CN105897103B - The integration driving of electrical excitation six-phase motor and control device - Google Patents
The integration driving of electrical excitation six-phase motor and control device Download PDFInfo
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- CN105897103B CN105897103B CN201610365555.5A CN201610365555A CN105897103B CN 105897103 B CN105897103 B CN 105897103B CN 201610365555 A CN201610365555 A CN 201610365555A CN 105897103 B CN105897103 B CN 105897103B
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/05—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using AC supply for both the rotor and the stator circuits, the frequency of supply to at least one circuit being variable
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Abstract
The present invention relates to motor drive area, more particularly to the integration driving of a kind of electrical excitation six-phase motor and control device, including stator side main circuit of converter, rotor-side excitation unit main circuit and integral control system；The stator side main circuit of converter includes two groups of outputs, A1, B1, C1 terminal that the output of tri- tunnels wherein the first Zu Gong connects winding with the first stator Y of six phase electro-magnetic motors are connected, and A2, B2, C2 terminal that the output of tri- tunnels the second Zu Gong connects winding with the second stator Y are connected；The output of the rotor-side excitation unit main circuit is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors.The stator winding and rotor field coil of electrical excitation six-phase motor use integrated driving device, and are uniformly controlled, and can realize full decoupled, the raising control performance of set end voltage control and stator current control.
Description
Technical field
The present invention relates to motor drive area, more particularly to integration driving and the control of a kind of electrical excitation six-phase motor fill
It sets.
Background technology
In the application scenario that some require big, reliability requirement height, volume requirement stringent driving power, polyphase machine obtains
To being widely applied.It is again most with the application of the six-phase motor of double 30 degree of Y windings phase shifts at present in polyphase machine.This six phase
Motor is divided into according to the difference of rotor-exciting as magneto and electric excitation type.It is constrained by cost and power, electrical excitation six phases electricity
Machine is especially suitable for extra heavy driving occasion.
As shown in Figure 1, the electrical excitation six-phase motor mentioned in this patent refers to the motor of this double 30 degree of Y windings phase shifts.
Motor connects stator winding and 1 set of rotor field coil comprising two sets of independent Y.First set Y connect stator winding terminals be A1, B1,
C1, neutral point N1.It is A2, B2, C2, neutral point N2 that second set of Y, which connects stator winding terminals,.N1 and N2 electrical isolations.Two sets of Y
It connects between stator winding electrically spatially phase differs 30 degree.Rotor field coil terminal is f1 and f2.With traditional large size
Three-phase synchronous electro-magnetic motor is similar, and other than above-mentioned basic winding, rotor may also contain the damping of 1 to 2 set auxiliary
Winding is not drawn into figure.
Under traditional type of drive, two sets of stator Y connect winding using two sets of independent three phase converter drivings, and by frequency conversion
Device sends out excitation instruction, by the control Exciting Windings for Transverse Differential Protection work of independent excitation unit.The advantages of this mode is two sets of three phase variable frequencies
The conventional three phase converter of driving conventional three-phase motor may be used in device, and excitation unit can also use conventional adjustment of field excitation
Device, hardware modifications are required when the system integration it is small, relatively easily.However, the driving of three sets of windings under this integration mode with
Control is independent of one another, does not fully consider between three sets of windings there is interaction.In fact, two sets of stator winding and encouraging
Magnetic winding has the electromagnetic coupling that can not ignore between any two, and therefore, the control performance of traditional simply integrated mode is often
It is not ideal enough, it is embodied in stator transducer drive and excitation con-trol influences each other, parameter tuning is difficult, and dynamic response has coupling
It closes, system is susceptible to unstable etc..
Invention content
In order to overcome the problems referred above, the present invention provides integration driving and the control device of a kind of electrical excitation six-phase motor.It should
Integration driving and the double Y windings of control device unified driving stator and rotor field coil, by merging six phase of electrical excitation electricity
The feedback information of the stator and rotor winding of machine is uniformly controlled three sets of windings of electrical excitation six-phase motor, realizes whole control performance
Optimization.
To achieve the above object, technical scheme is as follows.
Six the first stator of phase electro-magnetic motor Y connect A1, B1, C1 terminal of winding, the second stator Y meets A2, B2, C2 of winding
Terminal and the driving integrated with the electrical excitation six-phase motor of invention of rotor field coil f1, f2 terminal are filled with control
It sets connected.
The integration driving of electrical excitation six-phase motor and control device, it is characterised in that：Including the main electricity of stator side frequency converter
Road, rotor-side excitation unit main circuit and integral control system；The stator side main circuit of converter includes two groups of outputs,
A1, B1, C1 terminal that the output of tri- tunnels wherein the first Zu Gong connects winding with the first stator Y of six phase electro-magnetic motors are connected, and second
A2, B2, C2 terminal that the output of tri- tunnels Zu Gong connects winding with the second stator Y are connected；The rotor-side excitation unit main circuit it is defeated
Go out and is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors.
The integral control system includes stator side frequency converter control system and rotor-side excitation unit control system, institute
Stating the key feedback signal that stator side frequency converter control system is acquired from stator side main circuit of converter includes：Stator side frequency conversion
The electric current i of two groups of outputs of device main circuitA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The stator side frequency conversion
The key instruction signal that device control system is sent to stator side main circuit of converter includes：The control signal of first group of output
The control signal PWM2 of PWM1 and second group of output.
The key feedback signal that the rotor-side excitation unit control system is acquired from rotor-side excitation unit main circuit
Including：Stator set end voltage amplitude UsmWith rotor excitation current ifd′；The rotor-side excitation unit control system, which is sent to, to be turned
The key instruction signal of sub- side excitation unit main circuit includes：The control signal VTs of rotor-side excitation unit main circuit.
The key instruction signal that the stator side frequency converter control system issues rotor-side excitation unit control system includes：
Stator set end voltage amplitude given value Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor angular rate ωr；
The key feedback signal that the rotor-side excitation unit control system issues stator side frequency converter control system includes：Rotor-exciting
Electric current ifd′。
The stator side main circuit of converter includes rectification unit, DC bus unit and inversion unit；The rectification
Unit is connected with power grid, and the inversion unit forms two groups of outputs, respectively with two sets of stator winding phases of electrical excitation six-phase motor
Even；It is connected by DC bus unit between rectification unit and inversion unit.
The rotor-side excitation unit main circuit includes Thyristor Three-phase bridge and DC bus inductance；The thyristor three
The exchange side of phase bridge is connected with power grid；The DC side of the Thyristor Three-phase bridge is just connected with DC bus inductance；The direct current
The other end of busbar inductance is output f1, and the DC side of the Thyristor Three-phase bridge is born to export f2；F1, f2 are finally and electrical excitation
The rotor field coil of six-phase motor is connected.
The rotor-side exciter control system includes exciting current given value computing unit, turn on thyristors angle computing unit
And pulse forming unit.
The exciting current given value computing unit input quantity includes stator set end voltage amplitude given value Usm_refWith stator
Set end voltage amplitude UsmDeviation (Usm_ref-Usm)；The output quantity of exciting current given value computing unit include exciting current to
Definite value ifd_ref′；Exciting current given value computing unit is usually proportional-plus-integral controller.
The input of turn on thyristors angle computing unit is exciting current given value ifd_ref' and exciting current feedback value
ifd' deviation (ifd_ref′-ifd'), output is turn on thyristors angle given value αref；Turn on thyristors angle computing unit is logical
It is often proportional-plus-integral controller.
The pulse forming unit input includes turn on thyristors angle given value αref, export the impulse train for thyristor
VTs；Impulse train VTs is used to trigger the thyristor of rotor-side excitation unit main circuit；Exciting current feedback value ifd' while also to make
For the output of rotor-side exciter control system, used with the stator frequency converter control system of control device so that integration drives.
The control system of the stator side frequency converter includes that stator d shaft currents give computing unit, stator q shaft currents give
Given point of computing unit, stator current 3s/2r converter units, stator current comprehensive unit, current loop control unit, stator voltage
Solve unit and modulating wave generation unit；
The stator d shaft currents give computing unit input include：Stator current amplitude gives Ism_ref, rotor-exciting
Winding current ifd', output includes that stator d shaft currents give id_ref, and output is calculated according to input according to following formula：
Wherein, rotor field coil electric current ifd' filled from the rotor-side excitation of this patent integration driving and control device
Set control system output.As can be seen that under the overall-in-one control schema of this patent, introduced in the given calculating of stator current reference
Rotor field coil electric current ifd' information so that stator current given value can be calculated directly, eliminate traditional stator electric current control
Given value feedback regulation ring in system, improves control performance.
The stator q shaft currents give computing unit input include：Stator current amplitude gives Ism_ref, stator d axis electricity
Stream gives id_ref；The output that stator q shaft currents give computing unit includes that stator q shaft currents give iq_ref, and according to following public affairs
Formula calculates output according to input：
The input of the stator current 3s/2r converter units includes：The electricity of two groups of output of stator side main circuit of converter
Flow iA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The output of stator current 3s/2r converter units includes：Stator
Electric current i of the double winding under rotor rotating coordinate system1d,i1qWith i2d,i2q, and output is calculated according to input according to following formula：
The input of the stator current comprehensive unit includes：Electric current of the stator double winding under rotor rotating coordinate system
i1d,i1qWith i2d,i2q；The output of stator current comprehensive unit includes：Stator current direct-axis component idWith quadrature axis component iq, and press
Output is calculated according to input according to following formula：
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of the current loop control unit includes：Stator d shaft currents give id_ref, stator q shaft currents are given
iq_ref, stator current direct-axis component idWith quadrature axis component iq；The output of current loop control unit includes：Stator d shaft voltages are given
ud_ref, stator q shaft voltages give uq_ref.The specific implementation of current loop control unit can there are many modes, including traditional arrow
Measure control mode, traditional Hysteresis control mode etc..
The stator voltage give resolving cell input include：Stator d shaft voltages give ud_ref, stator q shaft voltages give
Determine uq_ref；Stator voltage give resolving cell output include：Voltage of the stator double winding under rotor rotating coordinate system is given
Determine u1d_ref,u1q_refWith u2d_ref,u2q_ref, and output is calculated according to input according to following formula：u1d_ref=u2d_ref=ud_ref,
u1q_ref=u2q_ref=uq_ref。
The input of the modulating wave generation unit includes：Voltage of the stator double winding under rotor rotating coordinate system is given
u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr；The output of modulating wave generation unit includes：Give stator
The control signal PWM1 of first group of output of the side main circuit of converter and control signal PWM2 of second group of output.First group
The control signal PWM1 of output gives u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrIt generates；The control of second group of output
Signal PWM2 processed gives u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrIt generates.
Stator current direct-axis component id, quadrature axis component iqAlso will as the output of the control system of stator side frequency converter, for
Integration driving and the rotor-side exciter control system of control device use.
The advantage of the invention is that：
1, the stator winding of electrical excitation six-phase motor and rotor field coil use integrated driving device, and carry out unification
Control can realize full decoupled, the raising control performance of set end voltage control and stator current control.
2, the bimorph transducer winding of electrical excitation six-phase motor use integrated driving device, can fully consider stator winding it
Between intercouple, ensure double winding stator current stable state and dynamic control precision, reach the electric current and power of dynamic process
Balance.
3, stator winding frequency control can be realized by merging feedback information using integration driving and control device
With the decoupling of Exciting Windings for Transverse Differential Protection control system, it is convenient for parameter tuning, is conducive to system and stablizes.
Description of the drawings
Fig. 1 is the winding composition schematic diagram for the electrical excitation six-phase motor that this patent is directed to.
Fig. 2 is electrical excitation six-phase motor integration driving and the control device composition figure of invention.
Fig. 3 is the stator side main circuit of converter composition figure of this patent integration driving and control device.
Fig. 4 is a kind of example scheme of the stator side main circuit of converter of this patent integration driving and control device.
Fig. 5 is a kind of example scheme of the stator side main circuit of converter of this patent integration driving and control device.
Fig. 6 is the rotor-side excitation unit main circuit embodiment composition figure of this patent integration driving and control device.
Fig. 7 is the rotor-side exciter control system embodiment composition of this patent integration driving and control device.
Fig. 8 is the control system embodiment composition of the stator side frequency converter of this patent integration driving and control device.
Figure label meaning is as follows：
In attached drawing：Six phase electro-magnetic motors 1, electrical excitation six-phase motor integration driving and control device 2, stator side frequency conversion
Device main circuit 21, rotor-side excitation unit main circuit 22, integral control system 23, stator side frequency converter control system 231 turn
Sub- side excitation unit control system 232, rectification unit 212, DC bus unit 213, inversion unit 214, rectification unit 2124,
DC bus unit 2134, inversion unit 2144, rectification unit 2125, DC bus unit 2135, inversion unit 2145, rotor
Side excitation unit main circuit is by Thyristor Three-phase bridge 223, DC bus inductance 222, power grid 221, the adjuster of side excitation unit
By exciting current given value computing unit 31, turn on thyristors angle computing unit 32, pulse forming unit 33 forms, and stator side becomes
The control system of frequency device gives computing unit 41 by stator d shaft currents, and stator q shaft currents give computing unit 42, stator current
3s/2r converter units 43, stator current comprehensive unit 44, current loop control unit 45, stator voltage give resolving cell 46, adjust
Wave generation unit 47 processed.
Specific implementation mode
Embodiment 1
Six the first stator of phase electro-magnetic motor Y connect A1, B1, C1 terminal of winding, the second stator Y meets A2, B2, C2 of winding
Terminal and the driving integrated with the electrical excitation six-phase motor of invention of rotor field coil f1, f2 terminal are filled with control
2 are set to be connected.
The integration driving of electrical excitation six-phase motor and control device, it is characterised in that：Including the main electricity of stator side frequency converter
Road 21, rotor-side excitation unit main circuit 22 and integral control system 23；The stator side main circuit of converter 21 includes
Two groups of outputs, wherein the output of tri- tunnels the first Zu Gong connects A1, B1, C1 terminal of winding with the first stator Y of six phase electro-magnetic motors 1
It is connected, A2, B2, C2 terminal that the output of tri- tunnels the second Zu Gong connects winding with the second stator Y are connected；The rotor-side excitation unit master
The output of circuit 22 is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors 1.
The stator winding and rotor field coil of electrical excitation six-phase motor use integrated driving device, and carry out unified control
System can realize full decoupled, the raising control performance of set end voltage control and stator current control；Electrical excitation six-phase motor
Bimorph transducer winding uses integrated driving device, can fully consider intercoupling between stator winding, ensures that double winding is fixed
The stable state and dynamic control precision of electron current, reach the electric current and power-balance of dynamic process；Using integration driving and control
Device can realize the decoupling of stator winding frequency control and Exciting Windings for Transverse Differential Protection control system, convenient for ginseng by merging feedback information
Number is adjusted, and is conducive to system and is stablized.
Embodiment 2
Six the first stator of phase electro-magnetic motor Y connect A1, B1, C1 terminal of winding, the second stator Y meets A2, B2, C2 of winding
Terminal and the driving integrated with the electrical excitation six-phase motor of invention of rotor field coil f1, f2 terminal are filled with control
2 are set to be connected.
The integration driving of electrical excitation six-phase motor and control device, it is characterised in that：Including the main electricity of stator side frequency converter
Road 21, rotor-side excitation unit main circuit 22 and integral control system 23；The stator side main circuit of converter 21 includes
Two groups of outputs, wherein the output of tri- tunnels the first Zu Gong connects A1, B1, C1 terminal of winding with the first stator Y of six phase electro-magnetic motors 1
It is connected, A2, B2, C2 terminal that the output of tri- tunnels the second Zu Gong connects winding with the second stator Y are connected；The rotor-side excitation unit master
The output of circuit 22 is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors 1.
The integral control system 23 includes stator side frequency converter control system 231 and rotor-side excitation unit control system
System 232, the key feedback signal packet that the stator side frequency converter control system 231 is acquired from stator side main circuit of converter 21
It includes：The electric current i of two groups of outputs of stator side main circuit of converter 21A1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；
The key instruction signal that the stator side frequency converter control system 231 is sent to stator side main circuit of converter 21 includes：First
The control signal PWM1 of the group output and control signal PWM2 of second group of output.
The key feedback that the rotor-side excitation unit control system 232 is acquired from rotor-side excitation unit main circuit 22
Signal includes：Stator set end voltage amplitude UsmWith rotor excitation current ifd′；The rotor-side excitation unit control system 232 is sent out
The key instruction signal for giving rotor-side excitation unit main circuit 22 includes：The control signal of rotor-side excitation unit main circuit 22
VTs。
The stator side frequency converter control system 231 issues the key instruction letter of rotor-side excitation unit control system 232
Number include：Stator set end voltage amplitude given value Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor electric angle
Speed omegar；The rotor-side excitation unit control system 232 issues the key feedback letter of stator side frequency converter control system 231
Number include：Rotor excitation current ifd′。
The stator side main circuit of converter 21 includes rectification unit 212, DC bus unit 213 and inversion unit
214；The rectification unit 212 is connected with power grid 211, the inversion unit 214 formed two groups of outputs, respectively with six phase of electrical excitation
Two sets of stator winding of motor 1 are connected；It is connected by DC bus unit 213 between rectification unit 212 and inversion unit 214.
The rotor-side excitation unit main circuit 22 includes Thyristor Three-phase bridge 223 and DC bus inductance 222；It is described
The exchange side of Thyristor Three-phase bridge 223 is connected with power grid 221；The DC side of the Thyristor Three-phase bridge 223 just with DC bus
Inductance 222 is connected；The other end of the DC bus inductance 222 is output f1, and the DC side of the Thyristor Three-phase bridge 223 is negative
To export f2；F1, f2 are finally connected with the rotor field coil of electrical excitation six-phase motor.
The rotor-side exciter control system 232 includes exciting current given value computing unit 31, turn on thyristors angle meter
Calculate unit 32 and pulse forming unit 33.
31 input quantity of exciting current given value computing unit includes stator set end voltage amplitude given value Usm_refWith it is fixed
Sub-unit terminal voltage magnitude UsmDeviation (Usm_ref-Usm)；The output quantity of exciting current given value computing unit 31 includes excitation electricity
Flow given value ifd_ref′；Exciting current given value computing unit 31 is usually proportional-plus-integral controller.
The input of turn on thyristors angle computing unit 32 is exciting current given value ifd_ref' and exciting current feedback
Value ifd' deviation (ifd_ref′-ifd'), output is turn on thyristors angle given value αref；Turn on thyristors angle computing unit
32 be usually proportional-plus-integral controller.
The input of the pulse forming unit 33 includes turn on thyristors angle given value αref, export the impulse train for thyristor
VTs；Impulse train VTs is used to trigger the thyristor of rotor-side excitation unit main circuit；Exciting current feedback value ifd' while also to make
For the output of rotor-side exciter control system, used with the stator frequency converter control system of control device so that integration drives.
The control system 231 of the stator side frequency converter includes that stator d shaft currents give computing unit 41, stator q axis electricity
Stream give computing unit 42, stator current 3s/2r converter units 43, stator current comprehensive unit 44, current loop control unit 45,
Stator voltage gives resolving cell 46 and modulating wave generation unit 47；
The input that the stator d shaft currents give computing unit 41 includes：Stator current amplitude gives Ism_ref, rotor encourages
Magnetic winding current ifd', output includes that stator d shaft currents give id_ref, and output is calculated according to input according to following formula：
Wherein, rotor field coil electric current ifd' filled from the rotor-side excitation of this patent integration driving and control device
Set control system output.As can be seen that under the overall-in-one control schema of this patent, introduced in the given calculating of stator current reference
Rotor field coil electric current ifd' information so that stator current given value can be calculated directly, eliminate traditional stator electric current control
Given value feedback regulation ring in system, improves control performance.
The input that the stator q shaft currents give computing unit 42 includes：Stator current amplitude gives Ism_ref, stator d axis
Given value of current id_ref；The output that stator q shaft currents give computing unit 42 includes that stator q shaft currents give iq_ref, and according to such as
Lower formula calculates output according to input：
The input of the stator current 3s/2r converter units 43 includes：Two groups of outputs of stator side main circuit of converter 21
Electric current iA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The output packet of stator current 3s/2r converter units 43
It includes：Electric current i of the stator double winding under rotor rotating coordinate system1d,i1qWith i2d,i2q, and
Output is calculated according to input according to following formula：
The input of the stator current comprehensive unit 44 includes：Electric current of the stator double winding under rotor rotating coordinate system
i1d,i1qWith i2d,i2q；The output of stator current comprehensive unit 44 includes：Stator current direct-axis component idWith quadrature axis component iq, and
Output is calculated according to input according to following formula：
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of the current loop control unit 45 includes：Stator d shaft currents give id_ref, stator q shaft currents are given
iq_ref, stator current direct-axis component idWith quadrature axis component iq；The output of current loop control unit 45 includes：Stator d shaft voltages are given
Determine ud_ref, stator q shaft voltages give uq_ref.The specific implementation of current loop control unit 45 can there are many modes, including tradition
Vector control mode, traditional Hysteresis control mode etc..
The input that the stator voltage gives resolving cell 46 includes：Stator d shaft voltages give ud_ref, stator q shaft voltages
Given uq_ref；The output that stator voltage gives resolving cell 46 includes：Electricity of the stator double winding under rotor rotating coordinate system
Pressure gives u1d_ref,u1q_refWith u2d_ref,u2q_ref, and output is calculated according to input according to following formula：u1d_ref=u2d_ref=
ud_ref,u1q_ref=u2q_ref=uq_ref。
The input of the modulating wave generation unit 47 includes：Voltage of the stator double winding under rotor rotating coordinate system is given
Determine u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr；The output of modulating wave generation unit 47 includes：It gives
The control signal PWM1 of first group of output of the stator side main circuit of converter 21 and control signal PWM2 of second group of output.
The control signal PWM1 of first group of output gives u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrIt generates；Second group defeated
The control signal PWM2 gone out gives u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrIt generates.
Stator current direct-axis component id, quadrature axis component iqAlso will as the output of the control system of stator side frequency converter, for
Integration driving and the rotor-side exciter control system of control device use.
The stator winding and rotor field coil of electrical excitation six-phase motor use integrated driving device, and carry out unified control
System can realize full decoupled, the raising control performance of set end voltage control and stator current control.Electrical excitation six-phase motor
Bimorph transducer winding uses integrated driving device, can fully consider intercoupling between stator winding, ensures that double winding is fixed
The stable state and dynamic control precision of electron current, reach the electric current and power-balance of dynamic process.Using integration driving and control
Device can realize the decoupling of stator winding frequency control and Exciting Windings for Transverse Differential Protection control system, convenient for ginseng by merging feedback information
Number is adjusted, and is conducive to system and is stablized.
Embodiment 3
As shown in Fig. 2, the first stator Y of six phase electro-magnetic motors 1 connects A1, B1, C1 terminal of winding, the second stator Y connects
A2, B2, C2 terminal and rotor field coil f1, f2 terminal of winding and the electrical excitation six-phase motor one of invention
Change driving with control device 2 to be connected.The electrical excitation six-phase motor integration driving of invention is with control device 2 by stator side
Main circuit of converter 21, rotor-side excitation unit main circuit 22 and integral control system 23 form.Stator side frequency converter master
Circuit 21 includes two groups of outputs, wherein the output of tri- tunnels the first Zu Gong and the first stator Y of six phase electro-magnetic motors 1 connect winding
A1, B1, C1 terminal are connected, and A2, B2, C2 terminal that the output of tri- tunnels the second Zu Gong connects winding with the second stator Y are connected.Rotor-side is encouraged
The output of magnetic device main circuit 22 is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors 1.
Integral control system 23 is by stator side frequency converter control system 231 and rotor-side excitation unit control system 232
Composition.The key feedback signal that stator side frequency converter control system 231 is acquired from stator side main circuit of converter 21 include but
It is not limited to：The electric current i of two groups of outputs of stator side main circuit of converter 21A1,iB1,iC1With iA2,iB2,iC2, rotor electric angle
Spend θr.The key instruction signal that stator side frequency converter control system 231 is sent to stator side main circuit of converter 21 includes but not
It is limited to：The control signal PWM1 of the first group of output and control signal PWM2 of second group of output.In the particular embodiment,
If PWM1 and PWM2 are usually respectively opened comprising main line pulse-width signal to trigger the IGBT in stator side main circuit of converter 21
It closes.
The key feedback signal that rotor-side excitation unit control system 232 is acquired from rotor-side excitation unit main circuit 22
Including but not limited to：Stator set end voltage amplitude UsmWith rotor excitation current ifd′.Rotor-side excitation unit control system 232 is sent out
The key instruction signal for giving rotor-side excitation unit main circuit 22 includes but not limited to：Rotor-side excitation unit main circuit 22
Control signal VTs.In the particular embodiment, if VTs generally comprises main line trigger pulse to trigger rotor-side excitation unit
Thyristor switch in main circuit 22.
Stator side frequency converter control system 231 issues the key instruction signal packet of rotor-side excitation unit control system 232
It includes but is not limited to：Stator set end voltage amplitude given value Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor
Angular rate ωr.Rotor-side excitation unit control system 232 issues the key feedback letter of stator side frequency converter control system 231
Number include but not limited to：Rotor excitation current ifd′.As can be seen that in integral control system, stator side Frequency Converter Control system
There is the contact of signal between system and rotor-side excitation unit control system so that more feedback informations enter other side and control system
System, this will be so that the two be coordinated to be more prone to, and control performance is more excellent.
As shown in figure 3, the stator side main circuit of converter of this patent integration driving and control device is by rectification unit
212, DC bus unit 213 and inversion unit 214 form.Rectification unit 212 is connected with power grid 211,214 shape of inversion unit
At two groups of outputs, it is connected respectively with two sets of stator winding of electrical excitation six-phase motor.Pass through between rectification unit and inversion unit
DC bus unit 213 is connected.In a particular embodiment, rectification unit 212 can be one or more diode rectifier bridges,
Can be one or more IGBT rectifier bridges.DC bus unit 213 can be one or more bus capacitors.Inversion unit
214 can be six bridge arm IGBT inverter bridges, can also be the IGBT inverter bridges of cascaded H-bridges form.
As shown in figure 4, one embodiment of the stator side main circuit of converter of this patent integration driving and control device,
It is commonly available to exchange 6kV voltage class power grid below.The embodiment by rectification unit 2124, DC bus unit 2134 with
And inversion unit 2144 forms, they correspond respectively to aforementioned rectification unit 212, DC bus unit 213 and inversion unit
214 embodiment.Rectification unit 2124 can be that three-phase IGBT rectifier bridges may be three-phase diode rectifier bridge.DC bus
Unit 2134 is capacitance.Inversion unit 2144 is six bridge arm IGBT inverter bridges.Rectification unit 2124 is connected with power grid 211, inversion
Unit 2144 formed A1, B1, C1 and A2, two groups of outputs of B2, C2, respectively with two sets of stator winding phases of electrical excitation six-phase motor
Even.The DC side of rectification unit 2124, the DC side of inversion unit 2144 are in parallel with DC bus unit 2134.
As shown in figure 5, another implementation of the stator side main circuit of converter of this patent integration driving and control device
Example is commonly available to the power grid of exchange 6kV and above.The embodiment is by rectification unit 2125, DC bus unit
2135 and inversion unit 2145 form, they correspond respectively to aforementioned rectification unit 212, DC bus unit 213 and inverse
Become the embodiment of unit 214.Rectification unit 2125 is by multi-winding isolation transformer and several independent diode rectification H bridge groups
At.DC bus unit 2135 is made of the dc-link capacitance of diode rectification H bridges.Inversion unit 2145 is by two group of 3 phase grade
Join H bridges composition.The primary side of the Multiple coil next door transformer of rectification unit 2125 is connected with power grid 211, the formation of inversion unit 2145
Two groups of output A1, B1, C1 and A2, B2, C2 are connected with two sets of stator winding of electrical excitation six-phase motor respectively.
As shown in fig. 6, an implementation of the rotor-side excitation unit main circuit of this patent integration driving and control device
Example.Rotor-side excitation unit main circuit is made of Thyristor Three-phase bridge 223 and DC bus inductance 222.Thyristor Three-phase bridge
223 exchange side is connected with power grid 221.The DC side of Thyristor Three-phase bridge 223 is just connected with DC bus inductance 222.Direct current
The other end of busbar inductance 222 is output f1, and the DC side of Thyristor Three-phase bridge 223 is born to export f2.F1, f2 are finally encouraged with electricity
The rotor field coil of magnetic six-phase motor is connected.
As shown in fig. 7, the rotor-side exciter control system embodiment of this patent integration driving and control device forms.Side
The adjuster of excitation unit is by exciting current given value computing unit 31, turn on thyristors angle computing unit 32 and pulse shaping
Unit 33 forms.31 input quantity of exciting current given value computing unit includes but not limited to stator set end voltage amplitude given value
Usm_refWith stator set end voltage amplitude UsmDeviation (Usm_ref-Usm).The output quantity packet of exciting current given value computing unit 31
It includes but is not limited to exciting current given value ifd_ref′.Exciting current given value computing unit 31 is usually proportional-plus-integral controller.
The input of turn on thyristors angle computing unit 32 is exciting current given value ifd_ref' and exciting current feedback value ifd' deviation
(ifd_ref′-ifd'), output is turn on thyristors angle given value αref.Turn on thyristors angle computing unit 32 is usually to compare
Example-integral controller.The input of pulse forming unit 33 includes but not limited to turn on thyristors angle given value αref, export as brilliant lock
The impulse train VTs of pipe.Impulse train VTs is used to trigger the thyristor of rotor-side excitation unit main circuit.Exciting current feedback value ifd′
It simultaneously also will be as the output of rotor-side exciter control system, for the stator Frequency Converter Control of integration driving and control device
System uses.
As shown in figure 8, the control system embodiment group of the stator side frequency converter of this patent integration driving and control device
At.The control system of stator side frequency converter gives computing unit 41 by stator d shaft currents, stator q shaft currents give computing unit
42, given point of stator current 3s/2r converter units 43, stator current comprehensive unit 44, current loop control unit 45, stator voltage
It solves unit 46 and modulating wave generation unit 47 forms.
The input that stator d shaft currents give computing unit 41 includes but not limited to：Stator current amplitude gives Ism_ref, turn
Sub- Exciting Windings for Transverse Differential Protection electric current ifd', output includes but not limited to that stator d shaft currents give id_ref, and according to following formula according to input
Calculate output：
Wherein, rotor field coil electric current ifd' filled from the rotor-side excitation of this patent integration driving and control device
Set control system output.As can be seen that under the overall-in-one control schema of this patent, introduced in the given calculating of stator current reference
Rotor field coil electric current ifd' information so that stator current given value can be calculated directly, eliminate traditional stator electric current control
Given value feedback regulation ring in system, improves control performance.
The input that stator q shaft currents give computing unit 42 includes but not limited to：Stator current amplitude gives Ism_ref, fixed
Sub- d shaft currents give id_ref.The output that stator q shaft currents give computing unit 42 includes but not limited to that stator q shaft currents are given
iq_ref, and output is calculated according to input according to following formula：
The input of stator current 3s/2r converter units 43 includes but not limited to：Two groups of stator side main circuit of converter 21
The electric current i of outputA1,iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr.The output of stator current 3s/2r converter units 43
Including but not limited to：Electric current i of the stator double winding under rotor rotating coordinate system1d,i1qWith i2d,i2q, and according to following formula
Output is calculated according to input：
The input of stator current comprehensive unit 44 includes but not limited to：Stator double winding is under rotor rotating coordinate system
Electric current i1d,i1qWith i2d,i2q.The output of stator current comprehensive unit 44 includes but not limited to：Stator current direct-axis component idWith friendship
Axis component iq, and output is calculated according to input according to following formula：
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of current loop control unit 45 includes but not limited to：Stator d shaft currents give id_ref, stator q shaft currents give
Determine iq_ref, stator current direct-axis component idWith quadrature axis component iq.The output of current loop control unit 45 includes but not limited to：Stator
D shaft voltages give ud_ref, stator q shaft voltages give uq_ref.The specific implementation of current loop control unit 45 can there are many sides
Formula, including traditional vector control mode, traditional Hysteresis control mode etc..
The input that stator voltage gives resolving cell 46 includes but not limited to：Stator d shaft voltages give ud_ref, stator q axis
Voltage gives uq_ref.The output that stator voltage gives resolving cell 46 includes but not limited to：Stator double winding is rotated in rotor
Voltage under coordinate system gives u1d_ref,u1q_refWith u2d_ref,u2q_ref, and output is calculated according to input according to following formula：
u1d_ref=u2d_ref=ud_ref,u1q_ref=u2q_ref=uq_ref。
The input of modulating wave generation unit 47 includes but not limited to：Electricity of the stator double winding under rotor rotating coordinate system
Pressure gives u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr.The output of modulating wave generation unit 47 include but
It is not limited to：Give the control signal PWM1 of first group of output of stator side main circuit of converter 21 and the control of second group of output
Signal PWM2 processed.The control signal PWM1 of first group of output gives u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrIt is raw
At；The control signal PWM2 of second group of output gives u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrIt generates.It is specific to adjust
The generation embodiment of wave processed depends on the embodiment of stator side main circuit of converter 21, can be traditional Three-phase SPWM side
Formula, SVPWM modes can also be traditional multiple phase-shifting carrier wave mode etc..
Stator current direct-axis component id, quadrature axis component iqAlso will as the output of the control system of stator side frequency converter, for
Integration driving and the rotor-side exciter control system of control device use.
Claims (8)
1. the integration driving of electrical excitation six-phase motor and control device, it is characterised in that：Including stator side main circuit of converter
(21), rotor-side excitation unit main circuit (22) and integral control system (23)；The stator side main circuit of converter
(21) include two groups of outputs, wherein the output of tri- tunnels the first Zu Gong and the first stator Y of six phase electro-magnetic motors (1) connect winding
A1, B1, C1 terminal are connected, and A2, B2, C2 terminal that the output of tri- tunnels the second Zu Gong connects winding with the second stator Y are connected；The rotor
The output of side excitation unit main circuit (22) is connected with rotor field coil f1, f2 terminal of six phase electro-magnetic motors (1)；
The integral control system (23) includes stator side frequency converter control system (231) and rotor-side excitation unit control system
It unites (232), the key feedback that the stator side frequency converter control system (231) acquires from stator side main circuit of converter (21)
Signal includes：The electric current i of two groups of outputs of stator side main circuit of converter (21)A1,iB1,iC1With iA2,iB2,iC2, rotor
Electrical angle θr；The stator side frequency converter control system (231) is sent to the key instruction of stator side main circuit of converter (21)
Signal includes：The control signal PWM1 of the first group of output and control signal PWM2 of second group of output；
The rotor-side exciter control system (232) includes exciting current given value computing unit (31), turn on thyristors angle meter
Calculate unit (32) and pulse forming unit (33)；
Exciting current given value computing unit (31) input quantity includes stator set end voltage amplitude given value Usm_refWith stator
Set end voltage amplitude UsmDeviation (Usm_ref-Usm)；The output quantity of exciting current given value computing unit (31) includes excitation electricity
Flow given value ifd_ref′；Exciting current given value computing unit (31) is proportional-plus-integral controller；
The input of turn on thyristors angle computing unit (32) is exciting current given value ifd_ref' and exciting current feedback value
ifd' deviation (ifd_ref′-ifd'), output is turn on thyristors angle given value αref；Turn on thyristors angle computing unit
(32) it is proportional-plus-integral controller；
Pulse forming unit (33) input includes turn on thyristors angle given value αref, export the impulse train for thyristor
VTs；Impulse train VTs is used to trigger the thyristor of rotor-side excitation unit main circuit；Exciting current feedback value ifd' while also to make
For the output of rotor-side exciter control system, used with the stator frequency converter control system of control device so that integration drives.
2. the integration driving of electrical excitation six-phase motor according to claim 1 and control device, it is characterised in that：It is described
The key feedback signal packet that rotor-side excitation unit control system (232) is acquired from rotor-side excitation unit main circuit (22)
It includes：Stator set end voltage amplitude UsmWith rotor excitation current ifd′；The rotor-side excitation unit control system (232) is sent to
The key instruction signal of rotor-side excitation unit main circuit (22) includes：The control of rotor-side excitation unit main circuit (22) is believed
Number.
3. the integration driving of electrical excitation six-phase motor according to claim 1 and control device, it is characterised in that：It is described
The key instruction signal that stator side frequency converter control system (231) issues rotor-side excitation unit control system (232) includes：It is fixed
Sub-unit terminal voltage magnitude given value Usm_ref, stator current direct-axis component id, quadrature axis component iq, rotor angular rate ωr；Institute
It states rotor-side excitation unit control system (232) and issues the key feedback signal of stator side frequency converter control system (231) and include：
Rotor excitation current ifd′。
4. the integration driving of electrical excitation six-phase motor according to claim 1 and control device, it is characterised in that：It is described
Stator side main circuit of converter (21) includes rectification unit (212), DC bus unit (213) and inversion unit (214)；Institute
Rectification unit (212) is stated with power grid (211) to be connected, the inversion unit (214) forms two groups of outputs, respectively with six phase of electrical excitation
Two sets of stator winding of motor (1) are connected；Pass through DC bus unit between rectification unit (212) and inversion unit (214)
(213) it is connected.
5. the integration driving of electrical excitation six-phase motor according to claim 1 and control device, it is characterised in that：It is described
Rotor-side excitation unit main circuit (22) includes Thyristor Three-phase bridge (223) and DC bus inductance (222)；The thyristor
The exchange side of three-phase bridge (223) is connected with power grid (221)；The DC side of the Thyristor Three-phase bridge (223) just with DC bus
Inductance (222) is connected；The other end of the DC bus inductance (222) be output f1, the Thyristor Three-phase bridge (223) it is straight
It bears to export f2 in stream side；F1, f2 are finally connected with the rotor field coil of electrical excitation six-phase motor.
6. the integration driving of electrical excitation six-phase motor according to claim 1 or 3 and control device, it is characterised in that：
The control system (231) of the stator side frequency converter include stator d shaft currents give computing unit (41), stator q shaft currents to
Determine computing unit (42), stator current 3s/2r converter units (43), stator current comprehensive unit (44), current loop control unit
(45), stator voltage gives resolving cell (46) and modulating wave generation unit (47)；
The stator d shaft currents give computing unit (41) input include：Stator current amplitude gives Ism_ref, rotor-exciting
Winding current ifd', output includes that stator d shaft currents give id_ref, and output is calculated according to input according to following formula：
Wherein, rotor field coil electric current ifd' rotor-side excitation unit the control system from integration driving and control device
Output；
The stator q shaft currents give computing unit (42) input include：Stator current amplitude gives Ism_ref, stator d axis electricity
Stream gives id_ref；The output that stator q shaft currents give computing unit (42) includes that stator q shaft currents give iq_ref, and according to such as
Lower formula calculates output according to input：
7. the integration driving of electrical excitation six-phase motor according to claim 6 and control device, it is characterised in that：It is described
The input of stator current 3s/2r converter units (43) includes：The electric current i of two groups of outputs of stator side main circuit of converter (21)A1,
iB1,iC1With iA2,iB2,iC2, electrical angle of motor rotor θr；The output of stator current 3s/2r converter units (43) includes：Stator two
Cover electric current i of the winding under rotor rotating coordinate system1d,i1qWith i2d,i2q, and output is calculated according to input according to following formula：
The input of the stator current comprehensive unit (44) includes：Electric current of the stator double winding under rotor rotating coordinate system
i1d,i1qWith i2d,i2q；The output of stator current comprehensive unit (44) includes：Stator current direct-axis component idWith quadrature axis component iq,
And output is calculated according to input according to following formula：
id=0.5 (i1d+i2d)
iq=0.5 (i1q+i2q)
The input of the current loop control unit (45) includes：Stator d shaft currents give id_ref, stator q shaft currents give iq_ref,
Stator current direct-axis component idWith quadrature axis component iq；The output of current loop control unit (45) includes：Stator d shaft voltages are given
ud_ref, stator q shaft voltages give uq_ref。
8. the integration driving of electrical excitation six-phase motor according to claim 6 and control device, it is characterised in that：It is described
The input that stator voltage gives resolving cell (46) includes：Stator d shaft voltages give ud_ref, stator q shaft voltages give uq_ref；
The output that stator voltage gives resolving cell (46) includes：Voltage of the stator double winding under rotor rotating coordinate system is given
u1d_ref,u1q_refWith u2d_ref,u2q_ref, and output is calculated according to input according to following formula：u1d_ref=u2d_ref=ud_ref,
u1q_ref=u2q_ref=uq_ref；
The input of the modulating wave generation unit (47) includes：Voltage of the stator double winding under rotor rotating coordinate system is given
u1d_ref,u1q_refWith u2d_ref,u2q_refWith electrical angle of motor rotor θr；The output of modulating wave generation unit (47) includes：It gives
The control signal PWM1 of first group of output of stator side main circuit of converter (21) and the control signal of second group of output
PWM2；The control signal PWM1 of first group of output gives u by voltage1d_ref,u1q_refWith electrical angle of motor rotor θrIt generates；Second
The control signal PWM2 of group output gives u by voltage2d_ref,u2q_refWith electrical angle of motor rotor θrIt generates；
Stator current direct-axis component id, quadrature axis component iqThe output of control system as stator side frequency converter, so that integration is driven
The dynamic rotor-side exciter control system with control device uses.
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