CN110138282B - Current-sensor-free control method for linear motor traction system - Google Patents
Current-sensor-free control method for linear motor traction system Download PDFInfo
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- CN110138282B CN110138282B CN201910452193.7A CN201910452193A CN110138282B CN 110138282 B CN110138282 B CN 110138282B CN 201910452193 A CN201910452193 A CN 201910452193A CN 110138282 B CN110138282 B CN 110138282B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/03—Electric propulsion by linear motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/002—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of propulsion for monorail vehicles, suspension vehicles or rack railways; for control of magnetic suspension or levitation for vehicles for propulsion purposes
- B60L15/005—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of propulsion for monorail vehicles, suspension vehicles or rack railways; for control of magnetic suspension or levitation for vehicles for propulsion purposes for control of propulsion for vehicles propelled by linear motors
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a current-sensor-free control method for a linear motorA method comprising the steps of: the phase current measurement value of the rotor 1 of the linear motor traction system is obtained according to the measurement of a hardware circuit of the linear motor traction system, and the rotor electric angle theta of the rotor 1 of the linear motor traction system is obtained through the measurement of a reading head and a grating ruler1And the mover electrical angle theta of the mover 2 of the linear motor traction system2(ii) a The mover 1 of the linear motor traction system is controlled by a current sensor; calculating dq axis estimated current of a rotor 1 of the linear motor traction system; calculating dq axis estimated current of a rotor 2 of the linear motor traction system; currentless sensor control of the linear motor traction system mover 2: a current-less sensor control of a linear motor traction system. The invention obviously reduces the using amount of the current sensors, lowers the hardware cost of a driving system, reduces the volume of a control system, enhances the reliability and safety of the control system and reduces the workload of testing and correcting the current sensors.
Description
Technical Field
The invention belongs to the technical field of motor driving and control, and particularly relates to a current-sensor-free control method for a linear motor traction system.
Background
As is well known, current hysteresis control has the advantages of strong robustness, fast response speed, simple structure and the like, so that wide attention and application are obtained.
The linear motor traction system is a multi-motor traction system, which means that the number of current sensors used is significantly increased, resulting in a corresponding increase in failure rate. It is therefore necessary to exercise current sensor fault tolerant control over a linear motor traction system. Typically, the implementation of a single motor current hysteresis control requires the use of three current sensors. One dc bus current sensor and two phase current sensors. At present, the fault-tolerant control of the current sensor mainly includes the following three types:
(1) fault-tolerant control of single DC bus current sensor
According to the method, the external direct current bus current is measured through a hardware circuit, and the three-phase current is reconstructed according to the corresponding relation between the phase current and the bus current. Although the method has the advantages of simple structure, easy realization and low requirement on hardware, only one phase of current can be measured in one sampling period, and equal reconstruction opportunities of three-phase current in a short time cannot be guaranteed. Once a certain phase current cannot be updated for a long time, the accuracy of the reconstructed value of the three-phase current cannot be guaranteed, and the control performance of the driving system is reduced.
(2) Fault tolerant control of single phase current sensor
In the method, only one phase of current can be measured through a hardware circuit, and the other two phases of current cannot be updated all the time. Although the cost of a hardware system is not increased, the three-phase current is reconstructed only by depending on the remaining phase current, which inevitably causes larger current error, is not ideal in control effect, cannot meet the driving system with high performance requirement, and cannot ensure the safety and reliability of the driving system.
(3) Currentless sensor fault tolerant control
At present, most of the existing currentless sensor control is considered based on a single motor driving system, and three-phase current is calculated according to external direct current bus voltage, a rotor position angle and a mathematical model of a motor. However, the mathematical model requires accurate motor parameters to ensure the calculation accuracy of the three-phase currents. And the strict requirement of the motor parameters reduces the robustness of the control of the currentless sensor and reduces the reliability of the control system. The invention fully utilizes the characteristic that the linear motor traction system is a multi-motor traction system, realizes the purpose of controlling the fault rotor of the linear motor traction system through the normal rotor of the linear motor traction system, and has the characteristics of strong robustness, simple algorithm and easy realization.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a current-sensor-free control method for a linear motor traction system. The method can obviously reduce the using number of the current sensors, thereby reducing the motor driving control cost, reducing the volume of a control system and improving the reliability of the control system.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: the invention provides a current-sensor-free control method for a linear motor traction system, which comprises the following steps:
(1) obtaining three-phase current i of rotor 1 of linear motor traction system according to hardware circuit measurement of linear motor traction systemabc1And the DC bus voltage udcMeasuring actual speed v of the linear motor traction system and the rotor electrical angle theta of the rotor 1 of the linear motor traction system by using the reading head and the grating ruler1And the mover electrical angle theta of the mover 2 of the linear motor traction system2；
(2) Current sensor control of rotor 1 of linear motor traction system
(2.1) obtaining q-axis reference current of the linear motor traction system rotor 1 through the linear motor traction system speed regulator, and setting d-axis reference current of the linear motor traction system rotor 1
Is 0;
wherein v is*A given speed reference value representing the linear motor traction system, v an actual speed feedback value representing the linear motor traction system, av an amount of speed deviation,
respectively representing d-axis current reference value of rotor 1 of linear motor traction system and q-axis current reference value, k, of rotor 1 of linear motor traction systemp、kiRespectively representing a proportionality coefficient of a speed regulator of a linear motor traction system and an integral coefficient of the speed regulator of the linear motor traction system;
(2.2) calculating a phase current reference value of the mover 1 of the linear motor traction system:
wherein the content of the first and second substances,
respectively represents the reference values of phase A, phase B and phase C currents of the rotor 1 of the linear motor traction system, theta1Representing the mover electrical angle of the mover 1 of the linear motor traction system;
(2.3) comparing the phase current reference value of the rotor 1 of the linear motor traction system by the hysteresis comparator 1 of the linear motor traction system
And a phase current measured value i of a rotor 1 of a linear motor traction systemabc1Determining the switching state s of the current switching cycle of the traction inverter 1 of the linear motor traction systemabc1The comparison rule of the hysteresis comparator 1 of the linear motor traction system is as follows:
wherein, Δ ip1Is the error between the reference value of the phase current of the rotor 1 of the linear motor traction system and the measured value of the phase current of the rotor 1 of the linear motor traction system,
H1is the hysteresis bandwidth, H1≥0。
(3) On the basis of the switching state s of the last switching cycle of the traction inverter 1abc1Calculating dq axis estimated current of a rotor 1 of the linear motor traction system;
(3.1) calculating the phase voltage of the mover 1 of the linear motor traction system:
wherein s isa1、sb1、sc1Respectively represents the switching states of the last switching period of the bridge arm 1, the bridge arm 2 and the bridge arm 3 of the traction inverter 1 of the linear motor traction system, udcRepresenting the DC bus voltage, u, of a linear motor traction systema1、ub1、uc1Respectively representing linear-motor traction system movers 1Phase A, phase B and phase C;
(3.2) calculating the dq-axis voltage of the mover 1 of the linear motor traction system:
wherein u isd1、uq1Respectively representing d-axis and q-axis voltages of a mover 1 of the linear motor traction system;
(3.3) calculating the dq-axis estimated current of the mover 1 of the linear motor traction system:
wherein R issRepresenting the resistance of the traction system of the linear motor, LsRepresenting the dq-axis inductance, omega, of a linear motor traction systemeIndicating the electrical angular velocity, psi, of a linear motor traction systempmShowing the permanent magnet flux linkage of the linear motor traction system,
respectively represent d-axis and q-axis current estimation values of the mover 1 of the linear motor traction system.
(4) Calculating the dq-axis estimated current of the mover 2 of the linear motor traction system:
(4.1) the linear motor traction system adopts a shaft control mode, namely all the active cells in the linear motor traction system share one group of direct current bus voltage, and the direct current bus voltage is switched on or off according to the switching state s of the last switching period of the traction inverter 2abc2Calculating to obtain the phase voltage of the rotor 2 of the linear motor traction system:
wherein s isa2、sb2、sc2Respectively represents the switching states of the last switching period of the bridge arm 4, the bridge arm 5 and the bridge arm 6 of the traction inverter 2 of the linear motor traction system, ua2、ub2、uc2Respectively representing linear motor traction systemsThe voltages of the A phase, the B phase and the C phase of the system rotor 2 are respectively equal to the voltages of the C phase and the A phase;
(4.2) calculating the dq-axis voltage of the mover 2 of the linear motor traction system:
wherein u isd2、uq2Respectively representing d-axis and q-axis voltages theta of a mover 2 of the linear motor traction system2The electric angle of the mover 2 of the linear motor traction system is represented;
(4.3) calculating the dq-axis estimated current of the mover 2 of the linear motor traction system:
wherein, ω iseRepresents the electrical angular velocity of the linear motor traction system,
respectively representing d-axis and q-axis current estimation values of a mover 2 of the linear motor traction system;
(4.4) calculating a phase current estimation value of the mover 2 of the linear motor traction system:
wherein the content of the first and second substances,
respectively representing the A-phase, B-phase and C-phase estimated currents of the rotor 2 of the linear motor traction system.
(5) Currentless sensor control of the linear motor traction system mover 2:
(5.1) setting dq-axis reference current of rotor 2 of linear motor traction system
Dq-axis estimated current equal to rotor 1 of linear motor traction system
(5.2) calculating a phase current reference value of the linear motor traction system rotor 2 through coordinate transformation according to the dq-axis reference current of the linear motor traction system rotor 2:
wherein the content of the first and second substances,respectively representing the reference currents of the A phase, the B phase and the C phase of the rotor 2 of the linear motor traction system;
(5.3) comparing the phase current of the rotor 2 of the linear motor traction system through the hysteresis comparator 2 of the linear motor traction system
And phase current estimation value of rotor 2 of linear motor traction system
Determining the switching state s of a traction inverter 2 of a linear motor traction systemabc2The comparison rule of the hysteresis comparator 2 of the linear motor traction system is as follows:
wherein, Δ ip2Is the error between the reference value of the phase 2 current of the rotor of the linear motor traction system and the estimated value of the phase 2 current of the rotor of the linear motor traction system,
H2is the hysteresis bandwidth, H2≥0；
(5.4) inverse traction obtained by calculationCurrent switching cycle switching state s of the inverter 2abc2And (4) sending the voltage to the step (4), and calculating the phase voltage of the rotor (2) of the linear motor traction system in the next switching period.
(6) Respectively pulling the switch state s of the inverter 1 by the linear motor traction systemabc1And the switching state s of the traction inverter 2 of the linear motor traction systemabc2And the inversion is sent to the traction inverter 1 of the linear motor traction system and the traction inverter 2 of the linear motor traction system for execution, so that the control of a current-free sensor of the linear motor traction system is realized.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
(1) for a multi-motor driving system, the traction system can be controlled only by adopting a group of current sensors, and the use of nine current sensors can be reduced by taking a system with four traction motors as an example, so that the hardware cost of the control system is greatly reduced, the volume of the control system is reduced, the reliability of the control system is enhanced, and the workload of testing and correcting the current sensors is reduced;
(2) compared with the existing control method without the current sensor, the method fully utilizes the multi-motor characteristic of the traction system;
(3) compared with the existing control method without the current sensor, the method has low requirement on a hardware system, is easy to realize, and does not need to increase a high-performance hardware system;
(4) compared with the existing control method without the current sensor, the method has strong robustness and is not influenced by the change of motor parameters.
Drawings
FIG. 1 is a diagram of a linear motor traction system;
FIG. 2 is a block diagram of a linear motor traction system currentless sensor control;
FIG. 3 is a linear motor traction system speed waveform;
fig. 4 is a d-axis estimated current diagram of the linear motor traction system mover 1 and the linear motor traction system mover 2;
fig. 5 is a q-axis estimated current diagram of the linear motor traction system mover 1 and the linear motor traction system mover 2;
fig. 6 is a d-axis measurement current diagram of the linear motor traction system mover 1 and the linear motor traction system mover 2;
fig. 7 is a q-axis measurement current diagram of the linear motor traction system mover 1 and the linear motor traction system mover 2.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
The invention provides a current-sensor-free control method for a linear motor traction system, which comprises the following steps:
(1) obtaining three-phase current i of rotor 1 of linear motor traction system according to hardware circuit measurement of linear motor traction systemabc1And the DC bus voltage udcMeasuring actual speed v of the linear motor traction system and the rotor electrical angle theta of the rotor 1 of the linear motor traction system by using the reading head and the grating ruler1And the mover electrical angle theta of the mover 2 of the linear motor traction system2；
(2) Current sensor control of rotor 1 of linear motor traction system
(2.1) obtaining q-axis reference current of the linear motor traction system rotor 1 through the linear motor traction system speed regulator, and setting d-axis reference current of the linear motor traction system rotor 1
Is 0;
wherein v is*A given speed reference value representing the linear motor traction system, v an actual speed feedback value representing the linear motor traction system, av an amount of speed deviation,
respectively representing d-axis current reference value of rotor 1 of linear motor traction system and rotor 1 of linear motor traction systemQ-axis current reference value of (k)p、kiRespectively representing a proportionality coefficient of a speed regulator of a linear motor traction system and an integral coefficient of the speed regulator of the linear motor traction system;
(2.2) calculating a phase current reference value of the mover 1 of the linear motor traction system:
wherein the content of the first and second substances,
respectively represents the reference values of phase A, phase B and phase C currents of the rotor 1 of the linear motor traction system, theta1Representing the mover electrical angle of the mover 1 of the linear motor traction system;
(2.3) comparing the phase current reference value of the rotor 1 of the linear motor traction system by the hysteresis comparator 1 of the linear motor traction system
And a phase current measured value i of a rotor 1 of a linear motor traction systemabc1Determining the switching state s of the current switching cycle of the traction inverter 1 of the linear motor traction systemabc1The comparison rule of the hysteresis comparator 1 of the linear motor traction system is as follows:
wherein, Δ ip1Is the error between the reference value of the phase current of the rotor 1 of the linear motor traction system and the measured value of the phase current of the rotor 1 of the linear motor traction system,
H1is the hysteresis bandwidth, H1≥0。
(3) On the basis of the switching state s of the last switching cycle of the traction inverter 1abc1Calculating dq axis estimated current of a rotor 1 of the linear motor traction system;
(3.1) calculating the phase voltage of the mover 1 of the linear motor traction system:
wherein s isa1、sb1、sc1Respectively represents the switching states of the last switching period of the bridge arm 1, the bridge arm 2 and the bridge arm 3 of the traction inverter 1 of the linear motor traction system, udcRepresenting the DC bus voltage, u, of a linear motor traction systema1、ub1、uc1Respectively representing the phase A, the phase B and the phase C of a mover 1 of the linear motor traction system;
(3.2) calculating the dq-axis voltage of the mover 1 of the linear motor traction system:
wherein u isd1、uq1Respectively representing d-axis and q-axis voltages of a mover 1 of the linear motor traction system;
(3.3) calculating the dq-axis estimated current of the mover 1 of the linear motor traction system:
wherein R issRepresenting the resistance of the traction system of the linear motor, LsRepresenting the dq-axis inductance, omega, of a linear motor traction systemeIndicating the electrical angular velocity, psi, of a linear motor traction systempmShowing the permanent magnet flux linkage of the linear motor traction system,
respectively represent d-axis and q-axis current estimation values of the mover 1 of the linear motor traction system.
(4) Calculating the dq-axis estimated current of the mover 2 of the linear motor traction system:
(4.1) the linear motor traction system adopts a shaft control mode, namely all the active cells in the linear motor traction system share one group of direct current bus voltage according to tractionSwitching state s of last switching cycle of inverter 2abc2Calculating to obtain the phase voltage of the rotor 2 of the linear motor traction system:
wherein s isa2、sb2、sc2Respectively represents the switching states of the last switching period of the bridge arm 4, the bridge arm 5 and the bridge arm 6 of the traction inverter 2 of the linear motor traction system, ua2、ub2、uc2Respectively representing the phase A, the phase B and the phase C of a rotor 2 of the linear motor traction system;
(4.2) calculating the dq-axis voltage of the mover 2 of the linear motor traction system:
wherein u isd2、uq2Respectively representing d-axis and q-axis voltages theta of a mover 2 of the linear motor traction system2The electric angle of the mover 2 of the linear motor traction system is represented;
(4.3) calculating the dq-axis estimated current of the mover 2 of the linear motor traction system:
wherein, ω iseRepresents the electrical angular velocity of the linear motor traction system,
respectively representing d-axis and q-axis current estimation values of a mover 2 of the linear motor traction system;
(4.4) calculating a phase current estimation value of the mover 2 of the linear motor traction system:
wherein the content of the first and second substances,
respectively representing the A-phase, B-phase and C-phase estimated currents of the rotor 2 of the linear motor traction system.
(5) Currentless sensor control of the linear motor traction system mover 2:
(5.1) setting dq-axis reference current of rotor 2 of linear motor traction system
Dq-axis estimated current equal to rotor 1 of linear motor traction system
(5.2) calculating a phase current reference value of the linear motor traction system rotor 2 through coordinate transformation according to the dq-axis reference current of the linear motor traction system rotor 2:
wherein the content of the first and second substances,
respectively representing the reference currents of the A phase, the B phase and the C phase of the rotor 2 of the linear motor traction system;
(5.3) comparing the phase current reference value of the rotor 2 of the linear motor traction system by the hysteresis comparator 2 of the linear motor traction system
And phase current estimation value of rotor 2 of linear motor traction system
Determining the switching state s of a traction inverter 2 of a linear motor traction systemabc2The comparison rule of the hysteresis comparator 2 of the linear motor traction system is as follows:
wherein, Δ ip2Is the error between the reference value of the phase 2 current of the rotor of the linear motor traction system and the estimated value of the phase 2 current of the rotor of the linear motor traction system,
H2is the hysteresis bandwidth, H2≥0；
(5.4) calculating the current switching period switching state s of the traction inverter 2abc2And (4) sending the voltage to the step (4), and calculating the phase voltage of the rotor (2) of the linear motor traction system in the next switching period.
(6) Respectively pulling the switch state s of the inverter 1 by the linear motor traction systemabc1And the switching state s of the traction inverter 2 of the linear motor traction systemabc2And the inversion is sent to the traction inverter 1 of the linear motor traction system and the traction inverter 2 of the linear motor traction system for execution, so that the control of a current-free sensor of the linear motor traction system is realized.
The embodiments of the present invention are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. That is, all equivalent changes and modifications made according to the content of the claims of the present invention should be regarded as the technical scope of the present invention.
Claims (1)
1. A method for controlling a linear motor traction system without a current sensor is characterized by comprising the following steps:
(1) obtaining three-phase current i of rotor 1 of linear motor traction system according to hardware circuit measurement of linear motor traction systemabc1And the DC bus voltage udcMeasuring actual speed v of the linear motor traction system and the rotor electrical angle theta of the rotor 1 of the linear motor traction system by using the reading head and the grating ruler1And the mover electrical angle theta of the mover 2 of the linear motor traction system2；
(2) According to the parameters in the step (1), the linear motor traction system mover 1 is controlled by a current sensor, and the method comprises the following steps:
(2.1) obtaining q-axis reference current of the linear motor traction system rotor 1 through the linear motor traction system speed regulator, and setting d-axis reference current of the linear motor traction system rotor 1
Is 0;
△v＝v*-v
wherein v is*A given speed reference value representing the linear motor traction system, v an actual speed feedback value representing the linear motor traction system, av an amount of speed deviation,
respectively representing d-axis current reference value of rotor 1 of linear motor traction system and q-axis current reference value, k, of rotor 1 of linear motor traction systemp、kiRespectively representing a proportionality coefficient of a speed regulator of a linear motor traction system and an integral coefficient of the speed regulator of the linear motor traction system;
(2.2) calculating a phase current reference value of the mover 1 of the linear motor traction system:
wherein the content of the first and second substances,
respectively represents the reference values of phase A, phase B and phase C currents of the rotor 1 of the linear motor traction system, theta1Representing the mover electrical angle of the mover 1 of the linear motor traction system;
(2.3) comparing the traction system of the linear motor by a hysteresis comparator 1 of the traction system of the linear motorPhase current reference value of the system mover 1
And a phase current measured value i of a rotor 1 of a linear motor traction systemabc1Determining the switching state s of the current switching cycle of the traction inverter 1 of the linear motor traction systemabc1The comparison rule of the hysteresis comparator 1 of the linear motor traction system is as follows:
wherein, Δ ip1Is the error between the reference value of the phase current of the rotor 1 of the linear motor traction system and the measured value of the phase current of the rotor 1 of the linear motor traction system,
p1＝a1，b1，c1；H1is the hysteresis bandwidth, H1≥0；
(3) On the basis of the switching state s of the last switching cycle of the traction inverter 1abc1Calculating the dq axis estimated current of the mover 1 of the linear motor traction system, wherein the method specifically comprises the following steps:
(3.1) calculating the phase voltage of the mover 1 of the linear motor traction system:
wherein s isa1、sb1、sc1Respectively represents the switching states of the last switching period of the bridge arm 1, the bridge arm 2 and the bridge arm 3 of the traction inverter 1 of the linear motor traction system, udcRepresenting the DC bus voltage, u, of a linear motor traction systema1、ub1、uc1Respectively representing the phase A, the phase B and the phase C of a mover 1 of the linear motor traction system;
(3.2) calculating the dq-axis voltage of the mover 1 of the linear motor traction system:
wherein u isd1、uq1Respectively representing d-axis and q-axis voltages of a mover 1 of the linear motor traction system;
(3.3) calculating the dq-axis estimated current of the mover 1 of the linear motor traction system:
wherein R issRepresenting the resistance of the traction system of the linear motor, LsRepresenting the dq-axis inductance, omega, of a linear motor traction systemeIndicating the electrical angular velocity, psi, of a linear motor traction systempmShowing the permanent magnet flux linkage of the linear motor traction system,
respectively representing d-axis and q-axis current estimation values of a mover 1 of the linear motor traction system;
(4) on the basis of the switching state s of the last switching cycle of the traction inverter 2abc2Calculating the dq axis estimated current of the mover 2 of the linear motor traction system, wherein the method comprises the following steps:
(4.1) the linear motor traction system adopts a shaft control mode, namely all the active cells in the linear motor traction system share one group of direct current bus voltage, and the direct current bus voltage is switched on or off according to the switching state s of the last switching period of the traction inverter 2abc2Calculating to obtain the phase voltage of the rotor 2 of the linear motor traction system:
wherein s isa2、sb2、sc2Respectively represents the switching states of the last switching period of the bridge arm 4, the bridge arm 5 and the bridge arm 6 of the traction inverter 2 of the linear motor traction system, ua2、ub2、uc2Respectively representing the phase A, the phase B and the phase C of a rotor 2 of the linear motor traction system;
(4.2) calculating the dq-axis voltage of the mover 2 of the linear motor traction system:
wherein u isd2、uq2Respectively representing d-axis and q-axis voltages theta of a mover 2 of the linear motor traction system2The electric angle of the mover 2 of the linear motor traction system is represented;
(4.3) calculating the dq-axis estimated current of the mover 2 of the linear motor traction system:
wherein, ω iseRepresents the electrical angular velocity of the linear motor traction system,
respectively representing d-axis and q-axis current estimation values of a mover 2 of the linear motor traction system;
(4.4) calculating a phase current estimation value of the mover 2 of the linear motor traction system:
wherein the content of the first and second substances,
respectively representing the A-phase estimated current, the B-phase estimated current and the C-phase estimated current of the rotor 2 of the linear motor traction system;
(5) realizing the current-free sensor control on the rotor 2 of the linear motor traction system, and calculating the current switching period switching state s of the traction inverter 2abc2The method comprises the following steps:
(5.1) setting dq-axis reference current of rotor 2 of linear motor traction system
Dq-axis estimated current equal to rotor 1 of linear motor traction system
(5.2) calculating a phase current reference value of the linear motor traction system rotor 2 through coordinate transformation according to the dq-axis reference current of the linear motor traction system rotor 2:
wherein the content of the first and second substances,
respectively representing the reference currents of the A phase, the B phase and the C phase of the rotor 2 of the linear motor traction system;
(5.3) comparing the phase current reference value of the rotor 2 of the linear motor traction system by the hysteresis comparator 2 of the linear motor traction system
And phase current estimation value of rotor 2 of linear motor traction system
Determining the switching state s of a traction inverter 2 of a linear motor traction systemabc2The comparison rule of the hysteresis comparator 2 of the linear motor traction system is as follows:
wherein, Δ ip2Is the error between the reference value of the phase 2 current of the rotor of the linear motor traction system and the estimated value of the phase 2 current of the rotor of the linear motor traction system,
p2＝a2，b2，c2；H2is the hysteresis bandwidth, H2≥0；
(5.4) calculating the current switching period switching state s of the traction inverter 2abc2Sending the voltage to the step 4, and calculating the phase voltage of the rotor 2 of the linear motor traction system in the next switching period;
(6) respectively pulling the switch state s of the inverter 1 by the linear motor traction systemabc1And the switching state s of the traction inverter 2 of the linear motor traction systemabc2And the inversion is sent to the traction inverter 1 of the linear motor traction system and the traction inverter 2 of the linear motor traction system for execution, so that the control of a current-free sensor of the linear motor traction system is realized.
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