: when giving dc-link capacitance C1 discharge in the described steps d, the on off state that inverter is selected is one of POO, OOP, three kinds of states of OPO.
5. according to the dc-link capacitance pressure equalizing control method of induction motor parameter identification claimed in claim 3, it is characterized in that: when giving dc-link capacitance C2 discharge among the described step e, the on off state that inverter is selected is one of PNN, NNP, three kinds of states of NPN.
6. according to the dc-link capacitance pressure equalizing control method of induction motor parameter identification claimed in claim 1, it is characterized in that: checkout gear described in the step b is the Hall voltage transducer.
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Cited By (3)
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| CN103414429B (en) * | 2013-07-26 | 2015-06-17 | 江苏科技大学 | Identification system and identification method of excitation parameter of single-phase induction motor |
| CN110392977A (en) * | 2017-03-29 | 2019-10-29 | 日本电产株式会社 | Power inverter, motor drive unit and electric power steering apparatus |
| CN111865125A (en) * | 2020-07-29 | 2020-10-30 | 中车青岛四方车辆研究所有限公司 | Traction inverter control system and PWM modulation method |
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| CN101420185A (en) * | 2008-10-15 | 2009-04-29 | 徐州中矿大传动与自动化有限公司 | Controlling method for three-level frequency transformer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103414429B (en) * | 2013-07-26 | 2015-06-17 | 江苏科技大学 | Identification system and identification method of excitation parameter of single-phase induction motor |
| CN110392977A (en) * | 2017-03-29 | 2019-10-29 | 日本电产株式会社 | Power inverter, motor drive unit and electric power steering apparatus |
| CN110392977B (en) * | 2017-03-29 | 2023-06-20 | 日本电产株式会社 | Power conversion device, motor drive unit, and electric power steering device |
| CN111865125A (en) * | 2020-07-29 | 2020-10-30 | 中车青岛四方车辆研究所有限公司 | Traction inverter control system and PWM modulation method |
| CN111865125B (en) * | 2020-07-29 | 2021-07-20 | 中车青岛四方车辆研究所有限公司 | Traction inverter control system and PWM modulation method |
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