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CN110212820B - On-load starting method of electric excitation doubly salient motor with six-state advance angle control - Google Patents

On-load starting method of electric excitation doubly salient motor with six-state advance angle control Download PDF

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CN110212820B
CN110212820B CN201910484174.2A CN201910484174A CN110212820B CN 110212820 B CN110212820 B CN 110212820B CN 201910484174 A CN201910484174 A CN 201910484174A CN 110212820 B CN110212820 B CN 110212820B
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motor
phase
inductance
current
commutation
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CN110212820A (en
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刘伟峰
王慧贞
路通
章春娟
曹俊鹏
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Nanjing University of Aeronautics and Astronautics
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • H02P6/17Circuit arrangements for detecting position and for generating speed information
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • H02P6/18Circuit arrangements for detecting position without separate position detecting elements
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • H02P6/18Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/186Circuit arrangements for detecting position without separate position detecting elements using difference of inductance or reluctance between the phases
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20Arrangements for starting
    • H02P6/21Open loop start

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a six-state advance angle control-based load starting method for an electro-magnetic doubly salient motor, which is used for detecting the current magnitude of a conducting phase in real time, calculating the corresponding series incremental inductance of the conducting two phases by using the difference between the rising slope and the falling slope of the current during current chopping, setting threshold inductances corresponding to three advance commutation positions according to the characteristic that the series incremental inductance is monotonously reduced during the conducting period, judging whether a rotor reaches the advance commutation position or not by comparing the estimated value of the series incremental inductance with the threshold value, estimating the rotating speed of the motor according to the running time of the motor between two adjacent advance commutation positions, integrating the rotating speed and combining the known advance commutation position to estimate the other three standard commutation positions, thereby realizing the load starting of a position-free sensor of the electro-magnetic doubly salient motor. Compared with a position-free starting method based on three-state standard angle control, the method can obviously improve the loading capacity of the motor and effectively inhibit the torque pulsation of the motor.

Description

Six-state advanced angle control type load starting method for electro-magnetic doubly salient motor
Technical Field
The invention relates to the field of motor control, in particular to a low-speed position-sensor-free control technology of an electro-magnetic doubly salient motor, and specifically relates to a six-state advanced angle control-based on-load starting method of the electro-magnetic doubly salient motor.
Background
The electro-magnetic doubly salient motor has wide application prospect in the field of aviation starting/power generation by virtue of the characteristics of simple structure, high reliability and flexible and convenient control. When the motor is used for a driving system, the position of a rotor needs to be detected so as to realize accurate phase change, the traditional mechanical position sensor reduces the system reliability, increases the cost and limits the application range of the motor, and therefore, the research on the operation technology of the doubly salient electro-magnetic motor without the position sensor is of great significance.
The control of the low-speed position-sensorless loaded by the electro-magnetic doubly salient motor is always a difficult point in the technical field of position-sensorless. The detection pulse and acceleration pulse alternate injection method is a main method for detecting the position of the motor in low-speed operation at present. The method has the technical defects of low motor output, large torque pulsation and large commutation error. Meanwhile, the method can only be applied to the traditional three-state standard angle control. The six-state advance angle control strategy can improve the output torque of the motor and effectively inhibit the torque pulsation of the motor, so that the six-state advance angle control strategy has higher application value. However, no relevant literature report for realizing the on-load starting of the position-free sensor of the electro-magnetic double-salient motor under the six-state advance angle control is found at present.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a six-state advanced angle control electrified excitation doubly salient motor starting method aiming at the defects related in the background technology, so that the low-speed electrified reliable and stable running of an electrified excitation doubly salient motor position-free sensor is realized.
The invention adopts the following technical scheme for solving the technical problems:
the six-state advance angle controlled double salient electro-magnetic motor carrying starting method comprises the following steps:
step 1), when an electrically excited doubly salient motor runs at a low speed, controlling currents for conducting two phases by adopting a current chopping control method;
step 2), judging whether the next commutation position is a phase-change position in advance or a standard commutation position according to the current position, if so, executing step 3), and if so, executing step 4);
step 3), for each chopping, calculating corresponding series incremental inductors of two conducted phases by using the difference between the rising slope and the falling slope of the current during the current chopping, comparing the series incremental inductors of the two conducted phases with a preset inductor threshold, performing phase change if the series incremental inductors are less than or equal to the preset inductor threshold, updating the rotor position, calculating the average motor rotating speed according to the motor running time between two adjacent advanced phase change positions, and then skipping to execute the step 1);
and 4), integrating the average motor rotating speed, calculating the real-time position of the rotor by combining the updated advanced commutation position, performing commutation when the real-time position of the rotor reaches the standard commutation position, keeping the average motor rotating speed unchanged, and then skipping to execute the step 1).
As a further optimization scheme of the six-state advanced angle control electro-magnetic double salient motor load starting method, the series incremental inductance for conducting two phases (x, y) is calculated in step 3) according to the following formula:
Figure GDA0002725582440000021
wherein lx(θ,ix) Incremental inductance for the forward conducting phase, Lx(θ,ix) Apparent inductance of the forward conducting phase,/y(θ,iy) Incremental inductance for reverse conducting phase, Ly(θ,iy) Apparent inductance of the reverse conducting phase, Lxf(θ,ix) Is the apparent mutual inductance between the forward conducting phase winding and the excitation winding, Lyf(θ,iy) For apparent mutual inductance between the reverse conducting phase winding and the excitation winding,
Figure GDA0002725582440000022
respectively the rising slope and the falling slope of the conducting two-phase instantaneous current i, theta is the position of the rotor of the motor, ixFor forward conduction of phase current, iyFor reverse conduction of phase current, VD、VTEquivalent voltage drop of power diode and switch tube, ifFor exciting winding current, UdcIs the supply voltage.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the invention aims at the application occasion of the on-load starting of the electro-magnetic doubly salient motor.
2. The invention avoids the problem of discontinuous phase current caused by the traditional detection pulse and acceleration pulse alternate injection method, improves the motor output and effectively reduces the motor torque pulsation.
3. The invention can realize the starting operation of the electro-magnetic doubly salient motor without a position sensor under the control of the six-state advance angle, and further improves the output of the motor and inhibits the torque pulsation of the motor compared with the control of the three-state standard angle.
Drawings
Fig. 1 is a two-dimensional structural diagram of a three-phase electro-magnetic doubly salient motor with an 12/8 pole structure according to an embodiment of the present invention.
Fig. 2 is a hardware block diagram of a motor control system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a six-state advance angle control.
Fig. 4 is a diagram of the apparent inductance of the phase winding of the electrically excited doubly salient motor of the invention when the exciting current is 20A and the motor is in no load.
Fig. 5 is a diagram of phase winding increment inductance of the electrically excited doubly salient motor of the present invention when the exciting current is 20A and the motor is no-load.
Fig. 6 is a series incremental inductance curve diagram of two conducting phases of the electrically excited doubly salient motor of the present invention when the exciting current is 20A and the armature currents are different.
FIG. 7 is a control flow chart of the low-speed sensorless technology of the electro-magnetic doubly salient motor of the present invention.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
The invention discloses a six-state advanced angle control type live-load starting method for an electro-magnetic doubly salient motor, which comprises the following steps of:
step 1), when an electrically excited doubly salient motor runs at a low speed, controlling currents for conducting two phases by adopting a current chopping control method;
step 2), judging whether the next commutation position is a phase-change position in advance or a standard commutation position according to the current position, if so, executing step 3), and if so, executing step 4);
step 3), for each chopping, calculating corresponding series incremental inductors of two conducted phases by using the difference between the rising slope and the falling slope of the current during the current chopping, comparing the series incremental inductors of the two conducted phases with a preset inductor threshold, performing phase change if the series incremental inductors are less than or equal to the preset inductor threshold, updating the rotor position, calculating the average motor rotating speed according to the motor running time between two adjacent advanced phase change positions, and then skipping to execute the step 1);
and 4), integrating the average motor rotating speed, calculating the real-time position of the rotor by combining the updated advanced commutation position, performing commutation when the real-time position of the rotor reaches the standard commutation position, keeping the average motor rotating speed unchanged, and then skipping to execute the step 1).
Calculating the series incremental inductance for conducting two phases (x, y) according to the following formula in the step 3):
Figure GDA0002725582440000031
wherein lx(θ,ix) Incremental inductance for the forward conducting phase, Lx(θ,ix) Apparent inductance of the forward conducting phase,/y(θ,iy) Incremental inductance for reverse conducting phase, Ly(θ,iy) Apparent inductance of the reverse conducting phase, Lxf(θ,ix) Is the apparent mutual inductance between the forward conducting phase winding and the excitation winding, Lyf(θ,iy) For apparent mutual inductance between the reverse conducting phase winding and the excitation winding,
Figure GDA0002725582440000032
respectively the rising slope and the falling slope of the conducting two-phase instantaneous current i, theta is the position of the rotor of the motor, ixFor forward conduction of phase current, iyFor reverse conduction of phase current, VD、VTEquivalent voltage drop of power diode and switch tube, ifFor exciting winding current, UdcIs the supply voltage.
The preset inductance threshold value is related to the phase-change position and the phase current in advance, when the advance angle is fixed, the preset inductance threshold value is only related to the phase current, a one-dimensional table of the inductance threshold value and the phase current can be established in an off-line mode, and when the motor runs, the table is looked up according to the amplitude of the phase current so as to update the inductance threshold value in real time.
In the following description, taking a three-phase electro-magnetic doubly salient motor with 12/8-pole structure shown in fig. 1 as an example, a hardware block diagram of a control system is shown in fig. 2, and mainly includes: three-phase full-bridge inverter, controller and three-phase electro-magnetic doubly salient motor, wherein UdcIs a DC bus voltage, S1~S6Is a power MOSFET, D1~D6Is an anti-parallel diode, Ra、Rb、RcRespectively, the three-phase winding resistance of the motor, La、Lb、LcApparent self-inductance, i, of three-phase winding of motor A, B, C, respectivelya、ib、icThe three-phase currents of the motor are respectively.
As shown in fig. 3, the electrically excited doubly salient machine employs "six-state advance angle control" in which the advance angle is optimized, where β is the advance commutation angle. The phase change of the motor is carried out six times in each period, the corresponding six phase change positions are divided into two groups, one group is named as a phase change position in advance, and the phase change positions are respectively 80 degrees, 200 degrees and 320 degrees; another group is named standard commutation positions, 120 °, 240 ° and 360 °, respectively. The two phases are simultaneously conducted in each conducting state, the six conducting states are respectively 'A + C-', 'B + A-', 'C + B-' and 'A + B-', '+' represents forward conduction, and '-' represents reverse conduction. When the motor is started, the hysteresis loop is adopted to carry out chopping control on the armature current.
By definition of incremental inductance, the incremental inductance of each phase winding of an electrically excited doubly salient machine can be expressed as:
Figure GDA0002725582440000041
likewise, the series delta inductance of the two conducting phases in each conducting state can be expressed as:
Figure GDA0002725582440000042
it can be seen that the incremental inductance of each phase winding is not only related to the phase current, but also related to the excitation winding current, while the doubly salient electro-magnetic motor needs a larger excitation current to output a larger torque, and usually a constant excitation current is applied when the motor is started, at this time, the saturation degree of the magnetic circuit of the motor is high, and the difference between the incremental self-inductance and the apparent inductance is larger, as shown in fig. 4 and 5.
By adopting a phase winding voltage equation, the series incremental inductance of two conducting phases can be calculated according to the rising slope and the falling slope of the current in a current chopping period, and can be expressed as follows:
Figure GDA0002725582440000043
when the motor is started, a positive current is conducted to one phase winding and a negative current is conducted to the other phase winding in each conducting state. The positive current generates a magnetizing armature reaction, and the negative current generates a demagnetizing armature reaction. The demagnetization armature reaction has a great influence on the variation trend of the series incremental inductance. In the three conduction intervals of "a + C-", "B + a-" and "C + B-", the series incremental inductance conducting the two phases is in a monotonically decreasing trend as the rotor position increases, as shown in fig. 6. When the exciting current is not changed, the descending slope of the series incremental inductor is related to the magnitude of the armature current, and the descending slope is larger when the armature current is larger.
Fig. 7 is a flow chart of the position sensorless start method of the present invention. The invention provides a phase change position detection method according to the characteristic that the series incremental inductance of two conducting phases is monotonically decreased. Firstly, an inductance threshold value L related to the phase current is set for each phase advance commutation positionth(i) Are each Lth_80°(i),Lth_200°(i),Lth320 ° (i). Establishing a one-dimensional table of threshold inductance value and phase current by an off-line test method, and when the motor runsA look-up table is made based on the magnitude of the phase current to update the threshold inductance value in real time.
Then the following steps are adopted:
step 1, controlling currents for conducting two phases by adopting a current chopping control method when an electrically excited doubly salient motor is started;
step 2, judging whether the next commutation position is a phase-change position in advance or a standard commutation position according to the current position, entering step 3 if the next commutation position is the phase-change position in advance, and jumping to step 4 if the next commutation position is the standard commutation position;
step 3, calculating the corresponding series connection increment inductance of two conducting phases by using the difference between the rising slope and the falling slope of the current during the current chopping, and estimating the series connection increment inductance once every time the current is chopped; comparing the estimated series incremental inductance for conducting two phases with a preset threshold inductance, performing phase change when the estimated value of the series incremental inductance is smaller than the inductance threshold, and updating the rotor position to be thetatEstimating the motor speed omega according to the motor running time delta t between two adjacent advanced commutation positionstThe rotation speed is expressed as:
Figure GDA0002725582440000051
then returning to the step 1;
step 4, rotating speed omegatIntegrating and combining updated advance commutation position thetatThe real-time position theta of the rotor can be estimatedeIt can be expressed as:
Figure GDA0002725582440000052
when the rotor reaches the standard commutation position, commutation is performed, and then the process returns to step 1.
According to the steps, the electric excitation doubly salient motor realizes the on-load starting of the position-sensor-free motor under the six-state advance angle control. The position estimation algorithm without the position sensor is realized by software, and does not occupy extra hardware resources.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1.六状态提前角度控制的电励磁双凸极电机带载起动方法,其特征在于,包含以下步骤:1. The electric excitation doubly salient motor on-load starting method controlled by the six-state advance angle is characterized in that, comprises the following steps: 步骤1),电励磁双凸极电机低速运行时采用电流斩波控制方法控制导通两相的电流;Step 1), when the electric excitation doubly salient motor is running at a low speed, a current chopping control method is used to control the current of the two-phase conduction; 步骤2),根据当前位置判断下一换相位置为提前换相位置还是标准换相位置,若是提前换相位置则执行步骤3),若是标准换相位置执行步骤4);Step 2), judge that the next commutation position is an advance commutation position or a standard commutation position according to the current position, if it is an advance commutation position, then execute step 3), if it is a standard commutation position, execute step 4); 步骤3),对于每一次斩波,在电流斩波期间利用电流上升斜率与下降斜率之差计算对应的导通两相的串联增量电感,将导通两相的串联增量电感与预设的电感阈值相比较,如果串联增量电感小于等于预设的电感阈值则进行换相,并更新转子位置,并根据相邻两个提前换相位置间电机运行时间计算平均电机转速,然后跳转执行步骤1);Step 3), for each chopping, during the current chopping period, use the difference between the current rising slope and the falling slope to calculate the corresponding series incremental inductance of the two-phase conduction, and compare the series incremental inductance of the two-phase conduction with the preset value. If the series incremental inductance is less than or equal to the preset inductance threshold, commutation is performed, and the rotor position is updated, and the average motor speed is calculated according to the motor running time between the two adjacent early commutation positions, and then jumps Execute step 1); 步骤4),对平均电机转速进行积分并结合更新的提前换相位置计算转子实时位置,当转子实时位置到达标准换相位置时进行换相,此时平均电机转速不变,然后跳转执行步骤1)。Step 4), Integrate the average motor speed and calculate the real-time position of the rotor in combination with the updated advance commutation position. When the real-time rotor position reaches the standard commutation position, the commutation is performed. At this time, the average motor speed is unchanged, and then the execution step is skipped. 1). 2.根据权利要求1所述的六状态提前角度控制的电励磁双凸极电机带载起动方法,其特征在于,步骤3)中根据以下公式计算导通两相(x,y)的串联增量电感:2. The electric excitation doubly salient motor with load starting method of the six-state advance angle control according to claim 1, is characterized in that, in step 3), calculate the series increase of conducting two-phase (x, y) according to the following formula. Quantity inductance:
Figure FDA0002773100830000011
Figure FDA0002773100830000011
其中,lx(θ,ix)为正向导通相的增量电感,Lx(θ,ix)为正向导通相的视在电感,ly(θ,iy)为反向导通相的增量电感,Ly(θ,iy)为反向导通相的视在电感,Lxf(θ,ix)为正向导通相绕组与励磁绕组间的视在互感,Lyf(θ,iy)为反向导通相绕组与励磁绕组间的视在互感,
Figure FDA0002773100830000012
分别为导通两相瞬时电流i的上升斜率和下降斜率,θ为电机转子位置,ix为正向导通相电流,iy为反向导通相电流,VD、VT分别为功率二极管与开关管的等效压降,if为励磁绕组电流,Udc为直流母线电压。
Among them, l x (θ, i x ) is the incremental inductance of the forward conducting phase, L x (θ, i x ) is the apparent inductance of the forward conducting phase, and l y (θ, i y ) is the reverse conducting phase The incremental inductance of the phase, L y (θ,i y ) is the apparent inductance of the reverse conducting phase, L xf (θ, i x ) is the apparent mutual inductance between the forward conducting phase winding and the excitation winding, L yf ( θ,i y ) is the apparent mutual inductance between the reverse conducting phase winding and the excitation winding,
Figure FDA0002773100830000012
are the rising slope and falling slope of the two-phase instantaneous current i, respectively, θ is the rotor position of the motor, i x is the forward conduction phase current, i y is the reverse conduction phase current, V D and V T are the power diode and the power diode respectively. The equivalent voltage drop of the switch tube, i f is the excitation winding current, and U dc is the DC bus voltage.
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