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 PDFInfo
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/186—Circuit arrangements for detecting position without separate position detecting elements using difference of inductance or reluctance between the phases
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open 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
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:
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,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):
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,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:
likewise, the series delta inductance of the two conducting phases in each conducting state can be expressed as:
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:
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 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:
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:
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.
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