CN107769657B - A kind of polyphase machine current balance control method based on Generalized Symmetric component theory - Google Patents
A kind of polyphase machine current balance control method based on Generalized Symmetric component theory Download PDFInfo
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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Abstract
The present invention discloses a kind of polyphase machine current balance control method.Step includes: to disassemble polyphase machine for n m phase system；The full dimension Clarke transformation of positive 1 sequence is carried out to m phase current, obtains component；M phase current is converted, is obtained in α1‑β1Current component in plane；To the α of positive 1 sequence electric current1‑β1Plane, component carries out positive, reverse rotation transformation, carries out PI control；To positive 1 sequence electric current α3‑β3、α5‑β5、…α(m‑2)‑β(m‑2)Electric current in plane carries out 3 speeds, the transformation of 5 speeds ... (m-2) speed respectively, carries out PI control；To positive 2 sequence, positive 3 sequence ... the α of positive (m-1)/2 sequence electric current1‑β1Plane, component is converted respectively, carries out PI control；To positive 1 sequence, positive 2 sequence, positive 3 sequence ... the output of positive (m-1)/2 sequence current component PI controller converts, obtain positive 1 sequence, positive 2 sequence, positive 3 sequence ... positive (m-1)/2 instruction value；Each sequence voltage instruction value is superimposed；Same operation is carried out to other n-1 symmetrical m phase systems, obtains each phase instruction value of polyphase machine.
Description
Technical field
The present invention relates to polyphase machine current balance control methods.Generalized Symmetric component is based on more particularly, to one kind
Theoretical polyphase machine current balance control method.
Background technique
Polyphase machine has the numbers of phases more more than three-phase motor, and the driving of low-pressure high-power may be implemented, torque pulsation
Frequency is high and amplitude is small, high reliablity, and the flexibility ratio of control is high.Due to these remarkable advantages, polyphase machine is passed in electric car
The applications such as dynamic system, aircraft generating system, ship's electrical propulsion system are widely used.
In the vector controlled of polyphase machine, since the alternate parameter of motor or inverter is not fully consistent, it may appear that
The unequal phenomenon of the amplitude of three-phase current, this will lead to the rated power of motor and operational efficiency reduction, torque pulsation and vibration
Moving noise increases.Therefore, eliminated for how to make full use of the control freedom degree of polyphase machine it is unbalanced between phase current,
Scholars have carried out a large amount of research.For five phase induction machines, M.Jones et al. proposes carrying out Clarke change to phase current
In two harmonic wave planes of alpha-beta and x-y after changing, it is all made of the PI controller of synchronous rotary, can realize phase to a certain extent
Current balance.But further investigations have shown that, if being that alpha-beta or x-y plane negative phase-sequence electricity occur the reason of current-unbalance
Stream, since the bandwidth of PI controller is limited, this method can not just be eliminated unbalanced between phase current.For double three-phase machine
(asymmetric six-phase motor), J.Karttunen et al. are added same on the x-y plane by carrying out Clarke transformation to phase current
The PI controller for walking rotation efficiently solves the problems, such as the unbalanced of phase current between two sets of three-phase windings.But it can not still solve
The amplitude of three-phase current is unbalanced in certainly same set of three-phase windings.As it can be seen that current polyphase machine current balance control method, all
It is still to lack to any number of phases polyphase machine and any current unevenness for specific number of phases motor, the unbalanced operating condition of specific currents
Current balance control method that weighing apparatus operating condition is all suitable for, thering is general theory to support.
It is, therefore, desirable to provide a kind of can be generalized to the polyphase machine of any number of phases, cover various types of electric current width
It is worth the control method of balanced operating condition.
Summary of the invention
The purpose of the present invention is to provide a kind of polyphase machine current balance controlling parties based on Generalized Symmetric component theory
Method.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of polyphase machine current balance control method based on Generalized Symmetric component theory, which is characterized in that this method
The step of include: to disassemble polyphase machine for the symmetrical m phase systems of n, wherein n, m are positive integer, and n >=1, m are odd number, right
M phase system is referred to as the minimum unit for carrying out current balance control；
The full dimension Clarke transformation of positive 1 sequence is carried out to the m phase current of m phase system, obtains positive 1 sequence electric current in α1-β1、α3-
β3、α5-β5、…α(m-2)-β(m-2)Current component and 0 sequence electric current in total (m-1)/2 pair plane；
To m phase current carry out positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence fundamental wave dimension Clarke transformation obtains positive 2 sequence, just
3 sequences ... the sequence electric current of positive (m-1)/2 is in α1-β1Current component in plane；
To positive 1 sequence electric current in α1-β1Current component in plane carries out positive, reverse sync speed rotation transformation respectively, then
Carry out PI control, wherein the instruction value of forward component is d, q current instruction value under vector controlled when PI is controlled, and is reversely divided
The instruction value of amount is zero；
To positive 1 sequence electric current in α3-β3、α5-β5、…α(m-2)-β(m-2)Current component in plane carries out 3 speeds, 5 times respectively
Speed ... m-2 speed rotates in the forward direction transformation, then carries out PI control, and instruction value is zero；
To positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence electric current is in α1-β1Current component in plane carries out positive, anti-respectively
To synchronous speed rotation transformation, PI control is then carried out, and the instruction value of positive, reversed component is zero；
To positive 1 sequence electric current in α1-β1Plane and α3-β3、α5-β5、…α(m-2)-β(m-2)The PI of current component in plane
Controller output carries out corresponding counter-rotating transformation, and then carries out full dimension Clarke inverse transformation, obtains under natural system of coordinates
In the voltage instruction value of positive 1 sequence with each corresponding voltage instruction value component；
To positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence electric current is in α1-β1Plane and α3-β3、α5-β5、…α(m-2)-β(m-2)
The PI controller output of current component in plane carries out corresponding counter-rotating transformation, and then it is inverse to carry out fundamental wave dimension Clarke
Transformation, obtain positive 2 sequence under natural system of coordinates, positive 3 sequence ... in the voltage instruction value of positive (m-1)/2 sequence with each corresponding electricity
Press instruction value component；
Under natural system of coordinates, in the voltage instruction value of positive 1 sequence with each corresponding voltage instruction value component and positive 2
Sequence, positive 3 sequence ... be overlapped in the voltage instruction value of positive (m-1)/2 with each corresponding voltage instruction value component, obtain m
The voltage instruction value of each phase in phase motor；And
It repeats the above steps, obtains the voltage instruction value of other n-1 m phase motor, finally obtain each of polyphase machine
The voltage instruction value of phase.
It preferably, in dismantling step, is disassembled by n symmetrical m phase systems.
Preferably, the Clarke transformation of Quan Weidu is as shown in following formula (1):
Wherein, Tm*mIndicate Clarke transformation matrix.
Preferably, to positive 2 sequence, positive 3 sequence ... in the fundamental wave dimension Clarke of positive (m-1)/2 sequence transformation, fundamental wave dimension
Clarke transformation is as shown in following formula (2):
Wherein, k be positive 2 sequences, positive 3 sequence ... the serial number of positive (m-1)/2 sequence electric current, i.e. k ∈ 2,3 ... (m-1)/2.
Preferably, the full dimension Clarke carried out to positive 1 sequence electric current is inversely transformed into the transposed matrix of formula (1).
Preferably, to positive 2 sequence, positive 3 sequence ... the two dimension Clarke that positive (m-1)/2 sequence electric current carries out are inversely transformed into formula (2)
Transposed matrix.
Beneficial effects of the present invention are as follows:
Technical solution of the present invention provide it is a kind of can be generalized to the polyphase machine of any number of phases, cover it is various types of
The polyphase machine current balance control algolithm of the unbalanced operating condition of the current amplitude of type, has effectively achieved various polyphase machine electric currents
The unbalanced elimination of amplitude.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing:
Fig. 1 is according to the disclosure, m phase system current balance principle of vector control figure；
Fig. 2 a and Fig. 2 b are the experimental result on five-phase induction motor, and wherein Fig. 2 a is shown is obtained using conventional vector control method
The experimental result arrived, Fig. 2 b show the experimental result obtained using the current balance vector controlled of the disclosure；And
Fig. 3 a and Fig. 3 b are the experimental result on nine phase motors, and wherein Fig. 3 a is shown is obtained using conventional vector control method
The experimental result arrived, Fig. 3 b show the experimental result obtained using the current balance vector control method of the disclosure.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
Fig. 1 is according to the disclosure, m phase system polyphase machine current balance principle of vector control figure.
In the polyphase machine current balance control method based on Generalized Symmetric component theory of the disclosure, including following step
Suddenly, it will be described in detail in conjunction with Fig. 1.
In step 1, polyphase machine is disassembled as the symmetrical m phase systems of n, wherein n >=1 and m are odd number, are minimum with m
Unit carries out current balance control.
In step 2, it carries out the full dimension Clarke of positive 1 sequence to m phase current to convert, i.e. [T shown in Fig. 11], it obtains just
1 sequence electric current is in α1-β1、α3-β3、α5-β5、…α(m-2)-β(m-2)Current component i in total (m-1)/2 pair planeα1iβ1(+1)、iα 3iβ3(+1)、…iα(m-2)iβ(m-2)(+1)And 0 sequence electric current i0.The wherein serial number of+1 expression Clarke transformation, [T1] shown in it is specific
Shown in conversion process such as following formula (1):
By formula (1) it is found that full Victoria C larke is transformed to m row m column matrix,For Clarke transformation coefficient.
In step (3), to m phase current carry out positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence fundamental wave dimension Clarke is converted,
That is [T shown in Fig. 12]α1β1、[T3]α1β1、…[T(m-1)/2]α1β1, each sequence electric current is obtained in α1-β1Current component in plane
iα1iβ1(+2)、iα1iβ1(+3)、…iα1iβ1(+(m-1)/2), wherein+2 ,+3 ...+(m-1)/2 indicate Clarke transformation serial number,
[T2]α1β1、[T3]α1β1、…[T(m-1)/2]α1β1Shown in shown in specific conversion process such as following formula (2):
Wherein, the serial number of k plane where sequence electric current, i.e. k ∈ 2,3 ... (m-1)/2,For Clarke transformation coefficient.
By formula (2) it is found that fundamental wave dimension Clarke is transformed to 2 row m column matrix, that is, the Clarke of two dimensions is converted, this change
It uses instead in the fundamental wave of reflection sequence electric current.
In step (4), to positive 1 sequence electric current in α1-β1Component in plane carries out positive, reverse sync speed rotation respectively
TransformationWithForward current i current component being converted into respectively under rotational coordinatesd1,iq1(+1)And reverse current
id1,iq1(-1), enabling the instruction value of forward component is d, q current instruction value under vector controlled, and the instruction value of reversed component is zero, so
PI control is carried out afterwards.
In step (5), to positive 1 sequence electric current in α3-β3、α5-β5、…α(m-2)-β(m-2)Component in plane carries out 3 respectively
Speed, 5 speeds ... m-2 speed rotates in the forward direction transformation By current component
The forward current i being converted under rotational coordinates respectivelyd3,iq3(+1)、id5,iq5(+1)、…id(m-2),iq(m-2)(+1), enabling instruction value is zero
Carry out PI control.
In step (6), to positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence electric current is in α1-β1Component in plane carries out respectively
Positive, reverse sync speed rotation transformationWithForward current current component being converted into respectively under rotational coordinates
id1,iq1(+2)With reverse current id1,iq1(-2), forward current id1,iq1(+3)With reverse current id1,iq1(-3)... forward current id1,
iq1(+(m-1)/2)With reverse current id1,iq1(-(m-1)/2)(wherein ,+2 ,+3 ... the forward sequence number of+(m-1)/2 indicates coordinate transformation ,-
2, -3 ... the reversed serial number of-(m-1)/2 indicates coordinate transformation), enabling the instruction value of positive, reversed component is zero, carries out PI control
System.
In step (7), corresponding counter-rotating change is carried out to the PI controller output of each current component of positive 1 sequence electric current
It changesWithAnd then full dimension Clarke inverse transformation is carried out, the full dimension Clarke's is inversely transformed into step (2) Chinese style
(1) transposed matrix, to correspond to the voltage instruction value point of each phase in positive 1 sequence voltage instruction value under obtaining natural system of coordinates
Amount Wherein, 1,2,3 ... m is the sequence of phase in m phase motor
Number ,+1 indicates the serial number of voltage indicated value component.
In step (8), to positive 2 sequence, positive 3 sequence ... the PI controller of each current component of positive (m-1)/2 sequence electric current exports
Carry out corresponding counter-rotating transformationWithAnd then carry out two dimension Clarke inverse transformations, two dimension Clarke
The transposed matrix for being inversely transformed into step (3) Chinese style (2), thus positive 2 sequence, positive 3 sequence under obtaining natural system of coordinates ... positive (m-
1) the voltage indicated value component of each phase/2 is corresponded in sequence voltage instruction value
Until
Wherein, 2,3 ... m is the serial number of phase in m phase motor ,+2 ,+3 ... the serial number of+(m-1)/2 expression voltage indicated value component.
In step (9), under natural system of coordinates, to positive 1 sequence, positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence voltage instructs
The voltage indicated value component of each phase is overlapped respectively in value, obtains each phase voltage command value of m phase motor.It is with c phase
Example, as shown in formula (3):
Wherein, c indicates the serial number of phase in m phase motor, c ∈ 1,2 ... m.
For the validity for verifying the above method, current balance vector controlled has been carried out on five-phase induction motor and nine phase motors
Experimental verification, nine phase motors are concentrated and full-pitch windings, and five-phase induction motor is the motor of distributed winding, the parameter point of two motors
It is not shown in Table 1 and table 2.
Wherein rsFor stator resistance, rrFor rotor resistance, LmFor rotor mutual inductance, L1sFor stator leakage inductance, L1rFor rotor leakage
Sense, PnFor number of magnetic pole pairs.
The major parameter of 1 five-phase induction motor of table
The major parameter of 2 nine phase motor of table
Experimental result is shown in Fig. 2 a to Fig. 3 b.
Fig. 2 a and Fig. 2 b are the experimental result on five-phase induction motor, and wherein Fig. 2 a is shown is obtained using conventional vector control method
The experimental result arrived, Fig. 2 b is shown to be controlled using the polyphase machine current balance based on Generalized Symmetric component theory of the disclosure
The experimental result that method obtains.
600r/min is set by five-phase induction motor rotational speed command value, it is equal in the electric current of conventional vector control method and the disclosure
Phase current waveform under weighing apparatus vector control method control is shown in Fig. 2 a and Fig. 2 b.300r/ is set by nine phase motor speed instruction values
Min, the phase current waveform under the control of the current balance vector control method of conventional vector control method and the disclosure are shown in Fig. 3 a
With Fig. 3 b.Phase current waveform in 4 width figures is all in switching frequency fswitch=10kHz, controller AD sample frequency (control
The main interruption frequency of device) fsampling=5kHz, dead time TdeadThe experimental result obtained under the parameter setting of=3.0 μ s.
In Fig. 2 a, since conventional vector control method does not have current balance function, each phase current peak-to-peak value of five-phase induction motor
Between maximum disparity be 0.81A, be averaged the 13.68% of peak-to-peak value for each phase current.And in figure 2b, the electric current of the disclosure is equal
Weighing apparatus vector controlled enables to the maximum disparity between each phase current peak-to-peak value to drop to 0.10A, is each phase current average peak peak
The 1.62% of value.
Due to current probe limited amount, in the control experiment for carrying out nine phase motors, the phase electricity of wherein 8 phases is only measured
Flow waveform.In Fig. 3 a, under conventional vector control method, the maximum disparity between each phase current peak-to-peak value of nine phase motors is
0.60A is averaged the 9.48% of peak-to-peak value for each phase current.In Fig. 3 b, under the current balance control method of the disclosure, each mutually electricity
Maximum disparity between stream peak peak value drops to 0.12A, is averaged the 1.89% of peak-to-peak value for each phase current.
In conclusion the current balance control method based on Generalized Symmetric component theory has good validity.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (5)
1. a kind of polyphase machine current balance control method based on Generalized Symmetric component theory, feature
It is, the step of this method includes:
Polyphase machine is disassembled as the symmetrical m phase systems of n, wherein n, m are positive integer, and n >=1, m are odd number, the symmetrical m
Phase system is the minimum unit for carrying out current balance control；
The full dimension Clarke transformation of positive 1 sequence is carried out to the m phase current of the m phase system, obtains positive 1 sequence electric current in α1-β1、α3-β3、
α5-β5、…α(m-2)-β(m-2)Current component and 0 sequence electric current in total (m-1)/2 pair plane；
To the m phase current carry out positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence fundamental wave dimension Clarke transformation obtains described positive 2
Sequence, positive 3 sequence ... the sequence electric current of positive (m-1)/2 sequence is in the α1-β1Current component in plane；
To the positive 1 sequence electric current in the α1-β1Current component in plane carries out positive, reverse sync speed rotation transformation respectively,
Then PI control is carried out, wherein the instruction value of forward component is d, q current instruction value under vector controlled when the PI is controlled, and
And the described instruction value of reversed component is zero；
To positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence electric current is in the α1-β1Described in current component in plane carries out respectively
Then positive, reverse sync speed rotation transformation carries out the PI control, and the described instruction value of positive, the reversed component
It is zero；
To the positive 1 sequence electric current in the α1-β1Plane and the α3-β3、α5-β5、…α(m-2)-β(m-2)Electric current point in plane
The PI controller output of amount carries out corresponding counter-rotating transformation, and then carries out full dimension Clarke inverse transformation, obtains nature seat
Mark system under positive 1 sequence voltage instruction value in each corresponding voltage instruction value component；
To positive 2 sequence, positive 3 sequence ... positive (m-1)/2 sequence electric current is in the α1-β1Plane and the α3-β3、α5-β5、…
α(m-2)-β(m-2)The PI controller output of current component in plane carries out corresponding counter-rotating transformation, Jin Erjin
Row fundamental wave dimension Clarke inverse transformation, obtain positive 2 sequence under the natural system of coordinates, positive 3 sequence ... the electricity of positive (m-1)/2 sequence
Press instruction value described in each corresponding voltage instruction value component；
Under the natural system of coordinates, in the voltage instruction value of positive 1 sequence with each corresponding voltage instruction value component
With positive 2 sequence, positive 3 sequence ... described in the voltage instruction value of positive (m-1)/2 sequence with each corresponding voltage instruction value
Component is overlapped, and obtains the voltage instruction value of each phase in the m phase motor；And
It repeats the above steps, obtains the voltage instruction value of other n-1 m phase motors, finally obtain the multiphase electricity
The voltage instruction value of each phase of machine,
Wherein, the Clarke of Quan Weidu is converted as shown in formula (1):
Wherein, Tm*mIndicate Clarke transformation matrix.
2. polyphase machine current balance control method as described in claim 1, which is characterized in that in the dismantling step,
It is to be disassembled by n symmetrical m phase systems.
3. polyphase machine current balance control method as described in claim 1, which is characterized in that positive 2 sequence, positive 3
Sequence ... in the fundamental wave dimension Clarke transformation of positive (m-1)/2 sequence, the fundamental wave dimension Clarke transformation is such as following formula (2) institute
Show:
Wherein, k be positive 2 sequence, positive 3 sequence ... the serial number of positive (m-1)/2 sequence electric current, i.e. k ∈ 2,3 ... (m-1)/2.
4. polyphase machine current balance control method as described in claim 1, which is characterized in that carried out to positive 1 sequence electric current
Full dimension Clarke is inversely transformed into the transposed matrix of formula (1).
5. polyphase machine current balance control method as claimed in claim 3, which is characterized in that positive 2 sequence, positive 3 sequence ... just
(m-1)/2 the two dimension Clarke that sequence electric current carries out are inversely transformed into the transposed matrix of formula (2).
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| CN103269196A (en) * | 2013-06-14 | 2013-08-28 | 中国船舶重工集团公司第七一二研究所 | Method for suppressing unbalance of output currents of five-phase induction motor |
| CN103490694A (en) * | 2013-10-13 | 2014-01-01 | 中国船舶重工集团公司第七一二研究所 | Polyphase induction motor appointed secondary current waveform control method |
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| CN103269196A (en) * | 2013-06-14 | 2013-08-28 | 中国船舶重工集团公司第七一二研究所 | Method for suppressing unbalance of output currents of five-phase induction motor |
| CN103490694A (en) * | 2013-10-13 | 2014-01-01 | 中国船舶重工集团公司第七一二研究所 | Polyphase induction motor appointed secondary current waveform control method |
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