CN109546906B - Direct current series excited motor control system and method - Google Patents

Direct current series excited motor control system and method Download PDF

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Publication number
CN109546906B
CN109546906B CN201811618117.0A CN201811618117A CN109546906B CN 109546906 B CN109546906 B CN 109546906B CN 201811618117 A CN201811618117 A CN 201811618117A CN 109546906 B CN109546906 B CN 109546906B
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switch
power supply
direct current
igbt module
motor
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CN109546906A (en
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姜风光
丁恒军
马腾伟
赵红阳
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Wuhan Zhengyuan Electric Co ltd
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Wuhan Zhengyuan Electric Co ltd
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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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/298—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature and field supplies
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
    • H02K23/02—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by arrangement for exciting
    • H02K23/08—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by arrangement for exciting having series connection of excitation 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • H02P7/04—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of a H-bridge circuit

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a novel control system and a method for a direct current series excited motor, wherein the control system comprises a direct current power supply (UDC) and comprises the following steps: the first branch and the second branch of the direct current power supply UDC are connected in series; the first branch comprises a third branch and a fourth branch which are connected in parallel; the third branch comprises a first IGBT module and a second IGBT module which are connected in series; the fourth branch comprises a third IGBT module and a fourth IGBT module which are connected in series, and the novel control method of the direct current series excited motor realizes contactless smooth reversing of the direct current series excited motor through power electronic devices, integrates reversing and motor modulation, reduces the cost and heat power consumption of the system, and improves the system efficiency.

Description

Direct current series excited motor control system and method
Technical Field
The invention relates to the field of motor control, in particular to a direct current series excited motor control system and a direct current series excited motor control method.
Background
The DC series excited motor has the advantages of large starting torque, strong overload capacity, high rotating speed, small volume, light weight and the like, thereby being widely applied to various tools. However, because the direct current series excited motor has the electric brush and the commutator, the direct current series excited motor has the defects of ring fire, low efficiency, poor protection capability, low energy feedback efficiency and the like when running at high speed, so that the use of the direct current motor is greatly limited. Particularly, in a high-power system, the commutation control of the motor is often realized by adopting a large-current change-over switch or a contactor, a magnetic field weakening resistor and contactor control are also needed in a high-speed working area of the motor to improve the torque of the motor at high speed, and the motor is braked by adopting resistor energy consumption to cause great energy loss.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a direct current series excited motor control system and a direct current series excited motor control method, which not only can realize non-contact commutation, but also can realize high energy feedback no matter the motor is in a forward rotation or reverse rotation braking working condition, and simultaneously, the excitation current of the motor is directly controlled without additional equipment when the motor runs at a high speed, so that the motor works in a weak magnetic state, and the torque of the motor during high-speed working is ensured.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a direct current series excitation motor control system, which comprises a direct current power supply UDC and comprises:
the first branch and the second branch of the direct current power supply UDC are connected in series;
the first branch comprises a third branch and a fourth branch which are connected in parallel;
the third branch comprises a first IGBT module and a second IGBT module which are connected in series;
the fourth branch comprises a third IGBT module and a fourth IGBT module which are connected in series;
one end of a smoothing reactor L1 is connected between the first IGBT module and the second IGBT module, and the other end of a smoothing reactor L1 is connected between the third IGBT module and the fourth IGBT module;
a dc motor M is connected in series to one of both ends of the smoothing reactor L1.
Further, the second branch comprises a fifth branch and a sixth branch which are connected in parallel;
the fifth branch comprises a fifth IGBT module and a seventh diode D7 which are connected in series;
the sixth branch comprises an eighth diode D8 and a sixth IGBT module which are connected in series;
one end of an excitation inductor Lf is connected between the fifth IGBT module and the seventh diode D7, and the other end of the excitation inductor Lf is connected between the eighth diode D8 and the sixth IGBT module.
Further, the direct current motor M transmits feedback rotating speed to a first system regulator, the direct current motor M transmits feedback torque to a second system regulator, and the first system regulator and the second system regulator are respectively connected with a first linear controller and a second linear controller.
Further, the dc motor M receives a given rotation speed and the feedback rotation speed at the same time, and obtains a given torque after an error between the given rotation speed and the feedback rotation speed passes through a first linear controller, and a difference between the given torque and the feedback torque passes through a second linear controller and then is compared with a triangular wave to obtain a first PWM and a second PWM.
Further, the exciting current of the second branch circuit is fed back to a fourth system regulator, and the difference value of the exciting current and the armature current is compared with a triangular wave after passing through a third linear controller to obtain a third PWM.
Further, the first IGBT module includes a first switch T1 and a first diode D1 connected in parallel; the second IGBT module comprises a second switch T2 and a second diode D2 connected in parallel; the third IGBT module includes a third switch T3 and a third diode D2 connected in parallel; the fourth IGBT module includes a fourth switch T4 and a fourth diode D4 connected in parallel;
the first PWM controls a first switch T1 and a fourth switch T4;
the second PWM controls a second switch T2 and a third switch T3.
Further, the fifth IGBT module includes a fifth switch T5 and a fifth diode D5 connected in parallel; the sixth IGBT module includes a sixth switch T6 and a sixth diode D6 connected in parallel;
the third PWM controls a fifth switch T5 and a sixth switch T6.
The invention also provides a control method of the direct current series excited motor, which comprises the following steps:
when the direct current motor positive M rotates positively;
when the first switch T1 and the fourth switch T4 are turned on, UABThe voltage at both ends of the transformer is power supply voltage UDCThe power supply supplies energy to the direct current motor M, and armature current flows from the positive pole of the power supply, flows through the first switch T1, the smoothing reactor L1 and the direct current motor M, and then returns to the negative pole of the power supply from the fourth switch T4; after the direct current motor M rotates in the forward direction, when the second switch T2 and the third switch T3 are switched on, the voltage at two ends of the UAB is opposite to the power supply voltage UDC, armature current flows into the anode of the power supply from the smoothing reactor L1, the direct current motor M and the third switch T3, and then a loop is formed through the second switch T2;
when the fifth switch T5 and the sixth switch T6 are turned on, the exciting current flows from the positive pole of the power supply, passes through the fifth switch T5 and the exciting winding Lf, and then returns to the negative pole of the power supply from the sixth switch T6; forming exciting current, wherein the exciting current is consistent with the armature current, and the direct current motor M rotates forwards;
when the fifth switch T5 and the sixth switch T6 are turned off, the excitation current freewheels through the seventh diode D7 and the eighth diode D8, flows in from the anode of the power supply, flows out from the cathode of the power supply, and feeds energy back to the power supply.
Further, the method also comprises the following steps:
when the direct current motor M is reversed:
when the second and third switches T2 and T3 are turned on, UBAVoltage at two ends of the power supply UDCThe power supply supplies energy to the direct current motor M, and armature current flows from the positive pole of the power supply, flows through the third switch T3, the smoothing reactor L1 and the direct current motor M, and then returns to the negative pole of the power supply from the second switch T2;
when the first and fourth switches T1 and T4 are turned on after the motor M rotates in the reverse direction, UBAVoltage at both ends of and power supply voltage UDCIn contrast, the armature current flows into the positive electrode of the power supply from the smoothing reactor L1, the direct current motor M and the first switch T1, and then forms a loop through the fourth switch T4;
when the fifth switch T5 and the sixth switch T6 are turned on, the exciting current flows from the positive electrode of the power supply, passes through the fifth switch T5 and the exciting winding Lf, and returns to the negative electrode of the power supply from the sixth switch T6 to form exciting current, and the direct current motor M reverses;
when the fifth switch T5 and the sixth switch T6 are turned off, the excitation current freewheels through the seventh diode D7 and the eighth diode D8, flows in from the anode of the power supply, flows out from the cathode of the power supply, and feeds energy back to the power supply.
The invention has the beneficial effects that: according to the control method of the direct current series excited motor, the non-contact smooth reversing and high-speed weak magnetic control of the direct current series excited motor are realized through power electronic devices, the reversing and motor modulation are integrated, the cost and the heat power consumption of a system are reduced, and the system efficiency is improved;
1) the main topological structure adopts 6 IGBT modules and two diodes, wherein four IGBT modules form an H-bridge, the size and the direction of armature current can be flexibly controlled, the speed regulation and the positive and negative rotation of the direct current motor are realized, and the other two IGBT modules and two diodes form a complementary double half-bridge circuit which is used for controlling the size of exciting winding current without changing the direction of the exciting current. Compared with the traditional structure, the structure can control not only the exciting current but also the armature current, and has greater flexibility;
2) under the working condition of forward rotation or reverse rotation, the armature winding and the excitation winding of the direct current motor can feed back energy to the power supply, but the energy fed back to the power supply by the direct current motor is less than the energy output by the power supply, when the motor brakes, only the given speed needs to be set to be zero, and the energy fed back to the power supply by the direct current motor is more than the energy output by the power supply, so that the energy is greatly saved.
3) When the motor works at a high speed, the field weakening control is needed, and the field weakening control of the motor can be simply and conveniently realized by directly controlling the exciting current of the motor.
Drawings
Fig. 1 is a schematic diagram of a main circuit topology structure controlled by a dc series motor according to the present invention;
FIG. 2 is a control block diagram of a bipolar bridge type reversible converter;
FIG. 3 is a complementary double half-bridge circuit control block diagram;
FIG. 4 is a circuit block diagram according to the first embodiment;
FIG. 5 is a circuit block diagram according to the first embodiment;
FIG. 6 is a circuit block diagram according to the first embodiment;
FIG. 7 is a circuit block diagram according to the first embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A DC series motor control system comprises a DC motorPower supply UDCThe method comprises the following steps:
are connected in series with a DC power supply UDCA first branch 1 and a second branch 2;
the first branch 1 comprises a third branch 3 and a fourth branch 4 which are connected in parallel;
the third branch 3 comprises a first IGBT module 301 and a second IGBT module 302 connected in series;
the fourth branch 4 comprises a third IGBT module 303 and a fourth IGBT module 304 connected in series;
one end of a smoothing reactor L1 is connected between the first IGBT module 301 and the second IGBT module 302, and the other end of a smoothing reactor L1 is connected between the third IGBT module 303 and the fourth IGBT module 304;
a dc motor M is connected in series to one of both ends of the smoothing reactor L1.
The second branch 2 comprises a fifth branch 5 and a sixth branch 6 connected in parallel;
the fifth branch 5 comprising a fifth IGBT module 305 and a seventh diode D7 connected in series;
the sixth branch 6 comprises an eighth diode D8 and a sixth IGBT module 306 connected in series;
one end of an excitation inductor Lf is connected between the fifth IGBT module 305 and the seventh diode D7, and the other end of the excitation inductor Lf is connected between the eighth diode D8 and the sixth IGBT module 306.
The direct current motor M transmits a feedback rotation speed to the first system regulator 501, the direct current motor M transmits a feedback torque to the second system regulator 502, and the first system regulator 501 and the second system regulator 502 are respectively connected to a first linear controller 601 and a second linear controller 602.
The control of the direct current motor M receives a given rotation speed and the feedback rotation speed of a control system at the same time, and obtains a given torque after an error between the given rotation speed and the feedback rotation speed passes through a first linear controller 601, and a difference between the given torque and the feedback torque passes through a second linear controller 602 and then is compared with a triangular wave to obtain a first PWM and a second PWM.
The exciting current of the second branch 2 is fed back to the fourth system regulator 504, and the difference between the exciting current and the armature current is compared with the triangular wave after passing through the third linear controller 603, so as to obtain a third PWM.
The first IGBT module 301 includes a first switch T1 and a first diode D1 connected in parallel; the second IGBT module 302 includes a second switch T2 and a second diode D2 connected in parallel; the third IGBT module 303 includes a third switch T3 and a third diode D2 connected in parallel; the fourth IGBT module 304 includes a fourth switch T4 and a fourth diode D4 connected in parallel;
the first PWM controls a first switch T1 and a fourth switch T4;
the second PWM controls a second switch T2 and a third switch T3.
The fifth IGBT module 305 includes a fifth switch T5 and a fifth diode D5 connected in parallel; the sixth IGBT module 306 includes a sixth switch T6 and a sixth diode D6 connected in parallel;
the third PWM controls a fifth switch T5 and a sixth switch T6.
When the first switch T1 and the fourth switch T4 are turned on, the voltage across the UAB is the power supply voltage UDCWhen T2 and T3 are on, UABThe voltage at both ends is power supply voltage-UDCI.e. a pulse shape with positive and negative phases within one cycle. By changing the direction of the switching armature current, the smoothing reactor L1 ensures that the armature current does not have the phenomenon of current interruption.
Given speed of rotation omegarefWith feedback speed omegafdbAfter passing through the first linear controller 601, the error of (1) is obtained as a torque setpoint, which is then compared with the feedback torque TeAfter passing through the second linear controller 602, the difference is compared with the triangular wave to obtain a first PWM and a second PWM, wherein the first PWM controls the first switch T1 and the fourth switch T4; the second PWM controls the second switch T2 and the third switch T3.
The complementary double half-bridge circuit of the second branch 2 controls the magnitude of the excitation winding current, but does not change the direction of the excitation winding current. By current feedback control of excitationThe magnetic current is equal to the armature current, and the current feedback control circuit refers to FIG. 3, where the magnitude of the armature current is IaFor a given, excitation current IfThe difference between the exciting current and the armature current is compared with the triangular wave after passing through the third linear controller 603 to obtain a third PWM and a fourth PWM, wherein the third PWM controls the fifth switch T5, and the fourth PWM controls the sixth switch T6.
As can be known from the principle of the dc series motor, when the directions of the exciting current and the armature current are the same, the dc motor rotates forward, but when one of the directions of the exciting current and the armature current is changed, the motor rotates backward.
Example one
A control method of a direct current series excited motor comprises the following steps:
when the direct current motor M rotates forwards;
when the first switch T1 and the fourth switch T4 are turned on, the direction of the armature current is shown in FIG. 4, UABThe voltage at both ends of the transformer is power supply voltage UDCThe power supply supplies energy to the direct current motor M, and armature current flows from the positive pole of the power supply, flows through the first switch T1, the smoothing reactor L1 and the direct current motor M, and then returns to the negative pole of the power supply from the fourth switch T4;
when the second switch T2 and the third switch T3 are turned on after the dc motor M rotates in the forward direction, the direction of the armature current is shown in fig. 5, UABVoltage at both ends of and power supply voltage UDCOn the contrary, because the direction of the armature current is kept unchanged, the armature current flows into the positive pole of the power supply from the smoothing reactor L1, the direct current motor M and the third switch T3 and then forms a loop through the second switch T2, the armature current flows into the positive pole of the power supply, and therefore the direct current motor M feeds back energy to the power supply;
when the fifth switch T5 and the sixth switch T6 are turned on, referring to fig. 6, the power supply supplies energy to the exciting winding, and the exciting current flows from the positive pole of the power supply, through the fifth switch T5 and the exciting winding Lf, and then returns to the negative pole of the power supply from the sixth switch T6; forming exciting current, the exciting current is consistent with the armature current, and the direct current motor M rotates forwards
When the fifth switch T5 and the sixth switch T6 are turned off, the direction of the excitation current, see fig. 7, freewheels through the seventh diode D7 and the eighth diode D8, flows in from the positive pole of the power supply, flows out from the negative pole of the power supply, and feeds back energy to the power supply.
When the direct current motor M rotates reversely;
when the second and third switches T2 and T3 are turned on, the direction of the armature current is opposite to that of fig. 4, UBAThe voltage at both ends of the transformer is power supply voltage UDCThe power supply supplies energy to the direct current motor M, and armature current flows from the positive pole of the power supply, passes through the third switch T3, the smoothing reactor L1 and the direct current motor M, and then returns to the negative pole of the power supply from the second switch T2;
when the first and fourth switches T1 and T4 are turned on after the motor M rotates in the reverse direction, the direction of the armature current is opposite to that of fig. 5, UBAVoltage at both ends of and power supply voltage UDCOn the contrary, because the direction of the armature current is kept unchanged, the armature current flows into the positive pole of the power supply from the smoothing reactor L1, the direct current motor M and the first switch T1, and then forms a loop through the fourth switch T4, the armature current flows into the positive pole of the power supply, and therefore the direct current motor M feeds back energy to the power supply;
when the fifth switch T5 and the sixth switch T6 are turned on, the direction of the exciting current refers to fig. 6, the power supply supplies energy to the exciting winding, the exciting current starts from the positive pole of the power supply, flows through the fifth switch T5 and the exciting winding Lf, and returns to the negative pole of the power supply from the sixth switch T6 to form the exciting current, and at this time, the exciting current is opposite to the armature current, and the direct current motor M reverses;
when the fifth switch T5 and the sixth switch T6 are turned off, the direction of the excitation current, see fig. 7, freewheels through the seventh diode D7 and the eighth diode D8, flows in from the positive pole of the power supply, flows out from the negative pole of the power supply, and feeds back energy to the power supply.
The above-mentioned embodiments only express the embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (4)

1. A direct current series excited motor control system comprises a direct current power supply UDC and is characterized in that: the method comprises the following steps:
a first branch (1) and a second branch (2) of a direct current power supply UDC are connected in series;
the first branch (1) comprises a third branch (3) and a fourth branch (4) which are connected in parallel;
the third branch (3) comprises a first IGBT module (301) and a second IGBT module (302) which are connected in series;
the fourth branch (4) comprises a third IGBT module (303) and a fourth IGBT module (304) connected in series;
one end of a smoothing reactor L1 is connected between the first IGBT module (301) and the second IGBT module (302), and the other end of a smoothing reactor L1 is connected between the third IGBT module (303) and the fourth IGBT module (304);
a direct current motor M is connected in series to one of two ends of the smoothing reactor L1;
a control method of a direct current series excited motor comprises the following steps:
when the direct current motor positive M rotates positively;
when the first switch T1 and the fourth switch T4 are switched on, the voltage at two ends of the UAB is power supply voltage UDC, the power supply supplies energy to the direct current motor M, and armature current flows from the positive pole of the power supply, flows through the first switch T1, the smoothing reactor L1 and the direct current motor M, and then returns to the negative pole of the power supply from the fourth switch T4; after the direct current motor M rotates in the forward direction, when the second switch T2 and the third switch T3 are switched on, the voltage at two ends of the UAB is opposite to the power supply voltage UDC, armature current flows into the anode of the power supply from the smoothing reactor L1, the direct current motor M and the third switch T3, and then a loop is formed through the second switch T2;
when the fifth switch T5 and the sixth switch T6 are turned on, the exciting current flows from the positive pole of the power supply, passes through the fifth switch T5 and the exciting winding Lf, and then returns to the negative pole of the power supply from the sixth switch T6; forming exciting current, wherein the exciting current is consistent with the armature current, and the direct current motor M rotates forwards;
when the fifth switch T5 and the sixth switch T6 are turned off, the excitation current freewheels through the seventh diode D7 and the eighth diode D8, flows in from the anode of the power supply, flows out from the cathode of the power supply, and feeds energy back to the power supply;
a control method of a direct current series excited motor further comprises the following steps:
when the direct current motor M is reversed:
when the second switch T2 and the third switch T3 are switched on, the voltage at two ends of the UBA is a power supply UDC which supplies energy to the direct current motor M, armature current flows from the positive pole of the power supply through the third switch T3, the smoothing reactor L1 and the direct current motor M, and then returns to the negative pole of the power supply from the second switch T2;
after the motor M rotates reversely, when the first switch T1 and the fourth switch T4 are switched on, the voltage at two ends of the UBA is opposite to the power supply voltage UDC, and armature current flows into the positive pole of the power supply from the smoothing reactor L1, the direct current motor M and the first switch T1 and then passes through the fourth switch T4 to form a loop;
when the fifth switch T5 and the sixth switch T6 are turned on, the exciting current flows from the positive electrode of the power supply, passes through the fifth switch T5 and the exciting winding Lf, and returns to the negative electrode of the power supply from the sixth switch T6 to form exciting current, and the direct current motor M reverses;
when the fifth switch T5 and the sixth switch T6 are turned off, the excitation current freewheels through the seventh diode D7 and the eighth diode D8, flows in from the anode of the power supply, flows out from the cathode of the power supply, and feeds energy back to the power supply;
the direct current motor M receives a given rotating speed and a feedback rotating speed simultaneously, the error between the given rotating speed and the feedback rotating speed is subjected to a first linear controller (601) to obtain a given torque, and the difference between the given torque and the feedback torque is subjected to a second linear controller (602) and then is compared with a triangular wave to obtain a first PWM and a second PWM;
the exciting current of the second branch circuit (2) is fed back to a fourth system regulator (504), and the difference value of the exciting current and the armature current passes through a third linear controller (603) and then is compared with a triangular wave to obtain a third PWM;
the first IGBT module (301) comprises a first switch T1 and a first diode D1 connected in parallel; the second IGBT module (302) comprises a second switch T2 and a second diode D2 connected in parallel; the third IGBT module (303) comprises a third switch T3 and a third diode D2 connected in parallel; the fourth IGBT module (304) comprises a fourth switch T4 and a fourth diode D4 connected in parallel;
the first PWM controls a first switch T1 and a fourth switch T4;
the second PWM controls a second switch T2 and a third switch T3.
2. The direct-current series motor control system according to claim 1, characterized in that:
the second branch (2) comprises a fifth branch (5) and a sixth branch (6) which are connected in parallel;
the fifth branch (5) comprising a fifth IGBT module (305) and a seventh diode D7 connected in series;
the sixth branch (6) comprising a sixth IGBT module (306) and an eighth diode D8 connected in series;
one end of an excitation inductor Lf is connected between the fifth IGBT module (305) and the seventh diode D7, and the other end of the excitation inductor Lf is connected between the eighth diode D8 and the sixth IGBT module (306).
3. The direct-current series motor control system according to claim 1, characterized in that: the direct current motor M transmits feedback rotating speed to a first system regulator (501), the direct current motor M transmits feedback torque to a second system regulator (502), and the first system regulator (501) and the second system regulator (502) are respectively connected with a first linear controller (601) and a second linear controller (602).
4. The direct-current series motor control system according to claim 1, characterized in that: the fifth IGBT module (305) comprises a fifth switch T5 and a fifth diode D5 connected in parallel; the sixth IGBT module (306) includes a sixth switch T6 and a sixth diode D6 connected in parallel;
the third PWM controls a fifth switch T5 and a sixth switch T6.
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