CN104767455B - A kind of hybrid exciting synchronous motor position-sensor-free direct torque control method - Google Patents
A kind of hybrid exciting synchronous motor position-sensor-free direct torque control method Download PDFInfo
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Abstract
The invention discloses a kind of hybrid exciting synchronous motor position-sensor-free direct torque control method, and using the rotating speed and initial position of synovial membrane observer estimation hybrid exciting synchronous motor, overall control thought is based on Direct Torque Control.Motor operation region is judged according to rotating speed, motor operation is in low regime, using id=0 control, when load torque is less than or equal to nominal torque, without increasing magnetic control；When load torque is more than nominal torque, increasing magnetic control is carried out.Motor operation is controlled using weak magnetic in high velocity, keeps i firstd=0, utilize exciting current ifCarry out weak magnetic；As exciting current ifWhen reaching rated value, using d shaft currents idCarry out weak magnetic.While the control of hybrid exciting synchronous motor position-sensor-free direct torque reduces cost, the reliability and torque capability of fast response of drive system are improved.
Description
Technical Field
The invention belongs to the technical field of electric transmission, relates to a position-sensor-free direct torque strategy, and particularly relates to a control method of a hybrid excitation synchronous motor.
Background
The hybrid excitation synchronous motor is a wide speed regulation motor developed on the basis of a permanent magnet synchronous and electric excitation synchronous motor, and mainly aims to solve the problem that an air gap field of the permanent magnet synchronous motor is difficult to adjust. The mixed excitation synchronous motor has two excitation sources, one is a permanent magnet, the other is electric excitation, the magnetic potential generated by the permanent magnet is main magnetic potential, and the magnetic potential generated by the excitation winding is auxiliary magnetic potential. The motor combines the advantages of a permanent magnet synchronous motor and an electric excitation synchronous motor, two excitation sources interact in a motor air gap to generate main magnetic flux, and when an electric excitation coil is electrified with forward excitation current, forward electromagnetic torque is generated to increase the motor torque; on the contrary, when the electric excitation coil is electrified with reverse excitation current, a reverse magnetic field is generated to weaken the air gap magnetic field so as to achieve the purpose of weak-magnetic speed increasing, thereby widening the speed adjusting range of the motor.
At present, the methodThe control method and the driving system of the hybrid excitation synchronous motor are rarely researched at home and abroad, basically surround vector control, are sensor-based control, and can be classified into three types, i is the first type d The =0 strategy, the other is a flux weakening strategy, and the last is an efficiency optimization strategy. The advantages of the control strategy are continuously controlled and are smoother; the disadvantages are that the dynamic response of the torque is not fast enough, the rotation coordinate transformation is needed, and the torque is complex. Due to the existence of the sensor, the control system is high in price, easy to break down and low in reliability.
Disclosure of Invention
The technical problem is as follows: the invention provides a position-sensor-free direct torque control method which is faster in torque dynamic response, high in system reliability and low in cost.
The technical scheme is as follows: the invention discloses a position sensorless direct torque control method of a hybrid excitation synchronous motor, which comprises the following steps of:
(1) Three Hall current sensors and two voltage sensors respectively collect phase current i from a main circuit of the motor a 、i b And an excitation current i f Bus voltage U DC And an excitation voltage U f The collected signals are sent to a controller after being conditioned by voltage following, filtering, biasing and overvoltage protection signals;
(2) Phase current i to be fed to the controller a 、i b A/D conversion is carried out, and the alpha-axis current i under the two-phase static coordinate system is obtained through 3/2 conversion from a three-phase coordinate system to a two-phase static coordinate system α And beta axis current i β (ii) a Using U fed to controller DC And a switch state S a 、S b 、S c Determining the alpha-axis voltage u in the two-phase stationary coordinate system according to the following formula α And beta axis voltage u β ：
Wherein S is a 、S b 、S c The switching states of upper and lower switching tubes of three-phase bridge arms a, b and c of the inverter are respectively, the conduction time value of the upper bridge arm is 1, and the conduction time value of the lower bridge arm is 0;
(3) Using i obtained in step (2) α 、i β 、u α 、u β The actual electromagnetic torque estimated values T are calculated according to the following formulas e Actual stator flux linkage estimate psi s Stator flux linkage working sector estimation value theta i ：
Wherein psi α And psi β Respectively an alpha axis flux linkage and a beta axis flux linkage of the stator under a two-phase static coordinate system, R s The resistance of the armature winding is shown, and p is the number of pole pairs of the motor;
respectively calculating an actual rotating speed estimated value n and a rotor position angle estimated value theta according to the following formulas e ：
Wherein, K 1 Is a fixed observed gain of the receiver,the error current is observed for the stator alpha axis,the error current is observed for the stator beta axis,observing currents for the alpha and beta axes, respectively, sign () being a sign function, e α 、e β Back-emf of the alpha and beta axes, ω, respectively e Is the electrical angular velocity;
(4) With a given speed n ref Subtracting the rotating speed n estimated in the step 3), inputting the obtained rotating speed deviation delta n into a speed regulator to obtain an electromagnetic torque reference value T eref Reference value T of said electromagnetic torque eref And the estimated rotating speed n is sent into a current distributor, whether the actual rotating speed is smaller than the rated rotating speed or not is judged, if yes, the motor operates in a low-speed area, the step 5 is carried out, and if not, the motor operates in a high-speed area, the step 6 is carried out);
(5) Judging whether the load torque satisfies T L ≤T N Determining a stator flux linkage reference value psi sref And an electromagnetic torque reference value T eref Then entering step (7), wherein T L Is the load torque, T N The rated torque is as follows;
when T is L ≤T N In time, without need of magnetization control, i f =0, using i d =0 control, current distribution is performed according to the following current distribution scheme:
further obtaining a stator flux linkage reference value of
When T is L >T N When the q-axis current reaches a rated value, the magnetizing control is required, so that i q ＝i qN Using d-axis current i d =0 control, current distribution is performed according to the following current distribution scheme:
and further obtaining a stator flux linkage reference value as follows:
wherein i dref 、i qref D-axis and q-axis current reference values, i, respectively qN A nominal value for the q-axis current; i.e. i fref Is an excitation current reference value; l is d 、L q D-and q-axis inductances, M f Is the mutual inductance between the armature and the field winding; psi m Is a permanent magnet flux linkage; psi d 、ψ q Respectively carrying out d-axis and q-axis magnetic linkage; t is a unit of eref For electromagnetic torque, # s For stator flux linkage psi sref Is a stator flux linkage reference value;
(6) Firstly, judging whether the rotating speed is less than the weak magnetic basic speed n flux If yes, keeping d-axis current i d =0, using excitation current i f And (3) field weakening, wherein current distribution is carried out according to the following current distribution scheme:
stator flux linkage reference value
If the given rotating speed reaches the weak magnetic basic speed n flux Excitation current i f Reaching rated value and continuing to adopt d-axis current i d And (3) field weakening, wherein current distribution is carried out according to the following current distribution scheme:
stator flux linkage reference value
Wherein, I fN For nominal value of exciting current, ω eN Is the rated electrical angular velocity;
(7) Using said stator flux reference value psi sref Subtracting the actual stator flux linkage estimated value psi obtained in the step (3) s Obtaining stator flux linkage deviation delta psi s Using reference value T of electromagnetic torque eref Subtracting the actual electromagnetic torque estimated value T in the step (3) e Obtaining an electromagnetic torque deviation Delta T e Then convert Δ ψ s Sending the signal into a hysteresis comparator to obtain a torque control signal tau, and sending Delta T e Sending the signals to a hysteresis comparator to obtain a flux linkage control signal phi, and selecting a switch state by the three control signals tau, phi and theta through a switch table to drive a main power converter;
simultaneously converting the exciting current i collected in the step (1) f After signal conditioning and A/D conversion, the reference value i is compared with the excitation current obtained in the step (5) or (6) fref And the signals are sent to a direct current excitation pulse width modulation module together, and 4 paths of pulse width modulation signals are operated and output to drive an excitation power converter.
In a preferable scheme of the method, the direct current excitation pulse width modulation module in the step 7) is a space vector pulse width modulation module.
Has the advantages that: most of the existing control methods of the hybrid excitation synchronous motor are based on vector control, although the control methods are simple and convenient, the torque response is slow, and most of the existing control methods adopt a strategy with a position sensor. Therefore, the control method has low reliability and relatively high price. According to the invention, through the position-free direct torque control method from the step 3) to the step 6), the hybrid excitation synchronous motor has higher reliability and torque dynamic response when running in the whole running area. Therefore, compared with the prior control method, the method has the following advantages:
(1) The method adopts direct torque control, so that the dynamic response of the torque is faster;
(2) Compared with the control with a position sensor, the invention adopts the control without the position sensor, thereby improving the reliability of the system and greatly reducing the cost;
(3) Compared with vector control, the control method enables the hybrid excitation motor to obtain wide application prospects in electric automobiles.
Drawings
FIG. 1 is a logic flow diagram of the method of the present invention;
FIG. 2 is a system block diagram of the method of the present invention;
FIG. 3 is a block diagram of a structure for implementing the method of the present invention;
fig. 4 is a diagram of the determination of the rotation speed without position and the position angle.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
Fig. 2 is a system block diagram of a method for realizing the position sensorless direct torque control of the hybrid excitation synchronous motor of the invention, and the control system is composed of an alternating current power supply, a rectifier, a voltage stabilizing capacitor, a DSP controller, a main power converter, an auxiliary power converter, current and voltage sensors, the hybrid excitation synchronous motor and the like.
The alternating current power supply supplies power to the whole system, the alternating current power supply is rectified by the rectifier, filtered and stabilized, then the rectified alternating current power supply is sent to the main power converter and the auxiliary power converter, and the Hall voltage sensor collects bus voltage and sends the bus voltage to the controller after conditioning. The output ends of the main power converter and the auxiliary power converter are connected with a hybrid excitation synchronous motor, and the Hall current transformer collects phase current and excitation current, sends the phase current and the excitation current to the controller after conditioning, and sends the phase current and the excitation current to the controller after processing to calculate the position angle and the rotating speed of the rotor. The controller outputs 10 paths of PWM signals to drive the main excitation power converter and the excitation power converter respectively.
The method for controlling the position sensorless direct torque of the hybrid excitation synchronous motor disclosed by the invention is shown in figure 3 and specifically comprises the following steps of:
(1) Three Hall current sensors and two voltage sensors respectively collect phase current i from a main circuit of the motor a 、i b And an excitation current i f Bus voltage U DC And excitation voltage U f And conditioning the acquired signals by voltage following, filtering, biasing, overvoltage protection and the like, and then sending the conditioned signals to the controller.
(2) Phase current i to be fed to the controller a 、i b A/D conversion is carried out, and the alpha-axis current i under the two-phase static coordinate system is obtained through the 3/2 conversion from the three-phase coordinate system to the two-phase static coordinate system α And beta axis current i β (ii) a Using U fed into the controller DC And a switch state S a 、S b 、S c Determining the alpha-axis voltage u in the two-phase stationary coordinate system according to the following formula α And beta axis voltage u β : as shown in the following formula.
Wherein S is a 、S b 、S c The switching states of upper and lower switching tubes of three-phase bridge arms a, b and c of the inverter are respectively set, the conduction time value of the upper bridge arm is 1, and the conduction time value of the lower bridge arm is 0; (3) Using i obtained in step 2) α 、i β 、u α 、u β Estimating actual rotational speed n and actual torque T e Actual stator flux linkage psi s Rotor position theta e And sector theta i The details are as follows
The voltage equation of the hybrid excitation synchronous motor in the alpha-beta coordinate system is
Magnetic flux linkage equation
Stator flux linkage
By bringing formula (4) into formula (3)
Equation of torque
The actual stator flux linkage can be estimated using equation (5), the actual electromagnetic torque can be estimated using equation (6), and the operating sector can be estimated using equation (7).
Wherein psi α And psi β Respectively a stator alpha axis flux linkage and a stator beta axis flux linkage R under a two-phase static coordinate system s Is armature winding resistance, T e As electromagnetic torque, i f For exciting winding current, ω e As electrical angular velocity, M f Is the mutual inductance, psi, between armature and field winding m Is a permanent magnet flux linkage.
Design of slip film observer to estimate rotating speed n and rotor position angle theta e As shown in fig. 4, the following details are provided:
establishing a mathematical model of a synovial observer:
wherein, K 1 Is a fixed observed gain of the receiver,the current is observed respectively for an alpha axis and a beta axis, the error current is observed, sign () is a sign function.
Subtracting formula (2) from formula (8)
When the synovial membrane observer was stable, it was obtained
Wherein e is α 、e β The back electromotive forces of the alpha axis and the beta axis are respectively.
Continuous equivalent signal is extracted from the switching value of the formula (10) by using a low-pass filterThereby obtaining
From which the rotor position angle theta can be derived e Is estimated as
Thereby obtaining an estimated value n of the rotation speed
Wherein p is the number of pole pairs of the motor.
(4) With a given speed n * Subtracting the rotating speed n estimated in the step 3), and inputting the obtained rotating speed deviation delta n into a speed regulator to obtain a torque reference valueReference value of torqueAnd sending the estimated rotating speed n into the current distributor, judging whether the actual rotating speed is less than the rated rotating speed, if so, operating the motor in a low-speed area, entering the step 5), and otherwise, entering the step 6).
(5) The control strategy of the hybrid excitation synchronous motor in the low-speed area is analyzed as follows;
in a d-q coordinate system, a mathematical model of the hybrid excitation synchronous motor is a flux linkage equation as shown in equations (14) to (16):
voltage equation:
the torque equation:
wherein i d 、i q D-axis and q-axis currents, respectively; l is d 、L q D-axis and q-axis inductances, respectively; u. of d 、u q Voltages of d-and q-axes, u f Is the excitation winding voltage; r f Is an excitation winding resistor; psi d 、ψ q 、ψ f Respectively a d axis and a q axis and an excitation winding flux linkage.
When T is L ≤T N In time, no magnetization control is required, so i f =0, using i d =0 control, the following current distribution can be obtained in combination with equation (16):
stator flux linkage reference value of
By bringing formula (17) into formula (18)
When T is L ＞T N When the q-axis current reaches a rated value, the magnetizing control is required, so that i q ＝i qN By using i d For the control of =0, the following current distribution can be obtained in combination (16):
bringing formula (20) into formula (18)
Wherein i dref 、i qref D-axis and q-axis current reference values, i, respectively qN A nominal value for the q-axis current; i.e. i fref Is an excitation current reference value;T eref for reference value of electromagnetic torque, psi s For stator flux linkage psi sref Is a stator flux linkage reference value.
After the operation of the step 5), directly entering the step 7) for control.
(6) When the hybrid excitation motor enters a high-speed region, the back electromotive force base value is
E base ＝ω eN ψ m (22)
Counter-potential of q-axis of
E q ＝ω e (ψ m +L d i d +M f i f ) (23)
Equation (22) equals equation (23), the result is
Firstly, judging whether the rotating speed is less than the weak magnetic basic speed n flux If yes, then maintain d-axis current i d =0, using excitation current i f Weak magnetic field, the following current distribution can be obtained:
by bringing formula (25) into formula (18)
If the rotating speed reaches the weak magnetic base speed n flux The excitation current reaches the rated value, the following results are obtained:
continue to use d-axis current i d Weak magnetic field, so the following current distribution can be obtained:
by bringing formula (27) into formula (18)
Wherein, I fN For field current rating, ω eN At a rated electrical angular velocity, E base Is a back-emf base value, E q Is the q-axis back-emf.
After the operation of the step 6), directly entering the step 7) for control.
(7) Using said stator flux linkage reference value psi sref Subtracting the stator flux linkage estimated value psi in the step (3) s Obtaining stator flux linkage deviation delta psi s Using reference value T of electromagnetic torque eref Subtracting the electromagnetic torque estimated value T in the step (3) e Obtaining an electromagnetic torque deviation Delta T e Then the delta phi s Sending the signal into a hysteresis comparator to obtain a torque control signal tau, and sending Delta T e And sending the signal to a hysteresis comparator to obtain a flux linkage control signal phi. Selecting a proper switching state by the three control signals tau, phi and theta through a switching table shown in the table 1 to drive the main power converter;
TABLE 1 inverter switch table
Simultaneously converting the exciting current i collected in the step (1) f The excitation current reference value i obtained in the steps (5) and (6) is subjected to signal conditioning and A/D conversion fref And the signals are sent to a direct current excitation pulse width modulation module together, and 4 paths of pulse width modulation signals are operated and output to drive an excitation power converter.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
Claims (2)
1. A hybrid excitation synchronous motor position sensorless direct torque control method is characterized by comprising the following steps:
(1) Three Hall current sensors and two voltage sensors respectively collect phase current i from a main circuit of the motor a 、i b And an excitation current i f Bus voltage U DC And excitation voltage U f The collected signals are sent to a controller after being conditioned by voltage following, filtering, biasing and overvoltage protection signals;
(2) Phase current i to be fed to the controller a 、i b A/D conversion is carried out, and the alpha-axis current i under the two-phase static coordinate system is obtained through the 3/2 conversion from the three-phase coordinate system to the two-phase static coordinate system α And beta axis current i β (ii) a Using U fed into the controller DC And on-off state S a 、S b 、S c Determining the alpha-axis voltage u in the two-phase stationary coordinate system according to the following formula α And beta axis voltage u β ：
Wherein S is a 、S b 、S c The switching states of upper and lower switching tubes of three-phase bridge arms a, b and c of the inverter are respectively set, the conduction time value of the upper bridge arm is 1, and the conduction time value of the lower bridge arm is 0;
(3) Using i obtained in step (2) α 、i β 、u α 、u β The actual electromagnetic torque estimated value T is calculated according to the following equations e Actual stator flux linkage estimate psi s Stator flux linkage working sector estimation value theta i ：
Wherein psi α And psi β Respectively an alpha axis flux linkage and a beta axis flux linkage of the stator under a two-phase static coordinate system, R s Is armature winding resistance, and p is the number of pole pairs of the motor;
an actual rotation speed estimated value n and a rotor position angle estimated value theta are respectively calculated according to the following formulas e ：
Wherein, K 1 Is a fixed observed gain of the receiver,the error current is observed for the stator alpha axis,the error current is observed for the stator beta axis,observing the current for the alpha and beta axes respectively, sign () being a sign function, e α 、e β Back-emf, omega, of the alpha and beta axes, respectively e Is the electrical angular velocity;
(4) With a given speed n ref Subtracting the estimate of step 3)The obtained rotating speed n is input into a speed regulator to obtain an electromagnetic torque reference value T eref Reference value T of said electromagnetic torque eref And the estimated rotating speed n is sent into a current distributor, whether the actual rotating speed is less than the rated rotating speed is judged, if yes, the motor operates in a low-speed area, the step 5 is carried out, and if not, the motor operates in a high-speed area, the step 6 is carried out);
(5) Judging whether the load torque satisfies T L ≤T N Determining a stator flux linkage reference value psi sref And an electromagnetic torque reference value T eref Then entering step (7), wherein T L Is the load torque, T N The rated torque is as follows;
when T is L ≤T N In time, without need of magnetization control, i f =0, use i d =0 control, current distribution is performed according to the following current distribution scheme:
further obtaining a stator flux linkage reference value of
When T is L >T N When the q-axis current reaches a rated value, the magnetizing control is required, so that i q ＝i qN Using d-axis current i d =0 control, current distribution is performed according to the following current distribution scheme:
and further obtaining a stator flux linkage reference value as follows:
wherein i dref 、i qref D-axis and q-axis current reference values, i, respectively qN A nominal value for the q-axis current; i.e. i fref Is an excitation current reference value; l is d 、L q D-and q-axis inductances, M f Is the mutual inductance between the armature and the field winding; psi m Is a permanent magnet flux linkage; psi d 、ψ q Respectively carrying out d-axis and q-axis magnetic linkage; psi s For stator flux, psi sref Is a stator flux linkage reference value;
(6) Firstly, judging whether the given rotating speed is less than the weak magnetic basic speed n flux If yes, then maintain d-axis current i d =0, using excitation current i f And (3) field weakening, wherein current distribution is carried out according to the following current distribution scheme:
and further obtaining a stator flux linkage reference value as follows:
if the given rotating speed reaches the weak magnetic basic speed n flux Then exciting current i f Reaching rated value and continuing to adopt d-axis current i d And (3) field weakening, wherein current distribution is carried out according to the following current distribution scheme:
stator flux linkage reference value
Wherein, I fN For nominal value of exciting current, ω eN Is the rated electrical angular velocity;
(7) Using said stator flux linkage reference value psi sref Subtracting the actual stator flux linkage estimated value psi obtained in the step (3) s Obtaining stator flux linkage deviation delta psi s Using reference value T of electromagnetic torque eref Subtracting the actual electromagnetic torque estimated value T in the step (3) e Obtaining an electromagnetic torque deviation Delta T e Then sum of delta phi s Sending the torque to a hysteresis comparator to obtain a torque control signal tau, and sending delta T e Sending the signals into a hysteresis comparator to obtain a flux linkage control signal phi, and selecting a switching state by the three control signals tau, phi and theta through a switching table to drive a main power converter;
simultaneously converting the exciting current i collected in the step (1) f After signal conditioning and A/D conversion, the reference value i is compared with the excitation current obtained in the step (5) or (6) fref And the signals are sent to a direct current excitation pulse width modulation module together, and 4 paths of pulse width modulation signals are operated and output to drive an excitation power converter.
2. The position sensorless direct torque control method of a hybrid excitation synchronous motor according to claim 1, wherein the dc excitation pulse width modulation module in the step (7) is a space vector pulse width modulation module.
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| KR102441606B1 (en) * | 2017-05-25 | 2022-09-07 | 현대모비스 주식회사 | System and method for controlling motor and |
| CN107248830B (en) * | 2017-07-24 | 2019-04-30 | 东南大学 | A kind of selection of memory electrical machine magnetized state controls cooperative control method with weak magnetic |
| CN107947669B (en) * | 2017-11-23 | 2020-06-26 | 西安理工大学 | Nonlinear back-thrust tracking control method for hybrid excitation synchronous motor |
| CN108390602B (en) * | 2018-02-24 | 2019-06-18 | 西安理工大学 | A kind of direct prediction power control method of hybrid exciting synchronous motor |
| CN108933432B (en) * | 2018-07-25 | 2019-12-06 | 江苏力信电气技术有限公司 | mixed excitation synchronous motor hardware overvoltage protection circuit |
| CN109742992B (en) * | 2019-01-22 | 2022-06-17 | 南通大学 | Novel hybrid excitation synchronous motor control method without position sensor |
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