CN107994816A - A kind of electric system and its optimal control method - Google Patents
A kind of electric system and its optimal control method Download PDFInfo
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- CN107994816A CN107994816A CN201711037912.6A CN201711037912A CN107994816A CN 107994816 A CN107994816 A CN 107994816A CN 201711037912 A CN201711037912 A CN 201711037912A CN 107994816 A CN107994816 A CN 107994816A
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- Prior art keywords
- motor
- module
- phase
- controller
- control
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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
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A kind of electric system and its optimal control method.The present invention relates to a kind of electric system,Including three phase electric machine,The controller being connected with three phase electric machine,The speed probe and current sensor being connected with three phase electric machine,Three phase electric machine includes n motor module,Each motor module is formed by the stator coil of three groups of axis mutual deviations, 120 ° of mechanical angles,Controller includes n control module being connected respectively with the cathode of n motor module and the master controller being connected with n control module,The anode of stator coil in each motor module is both connected to together,The modulating wave of each control module is equal,Carrier amplitude is equal,360 °/n of phase mutual deviation,By motor module and controller module,It can make motor and controller while power distributes,The input harmonic current phase of different motor modules can also be changed using the carrier phase control strategy between different control modules,So as to eliminate main low-order harmonic torque by torque superposition in motor body,Reduce the torque pulsation of motor,The reliability of raising system.
Description
Technical field
The present invention relates to motor field, more particularly, to a kind of electric system and its optimal control method.
Background technology
Existing high-power, frequency permanent-magnetism synchronous motor with high drive system, is limited to the power of controller switches device and opens
Frequency is closed, the mode of generally use controller multiple module paralleling powers motor.However, this mode only carries out outside motor
Simple power distribution, can not solve high-frequency electric machines carrier wave ratio (switching frequency/motor fundamental frequency) low, input current low-order harmonic
The problem of content is high, makes motor produce larger torque pulsation when high frequency is run, and then produces the harmful effects such as vibration noise,
Stability and reliability to motor cause certain harm.
The content of the invention
The technical problems to be solved by the invention, which are to provide one kind, can reduce motor torque ripple, and improve system can
By the electric system of property.
The technical solution adopted in the present invention is a kind of electric system, including three phase electric machine, the control that is connected with three phase electric machine
Device processed, the speed probe and current sensor being connected with three phase electric machine, three phase electric machine include n motor module, Mei Ge electricity
Machine module by three groups of axis mutual deviations, 120 ° of mechanical angles stator coil form, controller include respectively with n motor module
Cathode connection n control module and the master controller that is connected with n control module, the stator line in each motor module
The anode of circle is both connected to together, and the modulating wave of each control module is equal, and carrier amplitude is equal, 360 °/n of phase mutual deviation.
The beneficial effects of the invention are as follows：Motor module and controller module can be made electricity by above-mentioned electric system
Machine and controller can also be changed while power distributes using the carrier phase control strategy between different control modules
The input harmonic current phase of different motor modules, turns so as to eliminate main low-order harmonic by torque superposition in motor body
Square, reduces the torque pulsation of motor, improves the reliability of system.
A kind of optimal control method of electric system, this method comprise the following steps：
(1), the number of pole-pairs of three phase electric machine is set as n, and wherein n cannot be divided exactly by 3, number of stator slots 2Q, take and be wrapped in Q/n
Coil on stator tooth is stator coil, then the quantity of stator coil is Q；
(2), three mutual deviations, 120 ° of mechanical angles winding extremely under, take Q/3n out of phase stator coils respectively, will
The stator coil of acquisition forms a motor module；
(3), successively clockwise or counter-clockwise into next to the extremely middle execution step (2) of winding, until forming n motor
Untill module；
(4), controller is marked off into the n control modules being connected with master controller, n motor module of composition is distinguished
Correspondence is connected with n control module of controller (2), and n control module is connected with power supply, master controller collection speed probe
With the signal of current sensor, the input current of n motor module is controlled by n control module respectively.
As priority, n control module uses three-phase PWM inverter, and the gate pole control signal of its switching tube is by master control
Device processed provides.
As priority, master controller uses PWM control technologies.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of electric system of the present invention；
Fig. 2 is the permanent magnetic synchronous motor structure and winding connection schematic diagram in the embodiment of the present invention；
Fig. 3 is the specific coils arrangements of Fig. 2 and lead-out wire wiring schematic diagram；
Fig. 4 is the normalization input current waveform that Fig. 2 motor modules one arrive motor module four；
Normalized output torque profile comparing result figure of the electric system with conventional motors system that Fig. 5 is Fig. 2；
As shown in the figure：1st, three phase electric machine；2nd, controller；3rd, speed probe；4th, current sensor；5th, power supply；6th, motor
Module；7th, control module；8th, master controller；9th, stator yoke；10th, stator tooth 10；11st, stator coil；12nd, shaft；13rd, rotor
Yoke；14th, rotor permanent magnet.
Embodiment
Referring to the drawings and embodiment is combined to further describe invention, to make those skilled in the art's reference
Specification word can be implemented according to this, and the scope of the present invention is not limited to the embodiment.
The present invention relates to a kind of electric system, including three phase electric machine 1, the controller 2 and three-phase that are connected with three phase electric machine 1
The speed probe 3 and current sensor 4 that motor 1 connects, three phase electric machine 1 include n motor module 6, each motor module 6
Formed by the stator coil 11 of three groups of axis mutual deviations, 120 ° of mechanical angles, controller 2 include respectively with n motor module 6
The n control module 7 of cathode connection and the master controller 8 that is connected with n control module 7, the stator in each motor module 6
The anode of coil 11 is both connected to together, and the modulating wave of each control module is equal, and carrier amplitude is equal, and 360 ° of phase mutual deviation/
n。
A kind of optimal control method of electric system, this method comprise the following steps：
(1), the number of pole-pairs of three phase electric machine (1) is set as n, and wherein n cannot be divided exactly by 3, and number of stator slots 2Q, takes and be wrapped in Q/
N stator tooth (10), on coil be stator coil (11), then the quantity of stator coil (11) is Q；
(2), three mutual deviations, 120 ° of mechanical angles winding extremely under, take Q/3n out of phase stator coils 11 respectively,
The stator coil 11 of acquisition is formed into a motor module 6；
(3), successively clockwise or counter-clockwise into next to the extremely middle execution step (2) of winding, until forming n motor
Untill module 6；
(4), controller 2 is marked off into the n control modules 7 being connected with master controller 8, by the n motor module 6 of composition
Correspondence is connected with the n control module 7 of controller 2 respectively, and n control module 7 is connected with power supply 5, and master controller 8 gathers rotating speed
The signal of sensor 3 and current sensor 4, respectively carries out the input current of n motor module 6 by n control module 7
Control.
As priority, n control module 7 uses three-phase PWM inverter, and the gate pole control signal of its switching tube is by master control
Device processed provides.
Embodiment：
24 grooves 4 are illustrated in figure 2 to pole (Q=12, n=4) permasyn morot, Fig. 3 be this motor around
Group wiring diagram.
In order to obtain the fundamental wave winding coefficient of maximum, coil pitch is 3 (2Q/2n), in Fig. 2, includes 24 stator tooths
10, marked in figure, i.e., marked as NO.1, NO.2, NO.3, NO.4, NO.5, NO.6, NO.7, NO.8, NO.9, NO.10,
NO.11、NO.12、NO.13、NO.14、NO.15、NO.16、NO.17、NO.18、NO.19、NO.20、NO.21、NO.22、
24 stator tooths 10 of NO.23, NO.24, according to a kind of above-mentioned optimal control method of electric system, take be wrapped in NO.1,
Coil on NO.2, NO.3 stator tooth 10 is A1 stator coils 11, in order to ensure that three-phase windings are symmetrical, is taken with A1 clockwise apart
120 ° of mechanical angles, the coil being wrapped on NO.9, NO.10, NO.11 stator tooth 10 is B1 stator coils 11, clockwise with A1
At a distance of 240 ° of mechanical angles, the coil being wrapped on NO.17, NO.18, NO.19 stator tooth 10 is C1 stator coils 11, will be obtained
Three stator coils A1, B1, C1 form motor module one.
Take apart a pair of of pole (360/n=90 ° mechanical angle) clockwise with A1 and be wrapped in NO.7, NO.8, NO.9 stator
Coil on tooth 10 is A2 coils, takes with A2 clockwise at a distance of 120 ° of mechanical angles, is wrapped in NO.15, NO.16, NO.17 stator
Coil on tooth 10 is B2 stator coils 11, is taken with A1 clockwise at a distance of 240 ° of mechanical angles, be wrapped in NO.23, NO.24,
Coil on NO.1 stator tooths 10 is C2 stator coils 11, and three stator coils A2, B2, C2 of acquisition are formed motor module
Two.
Take with A2 clockwise at a distance of a pair of of pole (360/n=90 ° of mechanical angle) and be wrapped in NO.13, NO.14, No. NO.15
Coil on stator tooth 10 is A3 coils, takes with A3 clockwise at a distance of 120 ° of mechanical angles, is wrapped in NO.21, NO.22, NO.23
Coil on stator tooth 10 is B3 stator coils 11, is taken with A3 clockwise at a distance of 240 ° of mechanical angles, be wrapped in NO.5, NO.6,
Coil on NO.7 stator tooths 10 is C3 stator coils 11, and three stator coils A3, B3, C3 of acquisition are formed motor module
Three.
Take with A3 clockwise at a distance of a pair of of pole (360/n=90 ° of mechanical angle) and be wrapped in NO.19, NO.20, No. NO.21
Coil on stator tooth 10 is A4 coils, takes with A4 clockwise at a distance of 120 ° of mechanical angles, it is fixed to be wrapped in NO.3, NO.4, NO.5
Coil on sub- tooth 10 is B4 stator coils 11, is taken with A4 clockwise at a distance of 240 ° of mechanical angles, be wrapped in NO.11, NO.12,
Coil on NO.13 stator tooths 10 is C4 stator coils 11, and three stator coils 11A4, B4, C4 of acquisition are formed motor mould
Block four.
Finally obtain 12 stator coils, 11,4 groups of motor modules 6, by the cathode of three stator coils A1, B1, C1 with
Control module one connects, and the cathode of three stator coils A2, B2, C2 are connected with control module two, three stator coil A3,
The cathode of B3, C3 are connected with control module three, and the cathode of three stator coils A4, B4, C4 are connected with control module four, often
Anode in a stator coil 11 connects together.
Master controller to the switching tube of 4 control modules 7 export gate pole control signal when, the modulation wave signal of each module is complete
Exactly the same, control module one, control module two, control module three, the carrier signal amplitude of control module four are identical, but phase is mutual
Poor 90 °, such motor module is once, the input current each harmonic amplitude of motor module two, motor module three, motor module four
It is equal, but phase is different, as shown in Figure 4.
By taking carrier wave ratio is 20 times as an example, the phase relation tool of the main input harmonic current of motor module one, two, three, four
There is following rule：
18 times near 1 times of carrier wave ratio and 22 subharmonic, one, two, three, four phase mutual deviation 1*360/4=of motor module
90°；
39 times near 2 times of carrier wave ratios and 41 subharmonic, one, two, three, four phase mutual deviation 2*360/4=of motor module
180°；
58 times near 3 times of carrier wave ratios and 62 subharmonic, one, two, three, four phase mutual deviation 3*360/4=of motor module
270°；
79 times near 4 times of carrier wave ratios and 81 subharmonic, one, two, three, four phase mutual deviation 4*360/4=of motor module
360°。
Harmonics of Input of the different motor modules near 1~3 times of carrier wave ratio has phase difference, and with subharmonic electricity
The vector sum of stream is zero (harmonic current is identical), i.e., the harmonic torque that harmonic current produces, can be between motor module
Superposition eliminates.
Nearby Harmonics of Input does not have phase difference to 4 times of carrier wave ratios, it is impossible to which superposition eliminates torque harmonic wave.
Pass through the optimal control method of this carrier phase, it can be seen that carrier wave ratio brings up to 80 times by 20 times, by 80 times
Motor torque harmonic wave is completely eliminated caused by following current harmonics, low-order harmonic torque caused by the only surplus cogging torque of motor, electricity
The torque pulsation of machine is significantly improved, its improvement can be found out from the comparison diagram of Fig. 5, traditional electric system
Output torque pulsation is big, and small, the waveform stabilization of output torque pulsation for the electric system invented, the optimization control of this carrier phase
Method processed possesses both sides advantage：
1st, in the case where carrier wave ratio is constant, the torque pulsation of motor can be effectively reduced, the vibration for reducing motor is made an uproar
Sound, improves the stability and reliability of motor driven systems；
2nd, since the equivalent switching frequency for making controller in the present invention improves, the actual motion carrier wave ratio of motor can be corresponding
Reduce so that under the switching frequency restriction condition of existing switching device, the fundamental frequency of motor can be designed to higher, at a high speed and
The design of more number of pole-pairs motors provides feasibility, and then improves the power density of motor.
Motor in the present invention can be Single-layer Windings or Double Layer Winding；It can be permanent magnet synchronous motor, also may be used
To be induction machine.
Claims (4)
1. a kind of electric system, including three phase electric machine (1), be connected with three phase electric machine (1) controller (2), with three phase electric machine (1)
The speed probe (3) and current sensor (4) of connection, it is characterised in that：Three phase electric machine (1) includes n motor module
(6), each motor module (6) forms by the stator coil (11) of three groups of axis mutual deviations, 120 ° of mechanical angles, controller (2) bag
Include the n control module (7) being connected respectively with the cathode of n motor module (6) and be connected with n control module (7) total
Controller (8), the anode of the stator coil (11) in each motor module (6) are both connected to together, the tune of each control module
Ripple processed is equal, and carrier amplitude is equal, 360 °/n of phase mutual deviation.
A kind of 2. electric system according to claim 1, it is characterised in that：N control module (7) uses three-phase PWM
Inverter, the gate pole control signal of its switching tube are provided by master controller (8).
A kind of 3. electric system according to claim 1, it is characterised in that：Master controller (8) uses PWM control technologies.
4. a kind of optimal control method of electric system, this method comprise the following steps：
(1), the number of pole-pairs of three phase electric machine (1) is set as n, and wherein n cannot be divided exactly by 3, number of stator slots 2Q, take and be wrapped in Q/n
Coil on stator tooth (10) is stator coil (11), then the quantity of stator coil (11) is Q；
(2), three mutual deviations, 120 ° of mechanical angles winding extremely under, take Q/3n out of phase stator coils (11) respectively, will
The stator coil (11) of acquisition forms a motor module (6)；
(3), successively clockwise or counter-clockwise into next to the extremely middle execution step (2) of winding, until forming n motor module
(6) untill；
(4), controller is marked off into the n control modules (7) being connected with master controller (8), by n motor module of composition
(6) correspondence is connected with the n control module (7) of controller (2) respectively, and n control module (7) is connected with power supply (5), master control
The signal of device (8) collection speed probe (3) and current sensor (4), respectively by n control module (7) come to n motor
The input current of module (6) is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711037912.6A CN107994816B (en) | 2017-10-31 | 2017-10-31 | Motor system and optimization control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711037912.6A CN107994816B (en) | 2017-10-31 | 2017-10-31 | Motor system and optimization control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN107994816A true CN107994816A (en) | 2018-05-04 |
| CN107994816B CN107994816B (en) | 2020-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711037912.6A Active CN107994816B (en) | 2017-10-31 | 2017-10-31 | Motor system and optimization control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109167444A (en) * | 2018-09-19 | 2019-01-08 | 无锡赛盈动力科技有限公司 | A kind of middle higher power device three phase alternating current motor and middle higher power device |
| CN109245343A (en) * | 2018-09-19 | 2019-01-18 | 无锡赛盈动力科技有限公司 | A kind of motor of electric motor car drive system and electric vehicle |
| CN109245344A (en) * | 2018-09-19 | 2019-01-18 | 无锡赛盈动力科技有限公司 | A kind of control method of motor driven systems |
| CN111791946A (en) * | 2019-04-01 | 2020-10-20 | 罗伯特·博世有限公司 | Method for reducing torque ripple of three-phase motor of steering system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106452218A (en) * | 2016-12-09 | 2017-02-22 | 华中科技大学 | Modularized three-phase multi-end motor and driving control method thereof |
-
2017
- 2017-10-31 CN CN201711037912.6A patent/CN107994816B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106452218A (en) * | 2016-12-09 | 2017-02-22 | 华中科技大学 | Modularized three-phase multi-end motor and driving control method thereof |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109167444A (en) * | 2018-09-19 | 2019-01-08 | 无锡赛盈动力科技有限公司 | A kind of middle higher power device three phase alternating current motor and middle higher power device |
| CN109245343A (en) * | 2018-09-19 | 2019-01-18 | 无锡赛盈动力科技有限公司 | A kind of motor of electric motor car drive system and electric vehicle |
| CN109245344A (en) * | 2018-09-19 | 2019-01-18 | 无锡赛盈动力科技有限公司 | A kind of control method of motor driven systems |
| CN109167444B (en) * | 2018-09-19 | 2019-12-03 | 无锡赛盈动力科技有限公司 | A kind of middle higher power device three phase alternating current motor and middle higher power device |
| CN111791946A (en) * | 2019-04-01 | 2020-10-20 | 罗伯特·博世有限公司 | Method for reducing torque ripple of three-phase motor of steering system |
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| Publication number | Publication date |
|---|---|
| CN107994816B (en) | 2020-08-25 |
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