CN105846702A - PWM rectification method of high-speed magnetic suspension energy storage flywheel discharge system - Google Patents
PWM rectification method of high-speed magnetic suspension energy storage flywheel discharge system Download PDFInfo
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- CN105846702A CN105846702A CN201610307472.0A CN201610307472A CN105846702A CN 105846702 A CN105846702 A CN 105846702A CN 201610307472 A CN201610307472 A CN 201610307472A CN 105846702 A CN105846702 A CN 105846702A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
- H02M7/2195—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration the switches being synchronously commutated at the same frequency of the AC input voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a PWM rectification method of a high-speed magnetic suspension energy storage flywheel discharge system. Three phases U, V and W of a magnetic suspension energy storage flywheel motor (3) are respectively connected with three phases a, b and c of a three-phase PWM rectifier (4); and when a control system (8) and a driving and protection system (6) do not generate control signals to drive the three-phase PWM rectifier (4), six switch tubes V1, V2, V3, V4, V5 and V6 of the three-phase PWM rectifier (4) are at a non-working state, a three-phase back electromotive force of the magnetic suspension energy storage flywheel motor (3) realizes natural rectification through a diode VD1, a diode VD2, a diode VD3, a diode VD4, a diode VD5 and a diode VD6 on the three-phase PWM rectifier (4), the three-phase back electromotive force of the magnetic suspension energy storage flywheel motor (3) is rectified into DC voltages, then a capacitor is charged, and a DC-side load (5) is driven. The method provided by the invention is applied to PWM rectification of the high-speed magnetic suspension energy storage flywheel discharge system.
Description
Technical field
The present invention relates to the PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system.
Background technology
Along with the transition of the non-renewable energy resources such as oil, colliery is exploited, the mankind are faced with the most serious energy problem,
Energy scarcity also becomes the key factor of restriction China Stable Development in Economy simultaneously.Research new forms of energy, exploitation efficiently, environmental protection point
Cloth energy storage technology and power-saving technology have become as the research direction that energy field is important.Flywheel energy storage is as a kind of mechanical type storage
Energy mode, it is stored kinetic energy by the flywheel rotor of High Rotation Speed, then is discharged by flywheel rotor, thus realizes electric energy
The conversion of electric energy is arrived again to mechanical energy.Flywheel energy storage system is mainly controlled by high speed rotor, the supporting bearing of high speed rotor, motor
System and discharge control system composition.Discharge control system as the important component part of energy storage system for magnetic floating flywheel, according to
Three phase back-emf of magnetic levitation energy storage flywheel motor can be rectified into DC voltage by control signal, it is achieved the driving to load.
Carry out research and the application of Novel controllable magnetic suspending flywheel discharge system, have important reality meaning to solving energy problem of China
Justice.
Magnetic levitation energy storage flywheel discharge system can realize being rectified into the three-phase alternating current counter electromotive force of magnetically levitated flywheel motor
DC voltage.It mainly according to the Voltage Feedback of DC load, is produced control signal by control system and controls Three-Phase PWM Rectifier
The switching sequence of switching tube and make-and-break time, thus it is straight for realizing three phase back-emf rectifications of magnetic levitation energy storage flywheel motor
Stream voltage.Therefore, controlled rectification can be carried out according to three phase back-emf of magnetic levitation energy storage flywheel motor and different loads.
It is three the most electronic that existing magnetic levitation energy storage flywheel discharge system is primarily directed to magnetic levitation energy storage flywheel motor
Gesture carries out non-controllable rectification, and three phase back-emf of fly-wheel motor are directly rectified into the direct current of fixed amplitude by rectifier bridge
Pressure, so cannot realize unequally loaded controlled rectification.Additionally, remaining PWM controlled rectification method is both for fixing frequency
The three-phase voltage of rate carries out rectification, and its magnetic levitation energy storage flywheel electric discharge that can not be practically applicable to three-phase voltage frequency real-time change is
System.
Summary of the invention
It is an object of the invention to provide a kind of uncontrollability overcoming existing common magnetically levitated flywheel discharge system and
The frequency stationarity of common commutation system, it is possible to magnetically levitated flywheel three phase back-emf is realized controlled rectification, simultaneously by number
The PWM rectification of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system of the running status of discharge system is monitored in real time according to acquisition system
Method.
Above-mentioned purpose is realized by following technical scheme:
A kind of PWM method for rectifying of high-speed magnetic levitation accumulated energy flywheel discharge system, magnetic levitation energy storage flywheel motor (3) three-phase U, V,
W is respectively connected to a, b, c three-phase of Three-Phase PWM Rectifier (4)；When control system (8) and driving and protection system (6) do not produce
Control signal drive Three-Phase PWM Rectifier (4) time, 6 switching tubes of Three-Phase PWM Rectifier (4), switching tube V1, switching tube V2,
Switching tube V3, switching tube V4, switching tube V5, switching tube V6 are in non-duty, and magnetic levitation energy storage flywheel motor (3) three is contrary
Electromotive force is by the diode VD1 in Three-Phase PWM Rectifier (4), diode VD2, diode VD3, diode VD4, diode
VD5, diode VD6 realize natural commutation, are direct current by three phase back-emf rectifications of magnetic levitation energy storage flywheel motor (3)
Pressure, then to electric capacity charging and driving DC side load (5)；When Three-Phase PWM Rectifier (4) carries out three-phase controlled rectification, electric current,
Voltage sensor (4) measures DC side the load electric current of (5), voltage, data collecting system (1) gather and feed back to control system
System (8), compares with reference to DC voltage, produces q axle by Voltage loop PI controller and controls electric current；Electric current, voltage sensor
The phase current obtaining magnetic levitation energy storage flywheel motor (3) three phase back-emf measured by device (2), is adopted by data collecting system (1)
The phase current of magnetic levitation energy storage flywheel motor (3) three phase back-emf that collection is measured by electric current, voltage sensor (4), then will
It feeds back to control system (8), is obtained the position angle of magnetic levitation energy storage flywheel motor (3) rotor by sliding mode observer；Control
The phase current of magnetic levitation energy storage flywheel motor (3) three phase back-emf that data collecting system (1) is collected by system processed (8)
WithCarry out Clark conversion and Park converts, obtain electric current loop q axle feedback current, with the q of Voltage loop PI controller generation
Axle controls electric currentCompare, then produce q axle control voltage by electric current loop PI controllerVoltage is controlled with d axle
；Q axle controls voltageVoltage is controlled with d axleCorresponding PWM is produced by Ipark conversion and space vector switch list
Rectifier signals controls to drive, protect system (6), final output 6 tunnel PWM rectifier to drive signal to control Three-Phase PWM Rectifier
(4) during switching tube V1, switching tube V2, switching tube V3, switching tube V4, switching tube V5, the switching sequence of switching tube V6 and break-make
Between；Host computer (7) realizes the communication with control system (8) and data transmission, it is achieved put whole high-speed magnetic levitation accumulated energy flywheel
The monitoring of electricity system and control.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, magnetic levitation energy storage flywheel motor
The natural commutation of (3) three phase back-emf by diode VD1 on three brachium pontis, diode VD2, diode VD3, diode VD4, two
Pole pipe VD5, diode VD6 realize.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, magnetic levitation energy storage flywheel motor
The phase current of (3) three phase back-emf is measured by electric current, voltage sensor (2) and is obtained, and magnetic levitation energy storage flywheel motor (3) turns
Sub-position angle is obtained by sliding mode observer.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, the electricity in DC load (5)
Stream, voltage are measured by electric current, voltage sensor (2) and are obtained, and feed back to control system (8) by data collecting system (1).
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, Three-Phase PWM Rectifier (4) three
Switching tube V1, switching tube V2, switching tube V3, switching tube V4, switching tube V5, the switching sequence of switching tube V6 and break-make on brachium pontis
The control signal that time is produced by control system (8) controls.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, control system (8) exports
The control voltage that PWM rectifier control signal is produced by Voltage loop PI controller and electric current loop PI controller switchs through space vector
Table generates.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, host computer (7) and control system
(8) communicate, it is achieved status monitoring and the control to high-speed magnetic levitation accumulated energy flywheel discharge system.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, high-speed magnetic levitation accumulated energy flywheel
The control system of discharge system uses a piece of DSP28335 as main control chip, is responsible for whole computings and control, host computer (7)
By CAN card and control system (8) communication, it is thus achieved that the phase voltage of magnetic levitation energy storage flywheel motor (3) three phase back-emf and phase
Electric current in electric current, DC load (5) and voltage, generate simultaneously and control 6 switching tubes on Three-Phase PWM Rectifier (4) three brachium pontis
Control instruction；The control instruction that driving and protection system (6) export according to DSP28335, generates electric current controlled quentity controlled variable, controls three
The switching sequence of 6 switching tubes and make-and-break time on phase PWM rectifier (4) three brachium pontis, it is achieved Three-Phase PWM Rectifier (4) can
Control rectification.
The PWM method for rectifying of described a kind of high-speed magnetic levitation accumulated energy flywheel discharge system, high-speed magnetic levitation accumulated energy flywheel
The data collecting system (1) of discharge system is made up of, by writing data one piece of high-speed data acquisition card and data collection terminal mouth
Acquisition software realizes the data acquisition and processing (DAP) to high-speed magnetic levitation flywheel discharge system.
Beneficial effect:
1. when the present invention passes through switching sequence and the break-make that control system controls 6 switching tubes on Three-Phase PWM Rectifier three brachium pontis
Between achieve the controlled rectification to high-speed magnetic levitation accumulated energy flywheel three phase back-emf.
2. the sliding mode observer that the present invention uses estimates to obtain the rotor position angle information of magnetic levitation energy storage flywheel, is one
Plant the rotor position estimate method of position-sensor-free, compared with the three-phase PWM method for rectifying of existing magnetic levitation energy storage flywheel,
The three-phase PWM method for rectifying of magnetically levitated flywheel based on sliding mode observer can save required for measurement flywheel rotor position angle
Sensor (Hall element, photoelectric encoder).
3. the present invention is by by detecting DC voltage, electric current and three phase back-emf of magnetically levitated flywheel motor, then
Generate control signal and control the switching sequence of Three-Phase PWM Rectifier switching tube and make-and-break time, with existing three-phase PWM rectification system
System is compared, and this scheme can realize controlled rectification according to different target DC voltages.
4. the data acquisition of the present invention, drawing, parser can be real-time according to the DC voltage gathered, voltage and
Phase voltage and the phase current of magnetically levitated flywheel motor three phase back-emf carry out real-time drawing function, and the system that improves is to test data
Observability in real time, it is possible to the running status of real-time tracking observation three-phase PWM commutation system in debugging and running.
5. present disclosure applies equally to common three-phase PWM commutation system, only need to be by arranging the frequency of three-phase alternating voltage
Value.
Accompanying drawing illustrates:
Accompanying drawing 1 is the structure composition frame chart of the present invention；
Accompanying drawing 2 is the three-phase PWM rectification control system block diagram of the present invention；
Accompanying drawing 3 is that the Three-Phase PWM Rectifier of the present invention controls drive system schematic diagram；
Accompanying drawing 4 is that the three-phase PWM rectification of the present invention controls main program control block diagram；
Accompanying drawing 5 is that the three-phase PWM rectification of the present invention controls subprogram control block diagram；
Accompanying drawing 6 is the data acquisition of the present invention, drawing, parser flow chart.
Detailed description of the invention:
Embodiment 1:
A kind of PWM method for rectifying of high-speed magnetic levitation accumulated energy flywheel discharge system, magnetic levitation energy storage flywheel motor (3) three-phase U, V,
W is respectively connected to a, b, c three-phase of Three-Phase PWM Rectifier (4)；When control system (8) and driving and protection system (6) do not produce
Control signal drive Three-Phase PWM Rectifier (4) time, 6 switching tubes of Three-Phase PWM Rectifier (4), switching tube V1, switching tube V2,
Switching tube V3, switching tube V4, switching tube V5, switching tube V6 are in non-duty, and magnetic levitation energy storage flywheel motor (3) three is contrary
Electromotive force is by the diode VD1 in Three-Phase PWM Rectifier (4), diode VD2, diode VD3, diode VD4, diode
VD5, diode VD6 realize natural commutation, are direct current by three phase back-emf rectifications of magnetic levitation energy storage flywheel motor (3)
Pressure, then to electric capacity charging and driving DC side load (5)；When Three-Phase PWM Rectifier (4) carries out three-phase controlled rectification, electric current,
Voltage sensor (4) measures DC side the load electric current of (5), voltage, data collecting system (1) gather and feed back to control system
System (8), compares with reference to DC voltage, produces q axle by Voltage loop PI controller and controls electric current；Electric current, voltage sensor
The phase current obtaining magnetic levitation energy storage flywheel motor (3) three phase back-emf measured by device (2), is adopted by data collecting system (1)
The phase current of magnetic levitation energy storage flywheel motor (3) three phase back-emf that collection is measured by electric current, voltage sensor (4), then will
It feeds back to control system (8), is obtained the position angle of magnetic levitation energy storage flywheel motor (3) rotor by sliding mode observer；Control
The phase current of magnetic levitation energy storage flywheel motor (3) three phase back-emf that data collecting system (1) is collected by system processed (8)
WithCarry out Clark conversion and Park converts, obtain electric current loop q axle feedback current, with the q of Voltage loop PI controller generation
Axle controls electric currentCompare, then produce q axle control voltage by electric current loop PI controllerVoltage is controlled with d axle
；Q axle controls voltageVoltage is controlled with d axleCorresponding PWM is produced by Ipark conversion and space vector switch list
Rectifier signals controls to drive, protect system (6), final output 6 tunnel PWM rectifier to drive signal to control Three-Phase PWM Rectifier
(4) during switching tube V1, switching tube V2, switching tube V3, switching tube V4, switching tube V5, the switching sequence of switching tube V6 and break-make
Between；Host computer (7) realizes the communication with control system (8) and data transmission, it is achieved put whole high-speed magnetic levitation accumulated energy flywheel
The monitoring of electricity system and control.
Embodiment 2:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, described magnetic levitation energy storage
The natural commutation of fly-wheel motor (3) three phase back-emf is by diode VD1, diode VD2, diode VD3, two poles on three brachium pontis
Pipe VD4, diode VD5, diode VD6 realize.
Embodiment 3:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, described magnetic levitation energy storage
The phase current of fly-wheel motor (3) three phase back-emf is measured by electric current, voltage sensor (2) and is obtained, magnetic levitation energy storage flywheel
Motor (3) rotor position angle is obtained by sliding mode observer.
Embodiment 4:
The DC load (5) described in PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1
On electric current, voltage by electric current, voltage sensor (2) measure obtain, feed back to control system by data collecting system (1)
(8).
Embodiment 5:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, described three-phase PWM is whole
Switching tube V1 on stream device (4) three brachium pontis, switching tube V2, switching tube V3, switching tube V4, switching tube V5, the switch of switching tube V6
The control signal that order and make-and-break time are produced by control system (8) controls.
Embodiment 6:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, described control system
(8) the control voltage that the PWM rectifier control signal exported is produced by Voltage loop PI controller and electric current loop PI controller is through sky
Between vector switch list generate.
Embodiment 7:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, described host computer (7)
Communicate with control system (8), it is achieved status monitoring and the control to high-speed magnetic levitation accumulated energy flywheel discharge system.
Embodiment 8:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, described high-speed magnetic levitation
The control system of accumulated energy flywheel discharge system uses a piece of DSP28335 as main control chip, is responsible for whole computings and control,
Host computer (7) is by CAN card and control system (8) communication, it is thus achieved that the phase of magnetic levitation energy storage flywheel motor (3) three phase back-emf
Electric current in voltage and phase current, DC load (5) and voltage, generate simultaneously and control on Three-Phase PWM Rectifier (4) three brachium pontis 6
The control instruction of individual switching tube；The control instruction that driving and protection system (6) export according to DSP28335, generates electric current and controls
Amount, controls switching sequence and the make-and-break time of 6 switching tubes on Three-Phase PWM Rectifier (4) three brachium pontis, it is achieved three-phase PWM rectification
The controlled rectification of device (4).
Embodiment 9:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1 or 8, described high speed magnetic
The data collecting system (1) of levitation energy-storing flywheel discharge system is made up of one piece of high-speed data acquisition card and data collection terminal mouth,
The data acquisition and processing (DAP) to high-speed magnetic levitation flywheel discharge system is realized by writing data acquisition software.
Embodiment 10:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in embodiment 1, including data acquisition system
System, DC voltage, current sensor, magnetic levitation energy storage flywheel motor, Three-Phase PWM Rectifier, DC side load, drive and protect
System, host computer, control system；Magnetic levitation energy storage flywheel motor three-phase U, V, W respectively with a, b, c tri-of Three-Phase PWM Rectifier
It is connected；Control system is according to voltage, the DC voltage of current sensor measurement and the phase current of three phase back-emf and magnetcisuspension
Suspension flywheel motor rotor position angle produces control signal and controls to drive and protection system, then produces 6 road pwm signals and controls three-phase
The switching sequence of PWM rectifier switching tube and make-and-break time；Host computer realizes the communication with control system and data transmission, it is achieved
Monitoring and control to whole high-speed magnetic levitation accumulated energy flywheel discharge system.
Embodiment 11:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in above-described embodiment, when control system and
When driving and protection system do not produce control signal driving Three-Phase PWM Rectifier, at 6 switching tubes of Three-Phase PWM Rectifier
In non-duty, magnetic levitation energy storage flywheel motor three phase back-emf realizes nature by the diode of Three-Phase PWM Rectifier
Three phase back-emf rectifications of magnetic levitation energy storage flywheel motor are DC voltage by rectification, then to electric capacity charging and driving direct current
Lateral load；When carrying out Three-Phase PWM Rectifier and carrying out controlled rectification, electric current, voltage sensor measurement obtain DC side load
Voltage, its numerical value is by data acquisition system and feeds back to control system, with reference DC voltageRelatively, pass through
Voltage loop PI controller produces q axle and controls electric current；Measured by electric current, voltage sensor by data acquisition system
The phase current of magnetic levitation energy storage flywheel motor three phase back-emfWith, then it is fed back to control system, passes through sliding formwork
Observer estimates to obtain the position angle of magnetic levitation energy storage flywheel rotor；Data collecting system is collected by control system
The phase current of magnetic levitation energy storage flywheel motor three phase back-emfWithCarry out Clark conversion and Park converts, obtain electricity
Stream ring q axle feedback current, the q axle produced with Voltage loop PI controller controls electric currentCompare, then pass through electric current loop
PI controller produces q axle and controls voltageVoltage is controlled with d axle；Q axle controls voltageVoltage is controlled with d axleProduce corresponding pwm signal by Ipark conversion and space vector switch list to control to drive and protection system, the most defeated
Go out 6 road PWM drive signal and control switching sequence and the ON time of 6 switching tubes of Three-Phase PWM Rectifier.
Clark is transformed to
①
Park is transformed to
②
Ipark is transformed to
③
Sliding mode observer principle is:
?Under coordinate system, magnetically levitated flywheel motor model is
④
In formula,、It is respectivelyUnder coordinate systemAxle andThe electric current of axle,For phase inductance,For phase resistance,For
Counter electromotive force,For motor speed.
WhenTime, three phase back-emf models of magnetic levitation energy storage flywheel motor are
⑤
Sliding mode observer model is
⑥
In formula,For the feedback gain of control function,、Saturation function for sliding mode observer.
The switching function of sliding mode observer is
⑦
And the saturation function of sliding mode observer is
⑧
In formula,For sliding mode controller coefficient；Sliding formwork control function is
⑨
In formula,For the cut-off frequency of low pass filter, obtain the dynamical equation of sliding mode observer:
⑩
When carrying out sliding formwork motion on sliding-mode surface, have
⑪
Can obtain
⑫
After estimating counter electromotive force, it is estimated that rotor position angle is,
⑬
Embodiment 12:
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in above-described embodiment, as it is shown in figure 1, this
Invention includes: data collecting system 1, DC voltage, current sensor 2, magnetic levitation energy storage flywheel motor 3, Three-Phase PWM Rectifier
4, DC side loads 5, drives and protection system 6, host computer 7, control system 8；Magnetic levitation energy storage flywheel motor 3 three-phase U, V, W
Respectively with a, b, c three-phase of Three-Phase PWM Rectifier 4；When control system 8 and driving and protection system 6 do not produce control signal
When driving Three-Phase PWM Rectifier 4,6 switching tubes V1, V2, V3, V4, V5, V6 of Three-Phase PWM Rectifier 4 are in the shape that do not works
State, magnetic levitation energy storage flywheel motor 3 three phase back-emf by the diode VD1 in Three-Phase PWM Rectifier 4, VD2, VD3,
VD4, VD5, VD6 realize natural commutation, are DC voltage by three phase back-emf rectifications of magnetic levitation energy storage flywheel motor 3, then
To electric capacity charging and driving DC side load 5.Host computer 7 realizes the communication with control system 8 and data transmission, it is achieved to whole
The monitoring of high-speed magnetic levitation accumulated energy flywheel discharge system and control.
As in figure 2 it is shown, be the control block diagram of the Three-Phase PWM Rectifier control system 8 of the present invention.When carrying out, three-phase PWM is whole
When stream device carries out three-phase controlled rectification, electric current, voltage sensor measure the voltage of DC side load, by data collecting system
Gather and feed back to control system, with reference DC voltageRelatively, q shaft current is produced by Voltage loop PI controller
；Electric current, voltage sensor measurement obtain the phase current of magnetic levitation energy storage flywheel motor three phase back-emfWith, by number
According to the phase current of magnetic levitation energy storage flywheel motor three phase back-emf that acquisition system collection is measured by electric current, voltage sensor,
Then it is fed back to control system, estimates to obtain magnetic levitation energy storage flywheel motor rotor position angle by sliding mode observer；
The phase current of magnetic levitation energy storage flywheel motor three phase back-emf that data collecting system is collected by control system carries out Clark
Conversion and Park convert, and obtain electric current loop q axle feedback current, with the q shaft current of Voltage loop PI controller generationDo
Relatively, gained fiducial value produces q axle control voltage by electric current loop PI controller again；Q axle controls voltageWith d axle
Control voltageObtain space vector switch list by Ipark conversion and control voltageWith, switched by space vector
Table produces corresponding PWM drive signal、、, generate Three-Phase PWM Rectifier 6 switch management and control eventually through drive system
Signal processed、、、、、Control Three-Phase PWM Rectifier 6 switch
The switching sequence of pipe V1, V2, V3, V4, V5, V6 and make-and-break time.
As it is shown on figure 3, be the driving principle figure of the Three-Phase PWM Rectifier control drive system 6 of the present invention, it uses a piece of
DSP28335, as main control chip, is responsible for whole computings and control.Host computer passes through CAN card and DSP28335 communication, it is thus achieved that
The voltage and current setting value of DC load, generates the fiducial value controlling Three-Phase PWM Rectifier drive system simultaneously.Drive system
Pulse command according to DSP28335 output and direction instruction, generate electric current controlled quentity controlled variable, control in the three-phase of Three-Phase PWM Rectifier
The break-make of corresponding phase, drives Three-Phase PWM Rectifier to realize controlled rectification.DSP28335 passes through current magnetically levitated flywheel motor simultaneously
With the working order of Three-Phase PWM Rectifier, the relevant control instruction of raw paired data acquisition system, including data collecting system
Data acquisition instructions, the instruction of DC voltage flag data, the instruction of DC current flag data, three-phase alternating current phase voltage mark
The instruction that the instruction of data, the instruction of three-phase alternating current phase voltage flag data, sampling terminate.
As shown in Figure 4, for the three-phase PWM commutation system main program control block diagram of the present invention.Three-Phase PWM Rectifier system is opened
During beginning work, first it is controlled the initialization of system, initial including external equipment, initialization of register and equipment manager
Change, control system parameter is set, the pwm signal output of block DSP28335.First step cycle criterion is used for judging that three-phase PWM is whole
Whether the voltage and current of streaming system is in safe range, if it is not, display alarm information, and continue to block the PWM letter of DSP28335
Number output；If so, carry out system delay 5 seconds, call the control subprogram of three-phase PWM commutation system, produce and control letter accordingly
Number drive Three-Phase PWM Rectifier switching tube, and control switching sequence and the make-and-break time of switching tube.
As it is shown in figure 5, be the three-phase PWM commutation system subprogram control block diagram of the present invention.Adjust when rectification controls main program
With when controlling subprogram, enter subprogram and interrupt, first pass through Clark conversion and AC phase current is transformed toCoordinate system
Lower electric currentWith, estimate to obtain rotar position of magnet suspension flywheel angle by sliding mode observer simultaneously, according to、With
D axle feedback current is obtained by Park conversionWith q axle feedback current；The q axle electricity that outer voltage PI controller generates
StreamWith q axle feedback currentFiducial value obtain q shaft voltage by voltage inter-loop PI controller, d shaft currentWith d axle feedback currentFiducial value obtain d shaft voltage by voltage inter-loop PI controller；Pass through Ipark again
Conversion obtainsWith, by rotar position of magnet suspension flywheel angle,WithGenerate voltage vector angle, thus export three-phase
PWM rectifier control signal.
As it is shown in figure 5, be the data acquisition in host computer of the present invention, drawing, parser flow chart.System electrification, it is
System resets, and sets sampling period, the sampling parameter such as sampling channel number, sample range.System proceeds by sampling, if from three-phase
The control system output sampling instruction of PWM rectifier, or flag data generates instruction, then gather electric current, voltage sensor
Test data or the flag data of generation correspondence, and data are preserved；If selecting to carry out real-time display to draw, then
Call real-time drawing function program to draw, if it is not, proceed sampling, until data acquisition is complete.
Claims (9)
1. a PWM method for rectifying for high-speed magnetic levitation accumulated energy flywheel discharge system, is characterized in that: magnetic levitation energy storage flywheel motor
(3) three-phase U, V, W is respectively connected to a, b, c three-phase of Three-Phase PWM Rectifier (4)；When control system (8) and drive and protection system
(6) when not producing control signal driving Three-Phase PWM Rectifier (4), 6 switching tubes, switching tubes of Three-Phase PWM Rectifier (4)
V1, switching tube V2, switching tube V3, switching tube V4, switching tube V5, switching tube V6 are in non-duty, magnetic levitation energy storage flywheel
Motor (3) three phase back-emf is by the diode VD1 in Three-Phase PWM Rectifier (4), diode VD2, diode VD3, two poles
Pipe VD4, diode VD5, diode VD6 realize natural commutation, by whole for three phase back-emf of magnetic levitation energy storage flywheel motor (3)
Stream is DC voltage, then to electric capacity charging and driving DC side load (5)；When Three-Phase PWM Rectifier (4), to carry out three-phase controlled whole
During stream, electric current, voltage sensor (4) measure DC side the load electric current of (5), voltage, data collecting system (1) gather and anti-
Control system of feeding (8), compares with reference to DC voltage, produces q axle by Voltage loop PI controller and controls electric current；Electricity
Stream, voltage sensor (2) measure the phase current obtaining magnetic levitation energy storage flywheel motor (3) three phase back-emf, pass through data acquisition
Collecting system (1) gathers the phase of magnetic levitation energy storage flywheel motor (3) three phase back-emf measured by electric current, voltage sensor (4)
Electric current, is then fed back to control system (8), obtains magnetic levitation energy storage flywheel motor (3) rotor by sliding mode observer
Position angle；The magnetic levitation energy storage flywheel motor (3) three that data collecting system (1) is collected by control system (8) is the most electronic
The phase current of gestureWithCarry out Clarke (Clark) conversion and Parker (Park) converts, obtain electric current loop q axle feedback current, the q axle produced with Voltage loop PI controller controls electric currentCompare, then produce q axle by electric current loop PI controller
Control voltageVoltage is controlled with d axle；Q axle controls voltageVoltage is controlled with d axleInverse by Parker
(Ipark) conversion and space vector switch list produce the control driving of corresponding PWM rectifier signal, protection system (6), the most defeated
Going out 6 tunnel PWM rectifier drives signal to control the switching tube V1 of Three-Phase PWM Rectifier (4), switching tube V2, switching tube V3, switching tube
V4, switching tube V5, the switching sequence of switching tube V6 and make-and-break time；Host computer (7) realizes the communication sum with control system (8)
According to transmission, it is achieved monitoring and the control to whole high-speed magnetic levitation accumulated energy flywheel discharge system.
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: the natural commutation of described magnetic levitation energy storage flywheel motor (3) three phase back-emf is by diode VD1, two poles on three brachium pontis
Pipe VD2, diode VD3, diode VD4, diode VD5, diode VD6 realize.
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: the phase current of described magnetic levitation energy storage flywheel motor (3) three phase back-emf is measured by electric current, voltage sensor (2)
Obtaining, magnetic levitation energy storage flywheel motor (3) rotor position angle is estimated to obtain by sliding mode observer.
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: the described electric current in DC load (5), voltage are measured by electric current, voltage sensor (2) and obtained, by data acquisition system
System (1) feeds back to control system (8).
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: the described switching tube V1 on Three-Phase PWM Rectifier (4) three brachium pontis, switching tube V2, switching tube V3, switching tube V4, switch
The control signal that pipe V5, the switching sequence of switching tube V6 and make-and-break time are produced by control system (8) controls.
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: the PWM rectifier control signal that described control system (8) exports is by Voltage loop PI controller and electric current loop PI controller
The control voltage produced generates through space vector switch list.
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: described host computer (7) communicates with control system (8), it is achieved the shape to high-speed magnetic levitation accumulated energy flywheel discharge system
State monitoring and control.
The PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system the most according to claim 1, its feature
It is: the control system of described high-speed magnetic levitation accumulated energy flywheel discharge system uses a piece of DSP28335 as main control chip, bears
Blaming whole computings and control, host computer (7) is by CAN card and control system (8) communication, it is thus achieved that magnetic levitation energy storage flywheel motor
Electric current in the phase voltage of (3) three phase back-emf and phase current, DC load (5) and voltage, generate simultaneously and control three-phase PWM
The control instruction of 6 switching tubes on rectifier (4) three brachium pontis；The control that driving and protection system (6) export according to DSP28335
Instruction, generates electric current controlled quentity controlled variable, when controlling switching sequence and the break-make of 6 switching tubes on Three-Phase PWM Rectifier (4) three brachium pontis
Between, it is achieved the controlled rectification of Three-Phase PWM Rectifier (4).
9., according to the PWM method for rectifying of a kind of high-speed magnetic levitation accumulated energy flywheel discharge system described in claim 1 or 8, it is special
Levy and be: the data collecting system (1) of described high-speed magnetic levitation accumulated energy flywheel discharge system is by high-speed data acquisition card and data
Collection port forms, and realizes the data acquisition to high-speed magnetic levitation flywheel discharge system and place by writing data acquisition software
Reason.
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| CN106849139A (en) * | 2017-03-08 | 2017-06-13 | 北京泓慧国际能源技术发展有限公司 | A kind of magnetic levitation energy storage flywheel charge/discharge control method based on minimum power topology |
| CN112039099A (en) * | 2020-08-31 | 2020-12-04 | 北京泓慧国际能源技术发展有限公司 | Storage and discharge device and control method thereof |
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Inventor after: Cheng Ziqiao Inventor after: Chen Fan Inventor after: Wang Zhiqiang Inventor after: Xiang Biao Inventor after: Zeng Yang Inventor after: Li Shusheng Inventor after: Xie Changjing Inventor before: Wang Zhiqiang Inventor before: Xiang Biao Inventor before: Zeng Yang Inventor before: Li Shusheng Inventor before: Xie Changjing |
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Effective date of registration: 20171115 Address after: 100000 A, 10 floor, No. 22 International Building, Fu Fu Road, Haidian District, Beijing Applicant after: POWERCHINA ROAD BRIDGE GROUP CO., LTD. Applicant after: BEIJING HONGHUI INTERNATIONAL ENERGY TECHNOLOGY DEVELOPMENT CO., LTD. Address before: 101300, 26, Juyuan West Road, Ma Ma Town, Beijing, Shunyi District Applicant before: BEIJING HONGHUI INTERNATIONAL ENERGY TECHNOLOGY DEVELOPMENT CO., LTD. |
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Application publication date: 20160810 |