CN106452218A - Modularized three-phase multi-end motor and driving control method thereof - Google Patents
Modularized three-phase multi-end motor and driving control method thereof Download PDFInfo
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- CN106452218A CN106452218A CN201611127778.4A CN201611127778A CN106452218A CN 106452218 A CN106452218 A CN 106452218A CN 201611127778 A CN201611127778 A CN 201611127778A CN 106452218 A CN106452218 A CN 106452218A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P27/06—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 dc to ac converters or inverters
- H02P27/08—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 dc to ac converters or inverters with pulse width modulation
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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 modularized three-phase multi-end motor and a driving control method thereof. The modularized three-phase multi-end motor comprises a three-phase multi-end motor body, wherein the three-phase multi-end motor body is used for driving a carrier phase-shifting pulse width modulation (PWM) circuit, a controller and a driving circuit of the motor; the three-phase multi-end motor body is composed of a stator and a rotor, which are oppositely arranged and are concentric; coils embedded into a stator groove of the motor form a plurality of sets of three-phase symmetrical windings according to a space position; and each set of three-phase symmetrical winding module is connected with an independent three-phase inverter. A PWM carrier in each three-phase inverter does phase shifting according to the sequence; all the inverters are driven according to a certain manner to provide current to a whole motor system; and when the motor is operated, a corresponding electromagnetic torque generated by each set of winding module is overlapped on the rotor to form a total electromagnetic torque. According to the modularized three-phase multi-end motor and the driving control method thereof, a multi-inverter common driving mode and a PWM carrier phase-shifting control method are combined, and torque pulse, introduced by PWM, in the total electromagnetic torque of a motor system is remarkably reduced.
Description
Technical field
The invention belongs to alternating current generator and drive control field, more particularly, to a kind of modularity three-phase multiterminal motor
And its drive control method.
Background technology
With the development of modern electrical machine and power electronics and control technology, the alternating current being driven based on electronic power inverter
Machine frequency conversion speed-adjusting system, is widely used to servo and traffic traction field.In high-power AC motor application scenario, due to opening
Close tube power grade limited, single three-phase inverter is difficult to meet drive and requires, in this case, multi-inverter parallel structure
Often it is used, and this structure generally can introduce the new problem such as circulation between brachium pontis.Additionally, for the electricity driving alternating current generator
Power electronic inverter is operated under pulsewidth modulation (Pulse Width Modulation, PWM) pattern, the switch electricity that PWM brings
Flow liner ripple can correspond to the electromagnetic torque ripple producing switching frequency, thus bringing the torque pulsation related to PWM to motor and shaking
Moving noise.This two problems present in Speed Adjustment of AC Motor all hinder its application in high performance applications.
Content of the invention
For the defect of prior art, it is an object of the invention to provide a kind of new modularity three-phase multiterminal motor and its
Drive control method it is intended to realize heavy-duty motor drive solve while require to produce in prior art related to PWM
Torque pulsation and the problem of vibration noise.
The invention provides a kind of modularity three-phase multiterminal motor, including：Three-phase multiterminal motor body, for motor
Drive control structure；Three-phase multiterminal motor body includes：N modular stator and a rotor；The number of pole-pairs of stator and institute
The number of pole-pairs stating rotor is consistent；Each modular stator respectively includes the three-phase windings of complete set, can be during winding galvanization
Corresponding electromagnetic torque is produced on rotor, the electromagnetic torque that each stator modules produce is superimposed on rotor and obtains total electromagnetic torque；
Drive control structure includes：Drive circuit, phase-shifting carrier wave pulse-width modulation circuit and controller；In described three-phase multiterminal motor body
Alternating current in multiple windings produces rotating excitation field respectively jointly and rotor permanent magnet effect produces the electromagnetic torque needing；Institute
State drive circuit input termination dc bus power supply, each winding of output termination motor, each drive circuit is by phase-shifting carrier wave
Pulse-width modulation circuit and controller provide switch motion control signal；Described phase-shifting carrier wave pulse-width modulation circuit is used for producing to be needed
Multiple phase shift carrier signals；Described controller includes：Speed control and current controller, are respectively used to motor speed and electricity
The control and regulation of stream.
Further, described rotor is permanent magnet rotor or phase-wound rotor.
Further, stator winding is fractional-slot concentratred winding or integer groove Distributed Winding.
Further, the waveform of the back-emf of n threephase stator module correspondence phase is consistent, and each drive circuit is corresponding
Carrier signal is all the symmetric triangular wave train that carrier cycle is Ts；Each carrier signal waveform is identical, and phase place is different, and that is, basis will
The m switching harmonics of torque eliminating, according to the order of module 1～n, the PWM carrier wave phase shift Ts/n/m time successively.
Further, phase-shifting carrier wave pulse-width modulation circuit includes：Triangular-wave generator and phase-shift controller, triangular wave is sent out
Raw device is used for producing the carrier wave that modulation needs；Described phase-shift controller is used for the initial phase of triangular wave is done with corresponding adjustment.
Present invention also offers a kind of drive control method based on above-mentioned modularity three-phase multiterminal motor, including following
Step：
Reference velocity is subtracted each other after rear Negotiation speed controller is processed with motor actual measurement rotating speed and produces torque reference electric current；
Torque reference current uniform is the current instruction value as n current controller after n equal portions, and will survey
Three-phase current feedback to current controller；
N current controller exports the voltage duty cycle that n covers three-phase windings, and covers three-phase windings by voltage duty cycle and often
Carrier wave after corresponding phase shift obtains after being compared and often covers the corresponding pwm switching signal of three-phase windings；
By by pwm switching signal, to three-phase inverter and control module three-phase multiterminal motor rotates on request.
Further, according to m switching harmonics of torque to be eliminated, the carrier wave letter of the adjacent current controller of each two
Number 1/n/m carrier cycle of phase shift.
By three-phase multiterminal electric system is designed as many three-phase module structure so as to possess more preferable fault freedom.With
When, by being combined common for multi-inverter drive pattern with PWM phase-shifting carrier wave control method, electric system can be significantly reduced always electric
The torque pulsation being introduced by PWM in magnetic torque.
By the contemplated above technical scheme of the present invention, compared with prior art, motor is made multiterminal modularity simultaneously
Simultaneously driven with multiple inverters, due to each inverter can individually control electric current ripple it is thus possible to realize high-power
Reduce torque ripple and vibration noise while driving.
Brief description
Fig. 1 is the Basic Topological schematic diagram of the modularity three-phase multiterminal motor body realized according to the present invention；
Fig. 2 is the modular design result of the modularity three-phase multiterminal motor body realized according to the present invention；
Fig. 3 is magnetic line of force distribution and the winding connection schematic diagram of modularity three-phase multiterminal motor；
Fig. 4 is the driving circuit structure figure of the single module motor realized according to the present invention；
Fig. 5 is to control drive circuit block diagram according to the electric system that the present invention realizes；
Fig. 6 is the modularity three-phase multiterminal motor control block diagram realized according to the present invention；
Fig. 7 is the phase-shifting carrier wave PWM method realized according to the present invention；
Fig. 8 is the composite diagram of torque pulsation in the case of each drive circuit adopts unified carrier；
Fig. 9 is torque pulsation Space vector modulation figure under the phase-shifting carrier wave PWM method according to present invention realization；
Figure 10 is that the drive control method of the modularity three-phase multiterminal motor that the present invention provides realizes schematic flow sheet.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
The invention provides a kind of modularity three-phase multiterminal electric system, including：Three-phase multiterminal motor body, for driving
The drive control structure of motor, wherein drive control structure includes：Drive circuit, phase-shifting carrier wave pulse-width modulation circuit and control
Device；Wherein, three-phase multiterminal motor body includes stator side and is divided into multiple identical windings and a p-m rotor, multiple windings
In alternating current produce the common electromagnetic torque producing needs with rotor permanent magnet effect of rotating excitation field respectively；Drive circuit is defeated
Enter to terminate dc bus power supply, each winding of output termination motor, each drive circuit is by phase-shifting carrier wave pulse-width modulation circuit
Provide switch motion control signal with controller；Phase-shifting carrier wave pulse-width modulation circuit includes：Triangular-wave generator and phase shifting control
Device, for producing the multiple phase shift carrier signals needing；Controller includes：Speed control and current controller, controller is adopted
Use pi regulator structure, be respectively used to the control and regulation of motor speed and electric current；
Alternating current generator is designed as many three-phase module structure so as to possess more preferable modular construction and fault-tolerance by the present invention
Energy.On this basis, using multi-inverter independence drive pattern, will be suitable for the PWM carrier wave of each branch road inverter in control method
Secondary phase shift, so that switching current ripple phase shift successively in phase place of each inverter phase homophase, finally makes the conjunction on rotor
When becoming electromagnetic torque switching harmonics spatially to synthesize, there is the effect offseting each other, substantially reduce the motor being introduced by PWM
Torque pulsation and vibration noise.
In the present invention, motor is combined by multiple three-phase module independent of each other；Electromagnetism between each three-phase module of motor
Coupling is weak, and each three-phase module is controlled by independent Driven by inverter, can excise malfunctioning module in failure conditions, remaining
Module works on, and is capable of good fault freedom.The inverter carrier wave sequentially phase shift of each three-phase module, makes synthesis
The PWM ripple of electromagnetic torque offsets each other, and torque pulsation is substantially reduced.
For further description modularity provided in an embodiment of the present invention three-phase multiterminal motor and its drive control side
Method, in conjunction with accompanying drawing and instantiation, details are as follows：
As shown in figure 1, modularity three-phase multiterminal motor includes：N modular stator 1 (n is random natural number) and one
Rotor 2.Rotor 2 can be the AC motor rotor of p-m rotor or other forms.Stator number of pole-pairs and rotor pole pair
Number is consistent.Each modular stator respectively includes the three-phase windings of complete set, and it is right to produce on rotor during winding galvanization
The electromagnetic torque answered, the electromagnetic torque that each stator modules produce is superimposed on rotor and obtains total electromagnetic torque.N threephase stator mould
The counter potential waveform of the corresponding phase of block is consistent.N threephase stator module electromagnetic coupled to each other is very little.
As shown in Fig. 2, devising the specific embodiment of a modularity three-phase multiterminal motor topology taking n=4 as a example.Should
Embodiment by the stator 1 with 12 grooves and has 4 the rotor 2 of pole permanent magnet is constituted.Around 12 teeth of stator 1, embed
12 non-overlapping coils independent of each other.These absolute coils constitute 4 sets of three-phase symmetric windings, often between the corresponding phase of set winding
No electromagnetic coupled, thus stator 1 can be regarded as 4 independent modular stators.4 sets of three-phase windings of this motor topology respectively by
4 sets of three-phase inverters drive.
As shown in figure 3, a kind of specific winding split-phase mode of the three-phase multiterminal motor topology embodiment being given for Fig. 2,
And the Distribution of Magnetic Field schematic diagram under certain rotor position, wherein A1, B1, C1 are the three-phase coil of first set winding, A2,
B2, C2 are the three-phase coil of second set of winding, by that analogy.Can be clearly seen that from Distribution of Magnetic Field, four sets of windings correspond to phase
The magnetic field that interlinked of coil identical so that the counter potential waveform of each corresponding phase is also completely the same, thus four sets of windings can
Using the common drive control mode of four sets of three-phase inverters.
As shown in figure 4, n phase motor, kth module, 1≤k≤n；Each modular stator is by a three-phase half-bridge inverter
Drive.Each inverter includes three brachium pontis, and each brachium pontis is composed in series by two power electronics bidirection switching device, in brachium pontis
Point is connected to the terminal of the corresponding phase of respective modules.Each drive circuit can produce three phase sine electric current in corresponding stator modules
Act on thus and producing corresponding electromagnetic torque with rotor.
As shown in figure 5, the overall drive control structure of modularity three-phase multiterminal motor includes：N drive circuit, controller
With corresponding phase-shifting carrier wave pulse-width modulation circuit.The DC side of n drive circuit can be independent DC source or
Shared DC source.The exchange outlet side of n drive circuit is connected with the n set threephase stator winding of modularity three-phase multiterminal motor
Connect, produce n group three-phase current.Because the counter electromotive force of each stator modules is consistent, under stable state, the three-phase current of modules is also right
Should be consistent.Controller gathers rotating speed and the rotor seat information of motor, and the electric current of each winding, realizes rotating speed, electric current pair closes
Pulsewidth modulation (PWM) signal is sent to each drive circuit after controlling and realizes control function by ring.
As shown in fig. 6, the controller of modularity three-phase multiterminal motor includes：Speed control and current controller, wherein
Control signal forms two closed loops, that is, by speed control, current controller, drive circuit and motor speed feedback signal group
The outer shroud speed closed loop that the becomes and interior circular current that forms of signal is fed back by current controller, drive circuit and current of electric close
Ring.In outer shroud, reference velocity is subtracted each other rear Negotiation speed controller with motor actual measurement rotating speed and is produced torque reference electric current.With reference to electricity
After stream is divided into n equal portions, respectively as the current instruction value of n current controller.The pwm signal of n current controller output
For driving n drive circuit.Wherein, the dutycycle that every group of PWM is exported by current controller is relatively realized with corresponding carrier wave ratio.
Fig. 7 is the carrier Control distribution schematic diagram of modularity three-phase multiterminal n stator modules of motor.Each carrier wave is out
The pass cycle is the symmetric triangular wave train of Ts.1～n set the winding defining in order, according to m switch stricture of vagina of torque to be eliminated
Ripple, PWM carrier wave phase shift Ts/n/m successively, the carrier wave that is, n covers drive circuit is equidistant phase shift.Due to each set winding corresponding current
The reference current moment of controller is consistent so that each current controller output duty cycle is also consistent, simply each driving
There is phase shift in the carrier wave of circuit.Therefore, often the fundamental current of set winding output is consistent, only switchs subharmonic phase shift successively.Right
Answer the electromagnetic torque that on motor, each set winding produces, its average torque is all identical, and because m torque ripple of PWM generation is real
Show phase shift, thus finally superposition makes total electromagnetic torque ripple be greatly reduced.
When Fig. 8 is that the corresponding carrier wave of each module of modularity three-phase multiterminal motor does not have phase shift, the electricity of each module switch frequency
The synthesis schematic diagram of magnetic torque pulsation.Because each module adopts same carrier wave, torque pulsation Tq1～Tqn is one on time phase
Cause.Therefore each module torque pulsation obtains total torque pulsation by algebraic addition, i.e. total torque pulsation is equal to modules torque
N times of pulsation.
Fig. 9 is the modularity three-phase multiterminal motor carrier wave PWM that (Fig. 7) obtains under phase shift system proposed by the present invention switch
The torque pulsation synthesis schematic diagram of frequency.Due to the carrier wave phase shift Ts/n/m time successively of modules, under the switching frequency
It is equivalent to phase shift 2 π/n/m, therefore Tq1～Tqn phase shift 2 π/n/m successively, spatially carry out m torque after Vector modulation
It is equal to zero in pulsation theory.Therefore torque pulsation is significantly suppressed.
Figure 10 is whole program work flow chart, and speed command and the rate signal feeding back do after the recovery input speed control
Device processed, provides torque current reference after calculating.The reference value of torque current is after n decile as each current control
The command value of device, makes the difference input current controller with current feedback values, and after calculating, each current controller is given often respectively
The dutycycle of set winding three-phase voltage, these dutycycles obtain the switch letter of inverter more afterwards with the carrier wave ratio after corresponding phase shift
Number export and to produce corresponding voltage to drive circuit and act on motor thus realizing the control to motor speed torque.
Modularity three-phase multiterminal electric machine structure in the present invention and its phase-shifting carrier wave control method are high-power, high in being applied to
Fault tolerance requirements, and strict application scenario is required to torque pulsation and vibration noise.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not in order to
Limit the present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should comprise
Within protection scope of the present invention.
Claims (7)
1. a kind of modularity three-phase multiterminal motor is it is characterised in that include：Three-phase multiterminal motor body, for motor
Drive control structure；
Described three-phase multiterminal motor body includes：N modular stator (1) and a rotor (2)；The number of pole-pairs of described stator and
The number of pole-pairs of described rotor is consistent；Each modular stator respectively includes the three-phase windings of complete set, can during winding galvanization
Corresponding electromagnetic torque produced on rotor, the electromagnetic torque that each stator modules produce is superimposed on rotor and obtains total electromagnetism and turn
Square；N is random natural number；
Described drive control structure includes：Drive circuit, phase-shifting carrier wave pulse-width modulation circuit and controller；Described three-phase multiterminal electricity
Alternating current in multiple windings in machine body produces rotating excitation field respectively jointly and rotor permanent magnet effect produces the electricity needing
Magnetic torque；Described drive circuit input termination dc bus power supply, each winding of output termination motor, each drive circuit by
Phase-shifting carrier wave pulse-width modulation circuit and controller provide switch motion control signal；Described phase-shifting carrier wave pulse-width modulation circuit is used for
Produce the multiple phase shift carrier signals needing；Described controller includes：Speed control and current controller, are respectively used to motor
Rotating speed and the control and regulation of electric current.
2. modularity three-phase multiterminal motor as claimed in claim 1 is it is characterised in that described rotor (2) is permanent magnet rotor
Or phase-wound rotor.
3. modularity three-phase multiterminal motor as claimed in claim 1 or 2 is it is characterised in that described stator winding is fractional-slot
Concentratred winding or integer groove Distributed Winding.
4. the modularity three-phase multiterminal motor as described in any one of claim 1-3 is it is characterised in that n threephase stator module
The waveform of the back-emf of corresponding phase is consistent, and the corresponding carrier signal of each drive circuit is the symmetric triangular that carrier cycle is Ts
Wave train；Each carrier signal waveform is identical, and phase place is different, according to the order of module 1～n, according to m switch of torque to be eliminated
Ripple, each road PWM carrier wave phase shift Ts/n/m time successively, m is random natural number.
5. the modularity three-phase multiterminal motor as described in any one of claim 1-4 is it is characterised in that described phase-shifting carrier wave pulsewidth
Modulation circuit includes：Triangular-wave generator and phase-shift controller, triangular-wave generator is used for producing the carrier wave that modulation needs；Described
Phase-shift controller is used for the initial phase of triangular wave is done with corresponding adjustment.
6. a kind of drive control method based on the modularity three-phase multiterminal motor described in claim 1 is it is characterised in that include
Following step：
Reference velocity is subtracted each other after rear Negotiation speed controller is processed with motor actual measurement rotating speed and produces torque reference electric current；
Torque reference current uniform is the current instruction value as n current controller after n equal portions, and three by actual measurement
Phase current feedback is to current controller；
N current controller exports the voltage duty cycle that n covers three-phase windings, and voltage duty cycle is corresponding with often set three-phase windings
Phase shift after carrier wave be compared after obtain with often set the corresponding pwm switching signal of three-phase windings；
By by pwm switching signal, to three-phase inverter and control module three-phase multiterminal motor rotates on request.
7. drive control method as claimed in claim 6 is it is characterised in that according to m switching harmonics of torque to be eliminated, press
The order of lighting module 1～n, corresponding carrier signal 1/n/m carrier cycle of phase shift successively, m, n are random natural number.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611127778.4A CN106452218B (en) | 2016-12-09 | 2016-12-09 | A kind of modularization three-phase multiterminal motor and its drive control method |
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| CN201611127778.4A CN106452218B (en) | 2016-12-09 | 2016-12-09 | A kind of modularization three-phase multiterminal motor and its drive control method |
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| CN106452218B CN106452218B (en) | 2019-01-29 |
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| CN108199627A (en) * | 2017-12-26 | 2018-06-22 | 清华大学 | A kind of distribution driving control system for electric machine |
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| WO2022166229A1 (en) * | 2021-02-04 | 2022-08-11 | 中车株洲电力机车研究所有限公司 | Iron core and magnetic circuit multiplexing redundant power driving system |
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