CN107017815A - It is a kind of to take into account stream and the driver control method for parallel connection system of motor control effect - Google Patents
It is a kind of to take into account stream and the driver control method for parallel connection system of motor control effect Download PDFInfo
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Abstract
It is a kind of to take into account stream and the driver control method for parallel connection system of motor control effect, observe the difference of each driver output d axles and the d axles and q shaft currents of q shaft currents and system averages, and stream regulation is carried out according to the selection of the size of current deviation value or not adjusted, when difference between currents exceed difference between current upper threshold, it is superimposed upon by flowing difference compensation hystersis controller generation offset voltage on voltage instruction, it is zero the driver being conditioned is exported d axles and q shaft currents and the difference of the average d axles of system and q shaft currents；When the electric current and the difference of system average current that driver is exported are less than bottom threshold, the offset voltage for flowing difference compensation hystersis controller output forces zero setting, and electric current loop no longer carries out flowing difference compensation.The present invention is applied to driver parallel-connected induction motorses dragging system, and the present invention can adjust each driver parallel output current equalizing and reduce Drive Module drop volume, can simplify control method for parallel motor current ring dynamic property under the less operating mode of parallel system output current again.
Description
Technical field
The invention belongs to power electronics, Motor Control Field, it is related to motor driven systems, is widely used in high power AC
Electric machine speed regulation, is a kind of stream hysteresis control method thereof of driver parallel system.
Background technology
To meet the requirement that motor driven systems capacity constantly increases, three-phase inverter in parallel is used for improving electric machine speed regulation system
System capacity.In practical engineering application, common parallel way is will be straight after inverter ac side output series connection equalizing reactor
Connect parallel connection.
In some engineering applications, in order to simplify system controller and control mode, to parallel drivers using synchronous
PWM control methods, the principle of this method is：The current loop control of parallel system and the current loop control mode of single driver
And indifference, the feedback of electric current loop is the phase current sum of each parallel drivers, electric current loop give be scheduled on every driver Ud,
Uq is impartial, and the parallel drivers after 2r/2s is converted and SVPMW is calculated use identical SVPWM carrier waves fiducial value.Synchronous PWM
The advantage of control method is：Method is simple and easy to apply, and dynamic property is good.The shortcoming of synchronous PWM control methods is：Due to parallel system
IGBT module component variations, equalizing reactor sensibility reciprocal difference, the system cable wiring factor such as difference, in identical PWM carrier values
Under conditions of, each driver output current phase is unequal.In order to ensure the reliability service of Drive Module, driver mould
Block output needs drop volume, and drop volume brings the cost increase of system.
Chinese patent patent application CN102355195A《A kind of many inversion module parallel connection frequency conversion devices for transmission system
And control strategy》In order to solve circulation problem, principal and subordinate's sharing control strategy is proposed：The output current and load current of each module
Average value be compared after obtained difference as the offset of the module references electric current, the reference current of each module is basis
Primary module vector controlled calculates what is branched away, and reference current adjusts the work for controlling inverter plus offset through PI so that
The output current of each module is equal with the average value of load current.The program proposes that the shortcoming of method is：When parallel system is in
Under the operating mode that low current is gently loaded, the uneven flow degree very little of driver output does not influence the reliability service of IGBT module.According to
The method that this application is proposed, current loop control will be complicated, and have impact on the dynamic property of electric current loop.
Zhang Jianwen, Wang Peng, Wang Han, Cai Xu's《The sharing control strategy of multi-inverter parallel》[J] electrotechnics journals,
2015, there is circulation and uneven flow problem also for multi-inverter parallel system, establish the mathematics of multi-inverter parallel system
Model, it is proposed that nonuniform fluid concept, and propose that a kind of hardware circuit based on master-slave controller solves parallel system and deposited
Circulation problem, and by pulse delay compensation solve come the uneven flow problem of inverter output current.What the paper was proposed
Method sets up different compensated curve clusters by measuring the nonuniform fluid under different current conditions using look-up method is used,
The compensation of delay of pulse width is carried out according to curve.The advantage of this method is：Realize simply, do not increase control program substantially complicated
Degree；Have the disadvantage：Compensated curve is set up more complicated, it is necessary to obtain experimental data by prolonged and repeated test, could obtain good
Good control effect, adaptability is poor, for different parallel systems, because parameter is inconsistent, it may be necessary to re-establish benefit
Repay curve.
The content of the invention
The problem to be solved in the present invention is：, there is control complexity in the existing current-sharing control method to driver parallel system,
Or the poor shortcoming of adaptability, it is impossible to effectively meet and adjust each driver parallel output current equalizing reduction Drive Module drop volume
Demand.
The technical scheme is that：It is a kind of to take into account stream and the driver parallel system controlling party of motor control effect
Method, n platforms driver is in parallel, observes the difference of each driver output d axles and the d axles and q shaft currents of q shaft currents and system averages, and
Stream is carried out according to the selection of the size of current deviation value to adjust or do not adjust, when observing the drive of parallel drive system wherein one
The electric current of dynamic device output and the difference between currents of system averages exceed difference between current upper threshold εmax, by flowing difference compensation Hysteresis control
Device produces offset voltage Δ Udi*, Δ Uqi* and is superimposed upon respectively on the voltage instruction of dq axles, and i=1~n makes the driving being conditioned
It is zero that device, which exports d axles and q shaft currents and the difference of the average d axles of system and q shaft currents,；When the electric current that driver is exported and system are averaged
Difference between currents are less than bottom threshold εmin, the offset voltage pressure zero setting of difference compensation hystersis controller output is flowed, electric current loop is no longer
Carry out flowing difference compensation.
The driving parallel system passes through directly parallel connection, every after n platform drivers AC output series connection equalizing reactor
Driver is sampled to itself three-phase current Ia, Ib, Ic, and feeds back to the controller of system, and the electric current loop of system is in control
Realized in device processed, the three-phase current that controller feeds back to every driver carries out 3r/2r and 2s/2r conversion, obtain each driving
The dq shaft currents Id of deviceiAnd Iqi, i=1~n.
The input of electric current loop is the output set-point of speed ring：Excitation instruction current Ids* and torque instruction electric current Iqs*,
The dq shaft current sums Id and Iq for being fed back to each driver in parallel of electric current loop, wherein Id=Id1+Id2+……Idn, Iq=
Iq1+Iq2+……Iqn, dq axle command voltage Uds* and Uqs*, Uds* are exported respectively by two pi regulators and Uqs* is average
Onto n platform drivers, every driver obtains identical command voltage Uda* and Uqa*, wherein Uda*=Uds*/n, Uqa*=
Uqs*/n, Uda*, Uqa* are the command voltages for not flowed compensation.
The output d shaft currents Id of i-th driveriWith q shaft currents IqiWith d shaft current Id/n and q the axle electricity of system averages
Stream Iq/n difference be respectively：εIdi=Idi- Id/n, εIqi=Iqi- Iq/n, the stream difference compensates hystersis controller and is specially：When
Observe that the current deviation value of the dq axles of any driver in system is more than setting upper limit εmax, show that driver needs to flow
Compensation, is all compensated using stream difference compensation hystersis controller to every driver, flows difference and compensate the defeated of hystersis controller
Enter to be given as d axles and give εIdi*=0, q axles give εIqi*=0, εIdiWith εIqiDifference, which is flowed, as i-th driver compensates stagnant ring control
The feedback of device processed, compensates given voltage Δ Udi*, Δ Uqi*, now i-th driver by two pi regulator outputs respectively
Obtained dq axle command voltages are respectively Udi*=Uda*+ Δs Udi*, Uqi*=Uqa*+ Δ Uqi*, the command voltage after compensation
Udi* and Uqi* is converted by 2r/2s and SVPWM is converted, and the controller of system finally calculates the SVPWM for obtaining i-th driver
Carrier wave fiducial value is simultaneously sent to respective actuator, and driver performs PWM hair ripples.
If certain driver dq shaft current and the average dq difference between currents ε of systemIdiWith εIqiMore than bottom threshold εmin, then
Stream difference compensation hystersis controller persistently exports Δ Udi*, and Δ Uqi* is to electric current loop, until the stream difference of driver is less than lower limit
εmin。
Further, if observing the ε of All DrivesIdiWith εIqiBoth less than lower limit εmin, then simplify current loop control,
Offset voltage is no longer calculated, by offset voltage Δ Udi* and Δ Uqi* zero setting by force, and difference compensation hystersis controller will be flowed
The integrate-dump of pi regulator, realizes stream compensation taking over seamlessly to uncompensation control, and electric current loop is scheduled on every driver
Dq shaft voltages it is impartial, the parallel drivers after 2r/2s is converted export identical SVPWM carrier waves fiducial value, and driver is performed
PWM sends out ripple.
The present invention is applied to driver parallel-connected induction motorses dragging system, and it is equal that the present invention can adjust each driver Parallel opertation
Stream reduces Drive Module drop volume, can simplify control method for parallel lifting under the less operating mode of parallel system output current again
Electric current loop dynamic property.Have the advantages that：
1) the synchronous PWM control methods mentioned compared to background technology, advantage of the invention is：Reduce each driver
The uneven stream of IGBT module, reduces the drop volume of driver IGBT module；The side for the sharing control mentioned compared to background technology
Method, the advantage of the inventive method is：In the case where flowing poor very little or the unessential operating mode of sharing control, poor compensation calculation quilt is flowed
Close, current loop control is at utmost simplified, motor current ring dynamic property.
2) present invention, which is proposed, takes into account stream effect and motor control effect method, except sharing control, additionally it is possible to realize
Stream compensation taking over seamlessly to uncompensation control method, reduces influence of the control model conversion to electric current loop.
Brief description of the drawings
Fig. 1 is the applicable driver parallel system structure of the present invention.
Fig. 2 is the current loop control block diagram of parallel system in the inventive method.
Fig. 3 is stream difference compensates the block diagram of hystersis controller in the inventive method.
Embodiment
Illustrate the inventive method below in conjunction with the accompanying drawings.
The present invention proposes a kind of method for taking into account stream and motor control effect, and applicable system passes through n platform drivers
It is directly in parallel after AC output series connection equalizing reactor, 1~driver of driver n by high-speed bus carry out data interaction and
PWM carrier synchronizations are controlled, as shown in Figure 1.Observe each driver output d axles and d axles and q the axles electricity of q shaft currents and system averages
The difference of stream, and stream regulation is carried out according to the selection of the size of current deviation value or not adjusted.When observing parallel system wherein
The difference of one driver output d axle and q shaft currents and system averages d axles and q shaft currents exceedes difference between current upper threshold εmax,
Stream difference compensation hystersis controller will produce dq axles offset voltage Δ Udi* and Δ Uqi* and be superimposed upon respectively in the instruction of dq shaft voltages, mesh
Be that the driver that is conditioned is exported the be averaged difference of d axles and q shaft currents of d axles and q shaft currents and system be zero；When driver is defeated
The electric current and the difference of system average current gone out is less than difference between current bottom threshold εmin, flow difference compensation hystersis controller output compensation
Voltage forces zero setting, and electric current loop is without flowing poor compensation.Described difference between current threshold value is an interval [ε of settingmin,
εmax]。
1~driver of driver n carries out data interaction by high-speed bus and PWM carrier synchronizations are controlled.Every driver
Itself three-phase current Ia, Ib, Ic are sampled, and feed back to the controller of system.The electric current loop of parallel system is in control
Realized in device, the three-phase current that controller feeds back to every driver carries out 3r/2s and 2s/2r principal axis transformations, obtain each driving
The dq shaft currents Id of deviceiAnd Iqi, i=1~n.
Current equalizing method proposed by the present invention only acts on electric current loop, as shown in Fig. 2 the input of the electric current loop of parallel system is
The output of speed ring gives excitation instruction current Ids* and torque instruction electric current Iqs*, and electric current loop is fed back to each driver in parallel
Dq shaft current sums Id, Iq, wherein Id=Id1+Id2+……IdnIq=Iq1+Iq2+……Iqn, pass through two PI respectively
Adjuster output dq axle command voltages Uds*, Uqs*, Uds* and Uqs* are averagely on n platform drivers, driver 1 and driver i
Identical command voltage Uda*, Uqa* are obtained, i.e. Uda*=Uds*/n, Uqa*=Uqs*/n, Uda*, Uqa* are not flowed
The command voltage of compensation.
Method proposed by the present invention observes the dq shaft currents and the average dq difference between currents of system of every driver, if i-th
The d axles of driver and the stream difference of q axles are respectively：εIdi=Idi- Id/n, εIqi=Iqi- Iq/n, and set stream difference compensation stagnant
Ring controller.It is more than setting upper limit ε when the dq axles for observing any driver in system flow differencemax, show system in tighter
The uneven stream operating mode of weight, driver is needed by stream compensation control.To every driver all using stream difference compensation Hysteresis control
Device is calculated, and the input for flowing difference compensation hystersis controller is given as εIdi*=0, εIqi*=0, εIdiWith εIqiIt is used as i-th driving
Device flows the feedback of difference compensation hystersis controller, passes through two pi regulator output compensation given voltage Δ Udi* and Δ respectively
Uqi*.Now i-th driver to dq axle command voltages be respectively Udi*=Uda*+ Δs Udi*, Uqi*=Uqa*+ Δ
Uqi*.Command voltage Udi* after compensation and Uqi* is converted by 2r/2s and SVPWM, and final calculate obtains i-th driver
SVPWM carrier waves fiducial value is simultaneously sent to respective actuator, and driver performs PWM hair ripples.
After the electric current loop of driver adds stream compensation, and regulation stabilization, driver dq shaft currents and the average dq of system
Difference between currents εIdiWith εIqiIt is gradually reduced, as the ε for observing every driverIdiWith εIqiBoth greater than lower limit εmin, then flow difference and mend
Electric current loop can still be acted on by repaying hystersis controller output Δ Udi*, Δ Uqi*, until the stream difference of every driver is less than lower limit
εmin。
When parallel system proceeds stream compensation control, or as working conditions change causes subtracting for system output current
It is small, if observing the ε of All DrivesIdiWith εIqiBoth less than lower limit εmin, method of the invention will simplify current loop control, no
Offset voltage is calculated again.It is of the invention by offset voltage Δ in order to realize stream compensation taking over seamlessly to uncompensation control method
The integrate-dump of Udi*, Δ Uqi* zero setting and compensator by force.Electric current loop gives the dq shaft voltages for being scheduled on every driver impartial, warp
The parallel drivers crossed after 2r/2s conversion export identical SVPWM carrier waves fiducial value, and driver performs PWM hair ripples.
Claims (6)
1. a kind of take into account stream and the driver control method for parallel connection system of motor control effect, it is characterized in that n platforms driver is simultaneously
Connection, observes the difference of each driver output d axles and the d axles and q shaft currents of q shaft currents and system averages, and according to current deviation value
Size selection carry out stream regulation or do not adjust, when the electric current for observing the output of wherein one driver of parallel drive system
Exceed difference between current upper threshold ε with the difference between currents of system averagesmax, offset voltage is produced by flowing difference compensation hystersis controller
Δ Udi*, Δ Uqi* are superimposed upon on the voltage instruction of dq axles respectively, i=1~n, the driver being conditioned is exported d axles and q axles
The difference of electric current and the average d axles of system and q shaft currents is zero；When the electric current and the difference of system average current that driver is exported are less than threshold
It is worth lower limit εmin, the offset voltage pressure zero setting that difference compensates hystersis controller output is flowed, electric current loop no longer carries out flowing difference benefit
Repay.
2. it is according to claim 1 it is a kind of take into account stream and the driver control method for parallel connection system of motor control effect,
It is characterized in that the driving parallel system passes through directly parallel connection, every after n platform drivers AC output series connection equalizing reactor
Driver is sampled to itself three-phase current Ia, Ib, Ic, and feeds back to the controller of system, and the electric current loop of system is in control
Realized in device processed, the three-phase current that controller feeds back to every driver carries out 3r/2r and 2s/2r conversion, obtain each driving
The dq shaft currents Id of deviceiAnd Iqi, i=1~n.
3. it is according to claim 2 it is a kind of take into account stream and the driver control method for parallel connection system of motor control effect,
It is characterized in that the input of electric current loop is the output set-point of speed ring：Excitation instruction current Ids* and torque instruction electric current Iqs*,
The dq shaft current sums Id and Iq for being fed back to each driver in parallel of electric current loop, wherein Id=Id1+Id2+……Idn, Iq=
Iq1+Iq2+……Iqn, dq axle command voltage Uds* and Uqs*, Uds* are exported respectively by two pi regulators and Uqs* is average
Onto n platform drivers, every driver obtains identical command voltage Uda* and Uqa*, wherein Uda*=Uds*/n, Uqa*=
Uqs*/n, Uda*, Uqa* are the command voltages for not flowed compensation.
4. it is according to claim 1 it is a kind of take into account stream and the driver control method for parallel connection system of motor control effect,
It is characterized in that the output d shaft currents Id of i-th driveriWith q shaft currents IqiWith d shaft current Id/n and q the axle electricity of system averages
Stream Iq/n difference be respectively：εIdi=Idi- Id/n, εIqi=Iqi- Iq/n, the stream difference compensates hystersis controller and is specially：When
Observe that the current deviation value of the dq axles of any driver in system is more than setting upper limit εmax, show that driver needs to flow
Compensation, is all compensated using stream difference compensation hystersis controller to every driver, flows difference and compensate the defeated of hystersis controller
Enter to be given as d axles and give εIdi*=0, q axles give εIqi*=0, εIdiWith εIqiDifference, which is flowed, as i-th driver compensates stagnant ring control
The feedback of device processed, compensates given voltage Δ Udi*, Δ Uqi*, now i-th driver by two pi regulator outputs respectively
Obtained dq axle command voltages are respectively Udi*=Uda*+ Δs Udi*, Uqi*=Uqa*+ Δ Uqi*, the command voltage after compensation
Udi* and Uqi* is converted by 2r/2s and SVPWM is converted, and the controller of system finally calculates the SVPWM for obtaining i-th driver
Carrier wave fiducial value is simultaneously sent to respective actuator, and driver performs PWM hair ripples.
5. it is according to claim 1 it is a kind of take into account stream and the driver control method for parallel connection system of motor control effect,
If it is characterized in that certain driver dq shaft current and the average dq difference between currents ε of systemIdiWith εIqiMore than bottom threshold εmin, then
Stream difference compensation hystersis controller persistently exports Δ Udi*, and Δ Uqi* is to electric current loop, until the stream difference of driver is less than lower limit
εmin。
6. it is according to claim 5 it is a kind of take into account stream and the driver control method for parallel connection system of motor control effect,
If it is characterized in that observing the ε of All DrivesIdiWith εIqiBoth less than lower limit εmin, then simplify current loop control, no longer calculate and mend
Voltage is repaid, by offset voltage Δ Udi* and Δ Uqi* zero setting by force, and will flow the pi regulator of difference compensation hystersis controller
Integrate-dump, realizes that stream compensation is to taking over seamlessly that uncompensation is controlled, electric current loop is to the dq shaft voltages for being scheduled on every driver
Equalization, the parallel drivers after 2r/2s is converted export identical SVPWM carrier waves fiducial value, and driver performs PWM hair ripples.
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| CN201710174955.2A CN107017815B (en) | 2017-03-22 | 2017-03-22 | Driver parallel system control method considering current sharing and motor control effects |
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