CN101499754A - Double salient motor system for non-position sensor and control method thereof - Google Patents
Double salient motor system for non-position sensor and control method thereof Download PDFInfo
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Abstract
本发明公布了一种无位置传感器双凸极电机系统及其控制方法，属双凸极电机系统及其控制方法。本发明所述系统由双凸极电机、励磁绕组、主功率电路和控制电路组成，其中主功率电路包括电源和IPM，控制电路包括隔离电路、故障检测电路、三相电流采样电路、励磁电流采样电路、PWM控制电路、过流过压保护电路、ADC模块、位置检测电路、转速计算电路、逻辑控制电路、捕获单元、速度环、电流环、滞环比较器和PI调节器。本发明所述控制方法采用电流内环，转速外环双环控制方式，通过参考给定转速与反馈的实际转速比较，间接控制双凸极电机电流大小。本发明系统简单、结构更坚固、运行可靠、效率高。
The invention discloses a position sensorless double salient motor system and a control method thereof, belonging to a double salient motor system and a control method thereof. The system of the present invention consists of a doubly salient pole motor, an excitation winding, a main power circuit and a control circuit, wherein the main power circuit includes a power supply and an IPM, and the control circuit includes an isolation circuit, a fault detection circuit, a three-phase current sampling circuit, and an excitation current sampling circuit. circuit, PWM control circuit, overcurrent and overvoltage protection circuit, ADC module, position detection circuit, speed calculation circuit, logic control circuit, capture unit, speed loop, current loop, hysteresis comparator and PI regulator. The control method of the present invention adopts a dual-loop control mode of current inner loop and rotational speed outer loop, and indirectly controls the current of the doubly salient motor by comparing the given rotational speed with the actual rotational speed fed back. The invention has the advantages of simple system, stronger structure, reliable operation and high efficiency.
Description
Technical field
The present invention relates to a kind of double salient motor system and control method thereof, relate in particular to a kind of double salient motor system for non-position sensor and control method thereof.
Background technology
For the electric excitation biconvex electrode electric machine drive system, rotor position information is the prerequisite of its reliability service in real time and accurately.Obtain positional information by the detection type position detector that adopts shaft position sensor or other type and not only can increase motor volume, improve system cost and complexity, the more important thing is the robustness that can reduce system configuration, influence the reliability service of whole system.Therefore how let it be is fallen position detector, directly utilize the voltage and current information indirect of motor to determine rotor-position, thereby make system configuration firmer, operation is reliable more, efficient, cost is cheaper, a very potential research direction all has important value in Aero-Space, wind power generation field beyond doubt.Up to now, the research to this field both at home and abroad still belongs to the starting stage, and research object focuses mostly in the similar position-less sensor of switched reluctance motor of electric machine structure.The thinking of its research has two kinds: positioning mode--the algorithm of pulse injection method is relatively simple although pulse is injected (1), but the input based on high-frequency impulse makes it that inherent intrinsic speed limit be arranged unavoidably, and measuring current may bring negative torque, and it is exerted oneself to whole system and the influence of efficient also is very big deficiency; (2) back-emf method--this method needs the auxiliary starter facility, need carry out phase compensation, also has the matching problem of count value speed and current amplitude limit.Because the existence of these shortcomings, last above method does not all have and can realize well.Therefore, how accurately to obtain rotor position angle information in real time is the difficult problem of biconvex utmost point position-sensor-free technology always.Still the effective ways that do not have at present double-salient-pole electric machine without position sensor control both at home and abroad.
Summary of the invention
The technical problem to be solved in the present invention is that the defective at prior art proposes a kind of double salient motor system for non-position sensor and control method thereof.
Double salient motor system for non-position sensor of the present invention, by double salient-pole electric machine, excitation winding, main power circuit and control circuit are formed, wherein main power circuit comprises power supply and IPM, two outputs of power supply are connected with two inputs of IPM respectively, three outputs of IPM are connected with three inputs of double salient-pole electric machine respectively, the output of double salient-pole electric machine is connected with the input of excitation winding, described control circuit comprises buffer circuit, failure detector circuit, the three-phase current sample circuit, the exciting current sample circuit, pwm control circuit, overcurrent-overvoltage protecting circuit, the ADC module, position detecting circuit, the revolution speed calculating circuit, logic control circuit, capturing unit, speed ring, electric current loop, hysteresis comparator and pi regulator, the output of the input termination IPM of failure detector circuit wherein, the output of failure detector circuit is taken over the input that flows through voltage protection circuit, the input of the output termination logic control circuit of overcurrent-overvoltage protecting circuit; Three inputs of three-phase current sample circuit are connected with three outputs of IPM respectively, and the output of three-phase current sample circuit is connected with the input of ADC module, and the output of ADC module is connected with the negative input end of electric current loop; The input of exciting current sample circuit is connected with the output of excitation winding, the output of exciting current sample circuit is connected with the input of position detecting circuit, an output of position detecting circuit is connected with the input of capturing unit, the output of capturing unit is connected with the input of logic control circuit, another output of position detecting circuit is connected with the input of revolution speed calculating circuit, and the output of revolution speed calculating circuit is connected with the negative input end of der Geschwindigkeitkreis; The output of der Geschwindigkeitkreis is connected with the input of pi regulator, the output of pi regulator is connected with the positive input terminal of electric current loop, the output of electric current loop is connected with the input of logic control circuit, and the output of logic control circuit is connected with the input of IPM by pwm control circuit, buffer circuit successively.
The control method of double salient motor system for non-position sensor, adopt power supply to drive double salient-pole electric machine by IPM, adopt the sampling of exciting current sample circuit to obtain the output exciting current if of excitation winding, exciting current sample circuit output pulse position signal is exported the pulse position signal obtains double salient-pole electric machine successively through position detecting circuit, revolution speed calculating circuit actual speed ω with the exciting current sample circuit
m, the output exciting current of excitation winding is obtained triggering signal through position detecting circuit, capturing unit successively; Adopt the three-phase current sample circuit to gather the three-phase input current of double salient-pole electric machine, the three-phase input current of the double salient-pole electric machine gathered is obtained phase current i through the ADC module
P, with the actual speed ω of described double salient-pole electric machine
mWith given double salient-pole electric machine rotational speed omega
m *Obtain the real-time speed discrepancy of double salient-pole electric machine through speed ring, the real-time speed discrepancy of described double salient-pole electric machine is obtained given phase current i through pi regulator
P *, with described given phase current i
P *With phase current i
PIt is poor to obtain real-time current through electric current loop, and described real-time current difference is obtained step signal through hysteresis comparator; Adopt failure detector circuit to detect the fault-signal that IPM obtains double salient-pole electric machine, the fault-signal of double salient-pole electric machine is obtained the high-low level signal through overcurrent-overvoltage protecting circuit; Described triggering signal, step signal, high-low level signal are obtained pumping signal through logic control circuit, pumping signal is used to control the driving voltage of IPM output and the three-phase input current that drive current is double salient-pole electric machine through the drive signal that buffer circuit obtains IPM.
Double salient-pole electric machine of the present invention is simple in structure, exert oneself big, therefore when carrying out high-power or more high-power simulated experiment, adopts the wind turbine simulator of double salient-pole electric machine to have and utilizes and simplify the analogue system structure, reduce cost.The present invention can utilize that artificial wind speed is given simulates various wind speed models under wind-tunnel or the wind field condition, has very big flexibility, has saved the research fund of wind tunnel experiment, has shortened the research cycle of wind generating technology.The present invention utilizes wind speed and rotating speed to try to achieve the wind turbine characteristic, and the torque that is used for controlling simulator is given, adopts ring in the torque to realize the simulation of wind turbine, has saved search time for the design in early stage of wind turbine, brings great convenience.
Description of drawings
Fig. 1: control system block diagram of the present invention;
Fig. 2: double salient-pole electric machine three-phase of the present invention mutual inductance and excitation current waveform figure;
Fig. 3: double salient-pole electric machine exciting current sampling modulate circuit figure of the present invention;
Fig. 4: double salient-pole electric machine exciting current of the present invention and position signalling oscillogram;
Fig. 5: double salient-pole electric machine position signalling of the present invention and three-phase current oscillogram.
Embodiment
As shown in Figure 1.A kind of double salient motor system for non-position sensor, by double salient-pole electric machine, excitation winding, main power circuit and control circuit are formed, wherein main power circuit comprises power supply and IPM, two outputs of power supply are connected with two inputs of IPM respectively, three outputs of IPM are connected with three inputs of double salient-pole electric machine respectively, the output of double salient-pole electric machine is connected with the input of excitation winding, described control circuit comprises buffer circuit, failure detector circuit, the three-phase current sample circuit, the exciting current sample circuit, pwm control circuit, overcurrent-overvoltage protecting circuit, the ADC module, position detecting circuit, the revolution speed calculating circuit, logic control circuit, capturing unit, speed ring, electric current loop, hysteresis comparator and pi regulator, the output of the input termination IPM of failure detector circuit wherein, the output of failure detector circuit is taken over the input that flows through voltage protection circuit, the input of the output termination logic control circuit of overcurrent-overvoltage protecting circuit; Three inputs of three-phase current sample circuit are connected with three outputs of IPM respectively, and the output of three-phase current sample circuit is connected with the input of ADC module, and the output of ADC module is connected with the negative input end of electric current loop; The input of exciting current sample circuit is connected with the output of excitation winding, the output of exciting current sample circuit is connected with the input of position detecting circuit, an output of position detecting circuit is connected with the input of capturing unit, the output of capturing unit is connected with the input of logic control circuit, another output of position detecting circuit is connected with the input of revolution speed calculating circuit, and the output of revolution speed calculating circuit is connected with the negative input end of der Geschwindigkeitkreis; The output of der Geschwindigkeitkreis is connected with the input of pi regulator, the output of pi regulator is connected with the positive input terminal of electric current loop, the output of electric current loop is connected with the input of logic control circuit, and the output of logic control circuit is connected with the input of IPM by pwm control circuit, buffer circuit successively.
The control method of double salient motor system for non-position sensor, adopt power supply to drive double salient-pole electric machine by IPM, adopt the sampling of exciting current sample circuit to obtain the output exciting current if of excitation winding, exciting current sample circuit output pulse position signal is exported the pulse position signal obtains double salient-pole electric machine successively through position detecting circuit, revolution speed calculating circuit actual speed ω with the exciting current sample circuit
m, the output exciting current of excitation winding is obtained triggering signal through position detecting circuit, capturing unit successively; Adopt the three-phase current sample circuit to gather the three-phase input current of double salient-pole electric machine, the three-phase input current of the double salient-pole electric machine gathered is obtained phase current i through the ADC module
P, with the actual speed ω of described double salient-pole electric machine
mWith given double salient-pole electric machine rotational speed omega
m *Obtain the real-time speed discrepancy of double salient-pole electric machine through speed ring, the real-time speed discrepancy of described double salient-pole electric machine is obtained given phase current i through pi regulator
P *, with described given phase current i
P *With phase current i
PIt is poor to obtain real-time current through electric current loop, and described real-time current difference is obtained step signal through hysteresis comparator; Adopt failure detector circuit to detect the fault-signal that IPM obtains double salient-pole electric machine, the fault-signal of double salient-pole electric machine is obtained the high-low level signal through overcurrent-overvoltage protecting circuit; Described triggering signal, step signal, high-low level signal are obtained pumping signal through logic control circuit, pumping signal is used to control the driving voltage of IPM output and the three-phase input current that drive current is double salient-pole electric machine through the drive signal that buffer circuit obtains IPM.
As shown in Figure 2, the stator tooth utmost point of electric excitation double-salient-pole motor without position sensor overlaps place's mutual inductance maximum with the rotor tooth utmost point, and the stator tooth utmost point and the rotor tooth utmost point be the mutual inductance minimum at a distance of farthest the time.According to the basic theories of electric excitation biconvex electrode electric machine as can be known, the operation of electric excitation biconvex electrode electric machine relies on the inductance rising area and feeds forward current, feeds negative current in the inductance district that descends.When the position sensor electric excitation biconvex electrode electric machine moves, rely on position transducer to obtain rotor position information, phase current inductance from moment that minimum value begins to rise, inductance from moment that maximum begins to descend and inductance drop to three moment of minimum value and commutate.There is corresponding relation in the fluctuation of the exciting current of electric excitation biconvex electrode electric machine with rotor position and three-phase mutual inductance as seen from Figure 2, exciting current is consistent with the electric current commutation cycle period of waves, and exciting current fluctuation takes place the position just in time with the commutation position same-phase.The corresponding motor-field of different rotor-positions distributes different, and excitation field can change and change along with rotor-position, therefore can utilize exciting current to fluctuate and obtain rotor position information.
As shown in Figure 3, the exciting current sample circuit is made of current sensor, 2 low pass filters, differentiator, reverser, zero-crossing comparator and single triggers.The exciting current that the current sensor sampling obtains carries out filtering through first order low pass filter, eliminates the high frequency burr; Obtain the pulse position signal through differentiator, reverser, second level low pass filter, zero-crossing comparator and single trigger respectively again.
As shown in Figure 4, exciting current has obtained electric excitation biconvex electrode electric machine pulse position signal behind the over-sampling modulate circuit.The fluctuation of pulse position signal and exciting current has corresponding relation as can be seen, the every fluctuation of exciting current once produces a pulse position signal, the position same-phase of fluctuation takes place in pulse signal and exciting current, and the position of pulse signal just in time is the position that three-phase current commutates.Therefore, described pulse signal just in time can be used for replacing position transducer to drive electric excitation biconvex electrode electric machine.
As shown in Figure 5, adopt described pulse position signal, the drive current that is used to control IPM output by the drive signal that obtains IPM after the control system shown in Figure 1 is the three-phase input current of double salient-pole electric machine.As seen from Figure 5, utilize described pulse position signal can realize that the electric excitation double-salient-pole motor without position sensor three-phase input current correctly commutates, promptly feed positive current, descend at inductance and distinguish phase winding feeding negative current at inductance rising area phase winding.
Claims (2)
1. double salient motor system for non-position sensor, by double salient-pole electric machine, excitation winding, main power circuit and control circuit are formed, wherein main power circuit comprises power supply and IPM, two outputs of power supply are connected with two inputs of IPM respectively, three outputs of IPM are connected with three inputs of double salient-pole electric machine respectively, the output of double salient-pole electric machine is connected with the input of excitation winding, it is characterized in that described control circuit comprises buffer circuit, failure detector circuit, the three-phase current sample circuit, the exciting current sample circuit, pwm control circuit, overcurrent-overvoltage protecting circuit, the ADC module, position detecting circuit, the revolution speed calculating circuit, logic control circuit, capturing unit, speed ring, electric current loop, hysteresis comparator and pi regulator, the output of the input termination IPM of failure detector circuit wherein, the output of failure detector circuit is taken over the input that flows through voltage protection circuit, the input of the output termination logic control circuit of overcurrent-overvoltage protecting circuit; Three inputs of three-phase current sample circuit are connected with three outputs of IPM respectively, and the output of three-phase current sample circuit is connected with the input of ADC module, and the output of ADC module is connected with the negative input end of electric current loop; The input of exciting current sample circuit is connected with the output of excitation winding, the output of exciting current sample circuit is connected with the input of position detecting circuit, an output of position detecting circuit is connected with the input of capturing unit, the output of capturing unit is connected with the input of logic control circuit, another output of position detecting circuit is connected with the input of revolution speed calculating circuit, and the output of revolution speed calculating circuit is connected with the negative input end of der Geschwindigkeitkreis; The output of der Geschwindigkeitkreis is connected with the input of pi regulator, the output of pi regulator is connected with the positive input terminal of electric current loop, the output of electric current loop is connected with the input of logic control circuit, and the output of logic control circuit is connected with the input of IPM by pwm control circuit, buffer circuit successively.
2. control method based on the described double salient motor system for non-position sensor of claim 1, adopt power supply to drive double salient-pole electric machine by IPM, it is characterized in that adopting the sampling of exciting current sample circuit to obtain the output exciting current if of excitation winding, exciting current sample circuit output pulse position signal is exported the pulse position signal obtains double salient-pole electric machine successively through position detecting circuit, revolution speed calculating circuit actual speed ω with the exciting current sample circuit
m, the output exciting current of excitation winding is obtained triggering signal through position detecting circuit, capturing unit successively; Adopt the three-phase current sample circuit to gather the three-phase input current of double salient-pole electric machine, the three-phase input current of the double salient-pole electric machine gathered is obtained phase current i through the ADC module
P, with the actual speed ω of described double salient-pole electric machine
mWith given double salient-pole electric machine rotational speed omega
m *Obtain the real-time speed discrepancy of double salient-pole electric machine through speed ring, the real-time speed discrepancy of described double salient-pole electric machine is obtained given phase current i through pi regulator
P *, with described given phase current i
P *With phase current i
PIt is poor to obtain real-time current through electric current loop, and described real-time current difference is obtained step signal through hysteresis comparator; Adopt failure detector circuit to detect the fault-signal that IPM obtains double salient-pole electric machine, the fault-signal of double salient-pole electric machine is obtained the high-low level signal through overcurrent-overvoltage protecting circuit; Described triggering signal, step signal, high-low level signal are obtained pumping signal through logic control circuit, and the drive current that the drive signal that pumping signal is obtained IPM through buffer circuit is used to control IPM output is the three-phase input current of double salient-pole electric machine.
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| CN101789738B (en) * | 2010-03-05 | 2012-02-22 | 东南大学 | Doubly salient pole permanent magnet motor control device and control method |
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| CN115425883A (en) * | 2022-11-07 | 2022-12-02 | 南京师范大学 | A Method of Electrically Excited Doubly Salient Power Generation Based on Hierarchical Optimization and Overvoltage Protection |
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