CN107645253A - The three-phase simulation device of current-responsive type permagnetic synchronous motor and its drive system - Google Patents

Abstract

The invention provides a three-phase simulator of a current-responsive permanent magnet synchronous motor and its drive system, comprising: at least two three-phase DC/AC converters, an electrical impedance network, a DC power supply, a drive behavior processor, and a motor Behavior processor, voltage control link, and current control link; the three-phase DC/AC converter is used to simulate the working status of the permanent magnet synchronous motor and its drive system at the circuit level; the drive behavior processor is used to simulate the electrical characteristics of the drive system; The Motor Behavior Processor is used to simulate the electrical and mechanical behavior of permanent magnet synchronous motors. The invention can simulate the voltage applied by the drive system to the port of the three-phase permanent magnet synchronous motor, and the current response of the permanent magnet synchronous motor to this voltage, so as to realize the dynamic and static electrical and mechanical behavior of the permanent magnet synchronous motor and its drive system Simulation; the simulator can realize the fully electric experiment and test of the motor and its drive system, which saves the test cost and improves the test efficiency and safety.

Description

Three-phase Simulator of Current Responsive Permanent Magnet Synchronous Motor and Its Driving System

technical field

The invention relates to the technical fields of power electronics and motors, in particular to a current-responsive permanent magnet synchronous motor and a three-phase simulator of its drive system.

Background technique

Permanent magnet synchronous motor (Permanent Magnet Synchronous Machine, PMSM) and its supporting drive system are widely used in wind power generation, industrial control, electric vehicles and other important fields of electric energy conversion and electric drive. In these applications, the power class and power density of permanent magnet synchronous motors are increasing, and the load characteristics are becoming more and more complex. During design, development and factory commissioning, it is often necessary to conduct a series of functional and reliability tests and verifications on the permanent magnet synchronous motor and its drive system.

The traditional permanent magnet synchronous motor test method, in addition to the real permanent magnet synchronous motor and its matching motor drive, also includes another set of dragging motor system connected to the mechanical shaft of the permanent magnet synchronous motor to test the permanent magnet synchronous motor. Synchronous motors apply load torque. When faced with more and more complex operating conditions, as well as higher and higher reliability and functional requirements, traditional motor testing methods have a series of limitations:

1. It is difficult to simulate some complex, highly dynamic and long-term load torque characteristics for the traction motor system;

2. The parameters of the test system, especially the motor characteristics, are difficult to change freely;

3. The mechanical link greatly increases the loss of the test system, and brings problems such as test safety and accuracy.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide a three-phase simulator of a current-responsive permanent magnet synchronous motor and its drive system.

According to the three-phase simulator of the permanent magnet synchronous motor and its drive system provided by the present invention, it includes:

Three-phase DC/AC converter, drive behavior processor, motor behavior processor, voltage control link, current control link; where:

The three-phase DC/AC converter is used to simulate the drive voltage applied to the motor port by the three-phase permanent magnet synchronous motor drive system on the circuit level, and to simulate the current response of the permanent magnet synchronous motor to the drive voltage ;

The drive behavior processor is used to describe the electrical behavior characteristics of the drive system; according to the target speed control given (mechanical speed ω _mech *) and the stator current response signal (i _s ) generated by the motor behavior processor and the rotational speed signal (mechanical rotational speed ω _mech ), the driving voltage signal (u _s ) of the simulated drive system is generated through control calculation.

The motor behavior processor is used to describe and simulate the electrical and mechanical behavior characteristics of the permanent magnet synchronous motor; according to the driving voltage signal (u _s ) output by the driving behavior processor and the externally input load torque signal ( T _load ), generating the stator current response signal (i _s ), the speed signal (mechanical speed ω _mech ) and the motor rotor position signal (mechanical angle θ _mech and/or electrical angle θ _e ) of the simulated permanent magnet synchronous motor;

The voltage control link is used to convert the driving voltage signal (u _s ) generated by the driving behavior processor into the device switching signal of the voltage control side converter of the three-phase DC/AC converter, so that The drive voltage of the simulated drive system in the three-phase DC/AC converter circuit;

The input end of the voltage control link is connected to the output end of the driving behavior processor, and the signal input by the voltage control link is pulse width modulated to generate a switching signal of the semiconductor device in the voltage control side bridge arm.

The current control link is used to convert the _stator current response signal (is) generated by the motor behavior processor into a device switching signal of the current control side converter of the three-phase DC/AC converter, thereby simulating the stator current response of the permanent magnet synchronous motor in the three-phase DC/AC converter circuit;

The first input end of the current control link is connected to the first output end of the motor behavior processor, and the second input end of the current control link is the inverter on the voltage control side of the three-phase DC/AC converter. The current signal obtained by sampling at the AC output terminal of the device, the third input terminal of the current control link is the flux position signal of the permanent magnet synchronous motor calculated by the motor behavior processor, through the current controller, coordinate transformation and pulse width modulation to generate switching signals for the semiconductor device of the current control side converter.

In particular, the current signals at each input terminal in the current control link are first converted to the same dq synchronous rotating coordinate system, or the αβ two-phase stationary coordinate system, or the abc three-phase stationary coordinate system through the coordinate transformation sub-module, and then controlled operation.

Specifically, the three-phase DC/AC converter includes: a voltage control side converter, a current control side converter, an electrical impedance network, and a DC power supply module; wherein:

The voltage control side converter is composed of full-control or half-control power semiconductor devices, and the positive input terminal and negative input terminal of the voltage control side converter are respectively connected to the first group of positive poles and negative poles of the DC power supply module. connected, the AC output end of the voltage control side converter is connected to the first end of the electrical impedance network; the voltage control side converter is used to simulate the drive voltage generated by the drive system;

The current control side converter is composed of a full-control or half-control power semiconductor device, and the positive input terminal and the negative input terminal of the current control side converter are respectively connected to the second group of positive poles and negative poles of the DC power supply module. connected, the AC output end of the current control side converter is connected to the second end of the electrical impedance network; the current control side converter and the electrical impedance network are used to simulate the permanent magnet synchronous motor The current response generated under the action of the driving voltage generated by the driving system;

The electrical impedance network is a circuit structure composed of one or more of passive components such as a resistor R, an inductor L, a capacitor C, and an optional three-phase transformer T; it includes at least one set of three-phase input terminals and Three-phase output terminals; wherein, the inductance, capacitance, and resistance are connected to form an LCR network, and the three-phase transformer T and the LCR network can be cascaded in different orders; the first aspect of the electrical impedance network is to coordinate The current control side converter in the three-phase DC/AC converter is used to control the three-phase stator current of the simulated permanent magnet synchronous motor; the second aspect is to reduce the AC load in the three-phase converter circuit The higher harmonics of the current; the third aspect is to suppress the zero-sequence component in the load current of the analog system;

Wherein, the transformation ratio of the windings on both sides of the three-phase transformer is set arbitrarily according to the needs, and the windings on both sides of the three-phase transformer adopt any of the following connection forms: Y/Δ type, Δ/Y type, Δ/Δ type, Y /Y type, open type;

In particular, when the three-phase transformer is included in the electrical impedance network, it is necessary to convert the reference voltage of the voltage control link to the primary side of the transformer, and convert the reference current of the current control link to the secondary side of the transformer;

The DC power supply module is used to provide electric energy to the voltage control side converter and the current control side converter;

Optionally, the DC power supply module includes any of the following:

DC power supply;

A single-phase or three-phase AC power supply connected to a rectifier and an optional transformer, the AC input terminal of the rectifier is connected to the single-phase or three-phase AC power supply via an optional transformer, and the rectifier leads to a DC output terminal to output DC power;

A single-phase or three-phase AC power grid connected to a rectifier and an optional transformer, the AC input terminal of the rectifier is connected to the single-phase or three-phase AC power supply via an optional transformer, and the rectifier leads to a DC output terminal to output direct current;

Wherein, in the direct current power supply module, the voltage control side converter and the current control side converter are independent of each other, use different power sources for power supply, or share the same power source for power supply.

Specifically, the driving behavior processor includes: a speed controller and a current controller, wherein:

The speed controller is used to compare the mechanical speed reference signal of the permanent magnet synchronous motor with the mechanical speed signal generated by the motor behavior processor, and obtain the stator current of the permanent magnet synchronous motor through control calculation Reference signal; the input value of the first terminal of the speed controller is the mechanical speed reference given value (ω _mech *) of the simulated motor; the difference with the mechanical speed signal generated by the motor behavior processor; the speed control The output value of the second terminal of the controller is the stator current reference given signal calculated by the speed controller;

The current controller is used to compare the stator current reference given signal with the stator current signal generated by the motor behavior processor, and obtain the drive voltage signal of the drive system through control calculation; the The input value of the first terminal of the current controller is the difference between the stator current reference given value calculated by the speed controller and the stator current signal generated by the motor behavior processor; the second terminal of the current controller constitutes The drive behavior is a processor output.

Specifically, the motor behavior processor is used for simulating the electrical characteristics and mechanical behavior characteristics of the permanent magnet synchronous motor; or, simulating the electrical characteristics and mechanical behavior characteristics of the permanent magnet synchronous generator; including sequentially connected electromagnetic equation sub-modules , torque equation sub-module, motion equation sub-module, position conversion sub-module; where:

The first terminal of the electromagnetic equation sub-module constitutes the first input terminal of the motor behavior processor, and is connected to the output terminal of the driving behavior processor, and its input is the driving voltage signal generated by the driving behavior processor; The second end of the electromagnetic equation sub-module inputs the permanent magnet flux amplitude (ψ _f ) of the simulated permanent magnet synchronous motor; the third end of the electromagnetic equation sub-module inputs the electrical speed signal of the permanent magnet synchronous motor (ω _e ); the fourth end of the electromagnetic equation submodule is connected to the first end of the torque equation submodule, and constitutes the first output end of the motor behavior processor; the torque equation submodule The second end of the input of the permanent magnet flux amplitude (ψ _f ) of the permanent magnet synchronous motor, the third end of the torque equation sub-module is connected with the first end of the equation of motion sub-module; the motion The second end of the equation sub-module inputs the load torque signal of the permanent magnet synchronous motor; the signal output by the third end of the equation of motion sub-module is processed by the gain of the number of pole pairs (n _p ) of the permanent magnet synchronous motor , input the third end of the electromagnetic equation sub-module; the third end of the motion equation sub-module is also connected to the first end of the position conversion sub-module, and constitutes the speed output end of the permanent magnet synchronous motor; The second end of the position conversion submodule is connected to the motor position output end of the permanent magnet synchronous motor;

The electromagnetic equation sub-module is used to describe the electromagnetic characteristics of the permanent magnet synchronous motor: the motor port voltage signal (u _s ) of the permanent magnet synchronous motor calculated by the drive behavior processor, the The angular frequency (ω _e ) of the permanent magnet synchronous motor and the permanent magnet flux amplitude (ψ _f ) of the permanent magnet synchronous motor are calculated and converted into the stator current (i _s ) of the permanent magnet synchronous motor ;

The torque equation sub-module is used to describe the electromagnetic torque characteristics of the permanent magnet synchronous motor: the motor stator current (i _s ) of the permanent magnet synchronous motor, and the permanent magnet synchronous motor The flux linkage amplitude of the permanent magnet (ψ _f ) is converted into the equivalent output electromagnetic torque (T _e ) of the simulated permanent magnet synchronous motor through calculation;

The equation of motion sub-module is used to describe the mechanical characteristics of the permanent magnet synchronous motor, and the electromagnetic torque (T _e ) equivalently output by the permanent magnet synchronous motor, the load of the permanent magnet synchronous motor Torque (T _load ), converted into mechanical angular frequency (ω _mech ) of the permanent magnet synchronous motor through calculation;

The position conversion sub-module is used to solve the rotor and flux linkage position of the permanent magnet synchronous motor: convert the mechanical angular frequency (ω _mech ) of the permanent magnet synchronous motor into the permanent magnet synchronous motor through the equation Rotor flux phase angle (θ _e ), and mechanical phase angle (θ _mech );

Optionally, in the position conversion sub-module, the mechanical angle θ _mech and the electrical angle θ _e can be used as the output signal at the same time, or only one of the mechanical angle θ _mech or the electrical angle θ _e can be used as the output signal; optional , in order to avoid data storage saturation, the mechanical angle θ _mech and the electrical angle θ _e are calculated for the remainder of 2π (radians, ie 360°), and thus converted into [0,2π) (ie [0°,360°)) interval A value that repeats periodically.

It should be noted that all the above calculations involving current and voltage are performed in the dq synchronous rotating coordinate system, or in the αβ two-phase stationary coordinate system, or in the abc three-phase stationary coordinate system.

The driving behavior processor, the motor behavior processor, the voltage control link, and the current control link can all use digital signal processors (DSP), or analog or digital circuits, or other equivalent software and hardware way to achieve.

Compared with the prior art, the present invention has the following beneficial effects:

1. The three-phase simulator of the current-responsive permanent magnet synchronous motor and its drive system provided by the present invention can simulate the output voltage of the permanent magnet synchronous motor drive system and the current response of the permanent magnet synchronous motor to the drive voltage; thereby realizing Simulation of dynamic and static electrical and mechanical behavior of permanent magnet synchronous motors and their drive systems.

2. The three-phase simulator of the current-responsive permanent magnet synchronous motor and its drive system provided by the present invention can produce the three-phase drive voltage and the three-phase stator current response of the actual permanent magnet synchronous motor when the drive system acts, so It can be conveniently used for reliability, functional testing and other related research of components in the motor drive system.

3. The current-responsive permanent magnet synchronous motor and the three-phase simulator of its drive system provided by the present invention, because most of the electric power circulates in the entire simulator, only consumes power loss, which is different from using actual permanent magnet synchronous motors and mechanical Compared with the load, the energy consumption is significantly reduced.

4. The three-phase simulator of the current-responsive permanent magnet synchronous motor and its drive system provided by the present invention, its mechanical load is input in the form of load torque signal, which can avoid the use of actual mechanical load and realize the full electric motor and its drive The test saves the test cost and improves the test efficiency and safety.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a schematic block diagram of an embodiment provided by the present invention;

Fig. 2 is a schematic block diagram of the first embodiment of the single-sided three-phase DC/AC converter provided by the present invention;

Fig. 3 is a schematic block diagram of a second embodiment of a single-sided three-phase DC/AC converter provided by the present invention;

FIG. 4 is a schematic structural diagram of the first electrical impedance network according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a second electrical impedance network structure according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a third electrical impedance network structure according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a fourth electrical impedance network structure according to an embodiment of the present invention;

8 is a schematic diagram of the structure of the first LCR network in the electrical impedance network according to the embodiment of the present invention;

9 is a schematic diagram of a second LCR network structure in an electrical impedance network according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a third LCR network structure in an electrical impedance network according to an embodiment of the present invention;

11 is a schematic diagram of the structure of the fourth LCR network in the electrical impedance network according to the embodiment of the present invention;

FIG. 12 is a schematic diagram of a fifth LCR network structure in an electrical impedance network according to an embodiment of the present invention;

Fig. 13 is a schematic structural diagram of the DC power supply module of the first embodiment provided by the present invention;

Fig. 14 is a schematic structural diagram of the DC power supply module of the second embodiment provided by the present invention;

Fig. 15 is a schematic structural diagram of a DC power supply module according to a third embodiment of the present invention;

Fig. 16 is a schematic structural diagram of a DC power supply module according to a fourth embodiment of the present invention;

Fig. 17 is a schematic structural diagram of the DC power supply module of the fifth embodiment provided by the present invention;

Fig. 18 is a calculation block diagram of the electromagnetic equation in an embodiment provided by the present invention;

Fig. 19 is a calculation block diagram of the torque equation in an embodiment provided by the present invention;

Fig. 20 is a calculation block diagram of equations of motion in an embodiment provided by the present invention;

Fig. 21 is a calculation block diagram of position conversion in an embodiment provided by the present invention;

Fig. 22 is a schematic structural diagram of the voltage control link of an embodiment provided by the present invention;

Fig. 23 is a schematic structural diagram of the current control link of an embodiment provided by the present invention.

In the picture:

1-Three-phase DC/AC converter

11-Voltage control side converter

12-Current control side converter

13- Electrical Impedance Network

131-The first end of the electrical impedance network

132-The second end of the electrical impedance network

133-LCR network

134-Three-phase transformer

14- DC power supply

141-Voltage control side converter DC power supply terminal

142- DC power supply terminal of current control side converter

143-First DC voltage source

144 - Second DC voltage source

145 - First AC voltage source or grid (single-phase or three-phase)

146 - Second AC voltage source or grid (single-phase or three-phase)

147 - First AC/DC rectifier (single phase or three phase)

148 - Second AC/DC rectifier (single phase or three phase)

2- Driver Behavior Processor

21-speed controller

22-current controller

3- Motor Behavior Processor

31 - Electromagnetic Equations

32 - Torque Equation

33 - Equations of motion

34-Position transformation

4- Voltage control link

5- Current control link

detailed description

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

The three-phase simulator of the permanent magnet synchronous motor and its drive system provided by the present invention, its components include: at least two three-phase DC/AC converters, an electrical impedance network, a DC power supply, a drive behavior processor, and a motor behavior processor , voltage control link, and current control link; where:

Two three-phase DC/AC converters 11 and 12, including a voltage control side converter and a current control side converter, are used to generate the three-phase permanent magnet synchronous motor drive system respectively on the circuit level. The drive voltage, and the motor's current response to that drive voltage;

The driving behavior processor 2 is used to control the given (mechanical speed ω _mech *) according to the target speed and the stator current response signal (i _s ) and the speed signal (mechanical speed ω _mech ) generated by the motor behavior processor, through The control calculation generates the driving voltage signal (u _s ) of the simulated driving system;

The motor behavior processor 3 is used to generate a _stator current response signal ( _{i s} ), speed signal (mechanical speed ω _mech ) and motor rotor position signal (mechanical angle θ _mech and/or electrical angle θ _e );

Optionally, the motor behavior processor 3 is used to simulate the electrical characteristics and mechanical behavior characteristics of the permanent magnet synchronous motor; or, simulate the electrical characteristics and mechanical behavior characteristics of the permanent magnet synchronous generator.

The voltage control link 4 is used to convert the driving voltage signal (u _s ) generated by the driving behavior processor into the device switching signal of the three-phase DC/AC converter on the voltage control side, thereby simulating the driving of the driving system Voltage.

The current control link 5 is used to convert the _stator current response signal (is) generated by the motor behavior processor into the device switching signal of the three-phase DC/AC converter on the current control side, thereby simulating the permanent Magnetic synchronous motor stator current response.

Specifically, as shown in the embodiment in FIG. 1, the three-phase simulator of the permanent magnet synchronous motor and its drive system includes: three-phase DC/AC converters 11 and 12, a drive behavior processor 2, a motor behavior Processor 3 , voltage control link 4 , and current control link 5 . It should be noted that auxiliary circuits and software modules are omitted in FIG. 1 , and adding conventional circuit modules to the embodiment provided by the present invention also belongs to the essence of the present invention.

Three-phase DC/AC converter, including voltage control side converter 11, current control side converter 12, electrical impedance network 13 and DC power supply 14, used to simulate the connection between permanent magnet synchronous motor and drive system, The voltage applied to the motor port by the drive system, and the current response of the motor to the port voltage.

The voltage control side converter 11 and the current control side converter 12 can adopt any three-phase DC/AC topology including two-level (as shown in Figure 2) or three-level (as shown in Figure 3), but not limited to , semiconductor switching devices can be selected but not limited to full-controlled or half-controlled power devices such as IGBTs and MOSFETs.

The electrical impedance network 13 is composed of one or more passive components such as a resistor R, an inductor L, a capacitor C, and an optional three-phase transformer T, and has at least one set of three-phase input terminals and at least one set of three-phase output terminals; Wherein, the inductance, capacitance, and resistance are connected into an LCR network, and the three-phase transformer T and the LCR network can be cascaded in different orders; 11. Circuit topologies such as pure inductance, resistance-inductance series, LC or LCL filter included in Figure 12; the windings on both sides of the three-phase transformer 134 can adopt Y/Δ type, Δ/Y type, Δ/Δ type, Y/ Connection forms such as Y-type or open type; the first function of the electrical impedance network is to cooperate with the current control side converter in the three-phase DC/AC converter to carry out the three-phase stator current of the simulated permanent magnet synchronous motor Control; the second function is to reduce the higher harmonics of the AC load current in the three-phase converter circuit; the third function is to suppress the zero-sequence component in the load current of the analog system.

In particular, when the three-phase transformer is included in the electrical impedance network, it is necessary to convert the reference voltage of the voltage control link to the primary side of the transformer, and convert the reference current of the current control link to the secondary side of the transformer.

The DC power supply 14 is used to provide DC power to the voltage control side converter and the current control side converter, which can be constructed in the form shown in Fig. 13 , Fig. 14 , Fig. 15 , Fig. 16 and Fig. 17 .

Optionally, the DC power supply module includes any of the following:

DC power supply;

A single-phase or three-phase AC power supply connected to a rectifier and an optional transformer, the AC input terminal of the rectifier is connected to the single-phase or three-phase AC power supply via an optional transformer, and the rectifier leads to a DC output terminal to output DC power;

A single-phase or three-phase AC power grid connected to a rectifier and an optional transformer, the AC input terminal of the rectifier is connected to the single-phase or three-phase AC power supply via an optional transformer, and the rectifier leads to a DC output terminal to output direct current;

Wherein, in the DC power supply module, the voltage control side converter 11 and the current control side converter 12 are independent of each other, and use different power sources for power supply, or share the same power source for power supply.

The technical details of the motor and its driving simulation system in the dq synchronous rotating coordinate system will be described below by taking the embodiments described in FIG. 2 , FIG. 5 and FIG. 9 as examples.

The driving behavior processor 2 includes a speed controller 21 and a current controller 22 in order of signal transmission, wherein:

In the first step, in the speed controller 21, the reference signal ω _mech * of the mechanical speed of the permanent magnet synchronous motor is compared with the mechanical speed signal ω _mech calculated in the motor behavior processor 3. Through the control calculation, Generate the reference value i _s * of the simulated motor stator current, in one embodiment of the present invention, what produce here is the reference value i _sq * of the stator current q-axis component, the reference value i _sd * of the d-axis component is taken as zero.

In the second step, in the current controller 22, the reference value i _s * of the simulated stator current is compared with the stator current signal i _s calculated in the motor behavior processor, and the drive is obtained through control calculation. The driving voltage reference signal u _s of the system.

Specifically, the motor behavior processor 3 sequentially includes four sub-modules of electromagnetic equation 31, torque equation 32, motion equation 33, and position conversion 34 in order of signal transmission, wherein:

In the first step, the dq-axis components u _sd and u _sq of the machine terminal voltage reference value are directly obtained from the driving behavior processor 2 and transmitted to the electromagnetic equation sub-module 31 of the motor behavior processor 3 .

In the second step, the dq-axis voltage equation of the permanent magnet synchronous motor is:

u _d =R _s i _d +pψ _d -ω _e ψ _q (1)

u _q ＝ R _s i _q + pψ _q + ω _e ψ _d (2)

The dq-axis flux linkage equation of the permanent magnet synchronous motor is:

ψ _d = ψ _f +L _d i _d (3)

ψ _q = L _q i _q (4)

The symbol quantities in formula (1), formula (2), formula (3) and formula (4) are respectively: components u _d and u _q of motor machine terminal voltage (u _s ) transformed by dq coordinates, motor stator current (i _s ) The components i _d and i _q on the dq axis, the components ψ _d and ψ _q of the total flux linkage in the motor stator winding on the dq axis, the resistance R _s in the motor stator winding, the three-phase inductance of the motor stator winding The components L _d and L _q after dq coordinate transformation, the electrical angular frequency ω _e of the rotor flux linkage rotation, and the flux linkage amplitude ψ _f of the rotor permanent magnet to the stator.

The following formulas (5) and (6) can be obtained by formula (1), formula (2), formula (3) and formula (4):

In the electromagnetic equation sub-module 31, the calculation block diagram shown in Figure 18 can be designed by formula (5) and formula (6), and the dq axis component u of the machine terminal voltage reference value u _s obtained from the driving behavior processor 2 _sd and u _sq , and the instantaneous value ω _e of the rotor electrical angular frequency obtained through the motion equation and position transformation calculation feedback are input into the electromagnetic equation 31 as input values, and the simulated permanent magnet synchronous motor can be calculated under the same machine terminal voltage and speed conditions The stator current response dq axis components i _sd and i _sq .

In the third step, the dq axis torque equation of the permanent magnet synchronous motor is:

In formula (7), besides the symbol quantity already explained, it also includes the number of pole pairs n _p of the motor and the electromagnetic torque T _e output by the motor.

In the torque equation 32, the calculation block diagram shown in Fig. 19 can be designed by formula (7). The current input to the torque equation 32 is the dq axis component i _sd of the stator current (i _s *) calculated by the electromagnetic equation 31 and i _sq , through the calculation of the torque equation sub-module, the electromagnetic torque T _e that the simulated permanent magnet synchronous motor can provide at the same stator current can be calculated.

In the fourth step, the kinematic equation of the permanent magnet synchronous motor with mechanical load is:

In addition to the symbolic quantities explained, formula (8) also includes the mechanical load torque T _load of the motor, the moment of inertia J on the motor shaft, the resistance coefficient F of the motor shaft, and the mechanical angular frequency ω _mech of the motor rotor.

In the motion equation 33, the calculation block diagram shown in Figure 20 can be designed by the formula (8), and the electromagnetic torque T _e and the given value T _load of the load torque calculated by the torque equation 32 are used as input values to input the motion Equation 33, the mechanical angular frequency ω _mech of the actual permanent magnet synchronous motor under the same mechanical load can be calculated.

In the fifth step, in the position conversion 34, when the mechanical angular frequency of the motor is known, the electrical angular frequency ω _e , The electrical angle (rotor flux position) θ _e and the mechanical angle (rotor position) θ _mech , optionally, to avoid data storage saturation, the mechanical angle θ _mech and the electrical angle θ _e are divided into 2π (radians, that is, 360°) Find the remainder operation, thereby transforming into [0, 2π) (that is, [0°, 360°)) periodically repeated values in the interval; the calculation block diagram of the position conversion sub-module 34 of an embodiment of the present invention is shown in Figure 21.

ω ^e =n _p ω _mech (9)

Specifically, the voltage control link 4, after generating the driving voltage of the simulated permanent magnet synchronous motor in the driving behavior processor, converts the calculated voltage signal into an actual voltage. In one embodiment of the present invention, as shown in Fig. 22, an open-loop control method is adopted in the voltage control link 4, and the driving voltage signal u _s generated in the driving behavior processor is directly passed through the Pulse Width Modulation (PWM) technique (Pulse Width Modulation, PWM ) to generate switching signals to control the switching states of each switching device in the voltage control side converter 11, so that the AC output voltage u of the voltage control side converter is approximately the same as the voltage u _s that should be applied to the motor port by the drive system .

Specifically, the current control link 5, after obtaining the dq axis components i _sd and i _sq of the stator current (i _s ) of the simulated permanent magnet synchronous motor in the second step of the motor behavior processor, in order to ensure that the simulated system is consistent with the simulated The permanent magnet synchronous motor has a similar current response, and it is necessary to convert the calculated current signal into an actual current. An embodiment of the present invention, as shown in Figure 23, adopts decoupling and PI control under the dq axis, and generates the switching signal of the semiconductor device of the current control side converter through coordinate transformation and pulse width modulation, so as to control the current control The switching state of each switching device in the side converter 12, so that the output current i of the current control side converter is approximately the same as the three-phase stator current of the permanent magnet synchronous motor.

It should be noted that, the drive behavior processor, motor behavior processor, voltage control link, current control link and their internal sub-modules can also use other equivalent time domain and frequency domain expressions, through the digital signal processor (DSP) and other microprocessor systems, or analog and digital circuits, or other equivalent software and hardware methods.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims (9)

1. A kind of 1. three-phase simulation device of current-responsive type permagnetic synchronous motor and its drive system, it is characterised in that including：At least Two three-phase DC/AC current transformers, electrical impedance network, direct current supply, driving behavior processor, motor behavior processor, voltage control Link processed, current control link；Wherein：

   At least two three-phases DC/AC current transformers respectively constitute voltage control side converter and current control side converter, use In the driving voltage simulated three-phase permanent magnet synchronous motor drive system respectively in circuit aspect and be added in motor port, and motor To the current-responsive of the driving voltage；

   The driving behavior processor, for describing the electric behavioral trait of the drive system；

   The motor behavior processor, for describing the electrically and mechanically behavioral trait of the permagnetic synchronous motor；

   The voltage control loop section, it is raw for being referred to using drive voltage signal caused by the driving behavior processor as control Into the pulse-width signal of voltage control side three-phase DC/AC current transformers, by controlling the voltage to control side converter Devices switch, so as to simulate the driving voltage in the drive system；

   The current control link, for joining by control of the stator current response signal that the motor behavior processor generates Examine, the pulse-width signal of the current control side three-phase DC/AC current transformers is generated, by controlling current control side unsteady flow The devices switch of device, so as to simulate the response of the stator current of the permagnetic synchronous motor.
2. 2. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 1 and its drive system, it is special Sign is：

   The driving behavior processor, specifically for controlling given and described motor behavior processor to export according to rotating speed of target Stator current response signal and tach signal, the drive voltage signal of generation institute analog drive system；

   The motor behavior processor, specifically for the drive voltage signal exported according to the driving behavior processor and outside The load torque signal of input, stator current response signal, tach signal and the motor of generation institute simulation permagnetic synchronous motor Rotor-position signal.
3. 3. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 1 and its drive system, it is special Sign is：

   Voltage control side three-phase DC/AC current transformers by controlling or half control type power semiconductor is formed, the voltage control entirely Positive input terminal, the negative input end of side converter processed are connected with first group of positive pole, negative pole of the direct current supply module respectively, described The ac output end of voltage control side converter is connected with the first end of the electrical impedance network；The voltage controls side unsteady flow Device, for simulating driving voltage caused by the drive system；

   The current control side three-phase DC/AC current transformers by controlling or half control type power semiconductor is formed, the electric current control entirely Positive input terminal, the negative input end of side converter processed are connected with second group of positive pole, negative pole of the direct current supply module respectively, described The ac output end of current control side converter is connected with the second end of the electrical impedance network；The current control side converter With the electrical impedance network, rung for simulating the permagnetic synchronous motor caused electric current in the presence of the driving voltage Should；

   The electrical impedance network, for coordinating the current control side converter, the electricity of the simulated permagnetic synchronous motor of generation Stream response；

   The direct current supply, for controlling side converter, current control side converter to provide electric energy to the voltage.
4. 4. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 3 and its drive system, it is special Sign is that the electrical impedance network is made up of passive device, and including at least one input and output end；The passive device Including：Resistance, inductance, electric capacity, three-phase transformer；

   Wherein, the three-phase transformer both sides winding no-load voltage ratio is arbitrarily set as needed, and three-phase transformer both sides winding is adopted With any one following type of attachment：Y/ Δs type, Δ/Y types, Δ/Δ type, Y/Y types, open coiled pipe type；

   When including the three-phase transformer in the electrical impedance network, it is necessary to which the reference voltage of the voltage control loop section is rolled over Calculate to transformer primary side, the reference current of the current control link is converted to Circuit Fault on Secondary Transformer.
5. 5. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 3 and its drive system, it is special Sign is that the direct current supply module includes following any：

   Single or multiple dc sources；

   The single-phase or three-phase alternating-current supply being connected with rectifier；The ac input end of the rectifier is via optional transformer and institute State single-phase or three-phase alternating-current supply to be connected, the rectifier draws DC output end, exports direct current；

   The single-phase or three-phase alternating current power network being connected with rectifier, the ac input end of the rectifier is via optional transformer and institute State single-phase or three-phase alternating-current supply to be connected, the rectifier draws DC output end, exports direct current；

   Wherein, in the direct current supply module, voltage control side converter and current control side converter are separate, use Different electrical power is powered, or is shared same power supply and be powered.
6. 6. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 1 and its drive system, it is special Sign is that the driving behavior processor includes：Rotational speed governor and current controller, wherein：

   The rotational speed governor, for the mechanical separator speed of the permagnetic synchronous motor to be referred into Setting signal and the motor behavior Mechanical separator speed signal is compared caused by processor, is joined through controlling computing to obtain the stator current of the permagnetic synchronous motor Examine Setting signal；The mechanical separator speed reference of permagnetic synchronous motor of the rotational speed governor first end input value to be simulated is given The difference of mechanical separator speed signal caused by value and the motor behavior processor；The output valve at the end of rotational speed governor second is The stator current being calculated via rotational speed governor refers to Setting signal；

   The current controller, for generated the stator current with the motor behavior processor with reference to Setting signal Stator current signal make the difference comparing, through controlling computing to obtain the drive voltage signal of the drive system；The electric current control The input value of the first end of device processed is with reference to set-point and the motor row via the stator current that rotational speed governor is calculated For the difference of stator current signal caused by processor；Second end of the current controller forms the driving behavior processor Output end.
7. 7. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 1 and its drive system, it is special Sign is, the motor behavior processor, including be sequentially connected electromagnetic equation submodule, torque equation submodule, motion side Journey submodule, position transform subblock；Wherein：

   The first end of the electromagnetic equation submodule forms the motor behavior processor first input end, and is gone with the driving It is connected for the output end of processor, the drive of the first end input driving behavior processor generation of the electromagnetic equation submodule Dynamic voltage signal；Second end of the electromagnetic equation submodule inputs the permanent magnet flux linkage width of simulated permagnetic synchronous motor Value；3rd end of the electromagnetic equation submodule inputs the electric tach signal of the permagnetic synchronous motor；Electromagnetic equation 4th end of module is connected with the first end of the torque equation submodule, and forms the first defeated of the motor behavior processor Go out end；Second end of the torque equation submodule inputs the permanent magnet flux linkage amplitude of the permagnetic synchronous motor；The torque 3rd end of equation submodule is connected with the first end of the equation of motion submodule；Second end of the equation of motion submodule Input the load torque signal of the permagnetic synchronous motor；The signal of the three-polar output of the equation of motion submodule passes through institute After stating permagnetic synchronous motor number of pole-pairs gain process, the 3rd end of the electromagnetic equation submodule is inputted；The equation of motion 3rd end of module is also connected with the position transform subblock first end, and forms the rotating speed output of the permagnetic synchronous motor End；Second end of the position transform subblock is connected with the motor position output end of the permagnetic synchronous motor；

   The electromagnetic equation submodule, for the electromagnetic property of the permagnetic synchronous motor to be described；

   Described torque equation submodule, for the electromagnetic torque characteristic of the permagnetic synchronous motor to be described；

   Described equation of motion submodule, for the mechanical property of the permagnetic synchronous motor to be described；

   Described position transform subblock, for solving rotor and the magnetic linkage position of the permagnetic synchronous motor.
8. 8. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 1 and its drive system, it is special Sign is that the voltage control loop section, the drive voltage signal for the driving behavior processor to be generated is mapped to circuit In aspect, wherein：

   The input of the voltage control loop section is connected with the driving behavior processor output end, and the voltage control loop section is defeated The signal entered generates the switching signal that the voltage controls semiconductor devices in side converter through pulsewidth modulation.
9. 9. the three-phase simulation device of current-responsive type permagnetic synchronous motor according to claim 1 and its drive system, it is special Sign is that the current control link, the motor stator current responsing signal for the motor behavior processor to be generated reflects It is mapped in circuit aspect, wherein：

   The first input end of the current control link is connected with the output end of motor behavior processor first, the electric current control Second input of link processed, the current signal for sampling to obtain at side converter ac output end is controlled for the voltage, it is described 3rd input of current control link is the permagnetic synchronous motor magnetic linkage position letter that the motor behavior processor is calculated Number；Multiple input signals of the current control link generate institute via coordinate transform, current controller and pulsewidth modulation State the switching signal of current control side converter semiconductor devices.