CN111049445B - Hardware-in-loop real-time simulation method and device for double-Y-shift 30-degree permanent magnet synchronous motor - Google Patents

Hardware-in-loop real-time simulation method and device for double-Y-shift 30-degree permanent magnet synchronous motor Download PDF

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CN111049445B
CN111049445B CN201911412633.2A CN201911412633A CN111049445B CN 111049445 B CN111049445 B CN 111049445B CN 201911412633 A CN201911412633 A CN 201911412633A CN 111049445 B CN111049445 B CN 111049445B
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double
permanent magnet
synchronous motor
magnet synchronous
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CN111049445A (en
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陆科
朱元
肖明康
吴志红
张幸福
李亦舟
安浩
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Tongji University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses a method and a device for simulating hardware of a permanent magnet synchronous motor with double Y-shift of 30 degrees in an in-loop real-time manner, wherein the method comprises the following steps: not less than two simulation cycles; wherein, each simulation cycle comprises the following steps: acquiring the voltages of six bridge arms of an inverter in a permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period and the six-phase current direction information of the permanent magnet synchronous motor with double Y shift of 30 degrees; inquiring the six-phase voltage of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation period in a bridge arm state information table; and (3) sequentially converting the six-phase voltage of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period through a static coordinate system and a rotating coordinate system to obtain the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period. The method effectively reduces delay caused by converting the voltage analog signal into the digital signal for operation under the condition of real-time simulation, avoids model rushing caused by errors in the calculation process, and improves robustness.

Description

Hardware-in-loop real-time simulation method and device for double-Y-shift 30-degree permanent magnet synchronous motor
Technical Field
The invention relates to a motor hardware-in-loop real-time simulation technology, in particular to a method and a device for hardware-in-loop real-time simulation of a double-Y-shift 30-degree permanent magnet synchronous motor.
Background
A Permanent Magnet Synchronous Motor (PMSM) with 30 degrees of double Y shift is concerned because of the advantages of high power density, low torque ripple, high reliability and the like, and the simulation condition of the PMSM can be closer to the real condition by applying hardware-in-the-loop simulation, so that the performance of the designed controller can be accurately checked and debugged, the development of an algorithm is facilitated, and the field debugging frequency is reduced.
The current real-time simulation technology is as follows: the control panel inputs six voltage signals to the real-time simulation model, and the simulation model converts the voltage analog signals into digital signals for operation through ADC sampling, so that large delay is caused. In addition, in the model operation process, the voltage needs to be converted from a three-phase stationary coordinate system to a rotating coordinate system through coordinate transformation, and the floating point multiplication and division operation needs a certain operation time and also causes a certain delay.
In summary, limited by the development level of hardware technology, the model resolving time of the hardware-in-the-loop real-time simulation technology needs several microseconds to tens of microseconds, which means that the motor real-time simulation technology has a delay of at least several microseconds to tens of microseconds, and the response delay of the hardware itself may cause serious distortion of the model simulation.
Therefore, it is necessary to research a simple, reliable and practical hardware-in-loop real-time simulation method and system for a double-Y-shift 30-degree permanent magnet synchronous motor, so as to accelerate the real-time simulation speed and improve the accuracy of model calculation.
Disclosure of Invention
The technical problem to be solved by the invention is that when the existing double-Y30-degree-shift permanent magnet synchronous motor is subjected to in-loop real-time simulation, a simulation model has larger delay when converting a voltage simulation signal, and when the voltage is converted from a three-phase static coordinate system to a rotating coordinate system, certain operation time is required for the floating point multiplication and division operation, and certain delay is also caused.
In order to solve the technical problem, the invention provides a hardware-in-loop real-time simulation method for a double-Y-shift 30-degree permanent magnet synchronous motor, which comprises the following steps: not less than two simulation cycles;
wherein each simulation cycle comprises the following steps:
acquiring conduction states of six bridge arms of an inverter in a double-Y30-degree-shift permanent magnet synchronous motor in a current simulation period and phase current direction information of six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
inquiring the phase voltage of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the conduction states of six bridge arms of an inverter in the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the phase current direction information of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
phase voltages of six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period sequentially pass through static coordinate system transformation and rotating coordinate system transformation to respectively obtain d-axis voltages and q-axis voltages of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
calculating the electrical angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period, and calculating the angle of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period according to the electrical angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period;
based on the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, sequentially converting the six-phase voltage of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period through a static coordinate system and a rotating coordinate system, and respectively obtaining the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
and calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the d-axis voltage and the q-axis voltage of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, so as to obtain the electromagnetic torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period.
Preferably, the step of calculating the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double Y shift by 30 degrees in the current simulation period, and calculating the angle of the rotor of the permanent magnet synchronous motor with the double Y shift by 30 degrees in the current simulation period according to the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double Y shift by 30 degrees in the current simulation period includes:
calculating the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period according to the electromagnetic torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period and the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period;
and calculating the angle of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the current simulation period according to the angle of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the previous simulation period, the electrical angular speed of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the previous simulation period and the electrical angular speed of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the current simulation period.
Preferably, the step of calculating the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period according to the electromagnetic torque of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the previous simulation period and the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the previous simulation period comprises:
calculating the electrical angular speed of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation period according to the following formula:
Figure GDA0003343443590000021
wherein, ω ise(n) represents the electrical angular velocity, omega, of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation periode(n-1) represents the electrical angular speed p of the rotor of the double-Y-shift permanent magnet synchronous motor in the last simulation period by 30 degreesnRepresenting the pole pair number of the permanent magnet synchronous motor with 30 degrees of double Y shift, T representing the sampling period, Te(n-1) represents the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the last simulation period, TL(n-1) tableAnd displaying the load torque of the double-Y30-degree-shift permanent magnet synchronous motor in the previous simulation period, and J represents the total rotational inertia of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor.
Preferably, the step of calculating the angle of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period according to the angle of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period, the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period, and the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period includes:
and (3) calculating the angle of the double-Y-shift 30-degree permanent magnet synchronous motor rotor in the current simulation period according to the following angle iterative equation:
Figure GDA0003343443590000031
wherein, thetae(n) represents the angle of the rotor of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period, thetae(n-1) represents the angle, omega, of the rotor of the permanent magnet synchronous motor which is shifted by 30 degrees in the double Y mode in the last simulation periode(n) represents the electrical angular velocity, omega, of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation periode(n-1) represents the electrical angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the last simulation period, and T represents a sampling period.
Preferably, based on the angle of the rotor of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, the step of sequentially converting the six-phase voltage of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period through a stationary coordinate system and a rotating coordinate system to obtain the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period comprises the following steps:
respectively inquiring alpha-axis voltage and beta-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in a first static coordinate system transformation table and a second static coordinate system transformation table according to the six-phase voltage of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
and respectively inquiring corresponding sine values and cosine values in a sine and cosine change table according to the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and respectively acquiring d-axis voltages and q-axis voltages of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to alpha-axis voltages and beta-axis voltages of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and the inquired sine values and cosine values.
Preferably, the step of obtaining d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the α -axis voltage and the β -axis voltage of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, the sine value and the cosine value which are inquired correspondingly comprises:
calculating d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the following formula:
Figure GDA0003343443590000032
Figure GDA0003343443590000033
wherein, Ud1(n),Uq1(n),Ud2(n),Uq2(n) respectively representing d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period, and Uα1(n),Uβ1(n),Uα2(n),Uβ2(n) respectively representing the alpha-axis voltage and the beta-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and sin thetae(n) and cos θe(n) are respectively the sine value and the cosine value of the angle of the double-Y-shifted 30-degree permanent magnet synchronous motor rotor in the inquired current simulation period
Preferably, the step of calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period according to the electrical angular velocity of the rotor of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period and the d-axis voltage and q-axis voltage of the two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, respectively, and obtaining the electromagnetic torque of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period includes:
calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation period, d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period and d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the previous simulation period;
and calculating the torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period based on the d-axis current and the q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period, which are obtained in the current simulation period.
Preferably, the step of calculating the d-axis current and the q-axis current of the two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period according to the electrical angular velocity of the rotor of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, the d-axis voltage and the q-axis voltage of the two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, and the d-axis current and the q-axis current of the two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the previous simulation period comprises:
Figure GDA0003343443590000041
wherein id1(n),iq1(n),id2(n),iq2(n) respectively representing d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period, id1(n-1),iq1(n-1),id2(n-1),iq2(n-1) respectively representing d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the last simulation period, T is a sampling period, I is a four-dimensional unit matrix, and omega ise(n) represents the current copyTrue period electrical angular velocity, U, of the double Y-shift 30 degree PMSMd1(n),Uq1(n),Ud2(n),Uq2(n) respectively representing d-axis voltage and q-axis voltage psi of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation periodfRepresents the permanent magnet flux linkage value, A, of the double-Y30-degree-shift permanent magnet synchronous motor1And B1Is a preset constant.
Preferably, the step of calculating the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period based on the d-axis current and the q-axis current of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, which are acquired in the current simulation period, includes:
calculating the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the following equation:
Figure GDA0003343443590000051
wherein: t ise(n) represents the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, id1(n),iq1(n),id2(n),iq2(n) respectively represents d-axis current and q-axis current, psi, of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation periodd1(n),ψq1(n),ψd2(n),ψq2(n) respectively representing d-axis flux linkage value and q-axis flux linkage value of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, and pnThe pole pair number of a double Y-shifted 30 degree permanent magnet synchronous motor is shown.
In order to solve the technical problem, the invention also provides a hardware-in-loop real-time simulation device of the double-Y-shift 30-degree permanent magnet synchronous motor, which comprises a basic quantity acquisition module, a bridge arm state information acquisition module, a rotor angle acquisition module, a d-axis voltage and q-axis voltage acquisition module and other simulation quantity acquisition modules which are sequentially connected;
the basic quantity obtaining module is used for obtaining conduction states of six bridge arms of an inverter in a permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period and phase current direction information of six phases of the permanent magnet synchronous motor with double Y shift of 30 degrees;
the bridge arm state information acquisition module is used for inquiring the phase voltage of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the conduction states of the six bridge arms of the inverter in the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the phase current direction information of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
the rotor angle obtaining module is used for calculating the electrical angular speed of the double-Y-shift 30-degree permanent magnet synchronous motor rotor in the current simulation period and calculating the angle of the double-Y-shift 30-degree permanent magnet synchronous motor rotor in the current simulation period according to the electrical angular speed of the double-Y-shift 30-degree permanent magnet synchronous motor rotor in the current simulation period;
the d-axis voltage and q-axis voltage obtaining module is used for sequentially converting the phase voltage of six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period through a static coordinate system and a rotating coordinate system based on the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and respectively obtaining the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
and the other simulation quantity acquisition module is used for calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the d-axis voltage and the q-axis voltage of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and acquiring the electromagnetic torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period.
Compared with the prior art, one or more embodiments in the above scheme can have the following advantages or beneficial effects:
by applying the hardware-in-loop real-time simulation method for the double-Y30-degree-shift permanent magnet synchronous motor, provided by the embodiment of the invention, a complex calculation process is replaced by a table look-up mode in the hardware-in-loop real-time simulation method, so that delay caused by operation of converting voltage analog signals into digital signals under the condition of real-time simulation is effectively reduced, and the update speed of a motor model calculation result can be increased by at least one order of magnitude; meanwhile, the calculation process of the rotor angle value sine and cosine values in the process of converting the voltage from the three-phase static coordinate system to the rotating coordinate system is replaced by a table look-up mode, so that model collapse caused by errors in the calculation process can be effectively avoided, and the robustness of the hardware simulation model is effectively improved. Meanwhile, the table look-up method has lower requirements on hardware performance, and can use a high-speed signal processing unit with lower cost and achieve higher model simulation performance; therefore, the cost of the motor hardware-in-loop simulation system can be effectively reduced on the premise of achieving the specified motor hardware-in-loop simulation performance.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart showing a simulation cycle in a double-Y-shift 30-degree permanent magnet synchronous motor hardware-in-loop real-time simulation method according to an embodiment of the present invention;
FIG. 2 shows a schematic structural diagram of a hardware-in-the-loop real-time simulation device of a double-Y-shift 30-degree permanent magnet synchronous motor according to an embodiment of the invention;
fig. 3 shows a schematic structural diagram of a four-terminal according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In the existing hardware-in-loop real-time simulation process of the double-Y30-degree-shift permanent magnet synchronous motor, six voltage signals are input to a real-time simulation model by a control board, and the simulation model converts voltage analog signals into digital signals for operation through ADC (analog-to-digital converter) sampling, so that large delay is caused. In addition, in the model operation process, the voltage needs to be converted from a three-phase stationary coordinate system to a rotating coordinate system through coordinate transformation, and the floating point multiplication and division operation needs a certain operation time and also causes a certain delay.
Example one
In order to solve the technical problems in the prior art, the embodiment of the invention provides a hardware-in-loop real-time simulation method of a double-Y-shift 30-degree permanent magnet synchronous motor,
fig. 1 is a schematic flow chart showing a simulation cycle in a double-Y-shift 30-degree permanent magnet synchronous motor hardware-in-loop real-time simulation method according to an embodiment of the present invention; the whole double-Y30-degree-shift permanent magnet synchronous motor hardware-in-loop real-time simulation process actually comprises a plurality of double-Y30-degree-shift permanent magnet synchronous motor hardware-in-loop real-time simulation cycles, and each cycle comprises all the following steps. Therefore, referring to fig. 1, a simulation cycle of a double-Y-shift 30-degree permanent magnet synchronous motor hardware-in-loop real-time simulation method according to an embodiment of the present invention includes the following steps.
Step S101, acquiring conduction states of six bridge arms of an inverter in the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period and phase current direction information of six phases of the permanent magnet synchronous motor with double Y shift of 30 degrees.
The specific double-Y30-degree-shift permanent magnet synchronous motor can be seen to be composed of two sets of three-phase symmetrical windings with isolated neutral points, and the two sets of symmetrical windings have an electrical angle difference of 30 degrees in space; in each simulation period, the conducting state of upper and lower switching devices of each bridge arm of the inverter in the double-Y30-degree-shift permanent magnet synchronous motor and the six-phase current direction information of the double-Y30-degree-shift permanent magnet synchronous motor need to be inquired. It should be noted that, if the on-state and phase current direction information of the upper and lower switching devices of the bridge arm pass through the single chip microcomputer, the PWM signal is inquired in a capture mode; if the on-state and phase current direction information of the upper and lower switching devices of the bridge arm are inquired about the PWM signal through an FPGA (Field-Programmable Gate Array), the level is only required to be inquired.
Step S102, according to the conduction states of six bridge arms of an inverter in the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period and the phase current direction information of six phases of the permanent magnet synchronous motor with double Y shift of 30 degrees, phase voltage of six phases of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period is inquired in a bridge arm state information table.
Specifically, the bridge arm state information table includes an upper bridge arm voltage and a lower bridge arm voltage of a single bridge arm of the inverter, phase current direction information of six phases of the double-Y-shifted 30-degree permanent magnet synchronous motor, and fault information of the bridge arm of the double-Y-shifted 30-degree permanent magnet synchronous motor inverter. Table 1 below is a bridge arm status information table.
TABLE 1 bridge arm status information Table
S1 1 1 0 0 1 1 0 0
S2 1 0 1 0 1 0 1 0
cur 1 1 1 1 -1 -1 -1 -1
Phase voltage X 1 0 0 X 1 0 1
Fault of 1 0 0 0 1 0 0 0
Referring to table 1, S1 in the arm state information table in the table indicates the upper arm voltage, S2 indicates the lower arm voltage, 1 corresponding to S1 and S2 indicates that the voltage is the bus voltage (relative to the negative pole of the bus, and the conduction voltage drops of the IGBT and the diode are not considered), and 0 corresponding to S1 and S2 indicates no voltage; cur represents the phase current direction of six phases of the double Y-shift permanent magnet synchronous motor with 30 degrees, wherein 1 represents inflow current, and-1 represents outflow current; the phase voltage is a voltage relative to the negative pole of the bus, wherein 1 corresponding to the phase voltage represents a voltage, 0 represents no voltage, and X represents a short circuit; and 1 corresponding to the fault information represents fault, and 0 represents no fault. And respectively inquiring the phase voltage and the fault information of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in the bridge arm state information table based on the conduction states of the six bridge arms and the phase current directions of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor acquired in the step S101. The six-phase voltage of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period is obtained in a table look-up mode, and the time for looking up the table is shorter than the time for calculating, so that the time for obtaining the state information of each bridge arm of the inverter is greatly reduced in the period of the hardware-in-loop real-time simulation method of the double-Y30-degree-shift permanent magnet synchronous motor in the step.
Step S103, calculating the electrical angular speed of the permanent magnet synchronous motor rotor with the current simulation period of double Y shift of 30 degrees, and calculating the angle of the permanent magnet synchronous motor rotor with the current simulation period of double Y shift of 30 degrees according to the electrical angular speed of the permanent magnet synchronous motor rotor with the current simulation period of double Y shift of 30 degrees.
Specifically, the electrical angular speed of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the current simulation period is calculated according to the electromagnetic torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period and the electrical angular speed of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the previous simulation period; further, the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period can be calculated according to the following formula:
Figure GDA0003343443590000081
wherein, ω ise(n) represents the electrical angular velocity, omega, of the rotor of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation periode(n-1) represents the electrical angular velocity of the rotor of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the last simulation period, pnThe pole pair number of the permanent magnet synchronous motor with 30 degrees of double Y shift is shown, T represents the sampling period, Te(n-1) represents the torque of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the last simulation period, TLAnd (n-1) represents the load torque of the permanent magnet synchronous motor with double Y shifts by 30 degrees in the last simulation period, and J represents the total rotational inertia of the rotor of the permanent magnet synchronous motor with double Y shifts by 30 degrees.
After the electrical angular velocity of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the current simulation period is obtained, the angle of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the current simulation period can be further calculated according to the angle of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the previous simulation period, the electrical angular velocity of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the previous simulation period and the electrical angular velocity of the permanent magnet synchronous motor rotor with the double Y shift of 30 degrees in the current simulation period; further, the electrical angular velocity of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period can be calculated according to the following formula:
Figure GDA0003343443590000082
wherein, thetae(n) represents the angle of the rotor of the permanent magnet synchronous motor which is shifted by 30 degrees in double Y in the current simulation period, thetae(n-1) represents the angle, omega, of the rotor of the permanent magnet synchronous motor which is shifted by 30 degrees in double Y in the last simulation periode(n) represents the electrical angular velocity, omega, of the rotor of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation periode(n-1) represents the electrical angular speed of the rotor of the permanent magnet synchronous motor which is shifted by 30 degrees in double Y in the last simulation period, and T represents the sampling period.
And step S104, based on the angle of the rotor of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period, sequentially converting the six-phase voltage of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period through a static coordinate system and a rotating coordinate system, and respectively obtaining the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period.
Specifically, firstly, according to the phase voltage of six phases of the permanent magnet synchronous motor with double Y shifts by 30 degrees in the current simulation period, the alpha-axis voltage and the beta-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts by 30 degrees in the current simulation period are respectively inquired in a first static coordinate system transformation table and a second static coordinate system transformation table. The following table 2 shows a Clark conversion table for a first set of three-phase symmetrical windings of a double-Y30-degree-shift permanent magnet synchronous motor, and the following table 3 shows a Clark conversion table for a first set of three-phase symmetrical windings of a double-Y30-degree-shift permanent magnet synchronous motor.
TABLE 2 first stationary coordinate system transformation table
Figure GDA0003343443590000091
TABLE 3 second stationary coordinate system conversion table
Figure GDA0003343443590000092
Inquiring the three-phase voltage of a first set of three-phase symmetrical windings of the permanent magnet synchronous motor shifted by 30 degrees in a current simulation period in a table 2 to convert the three-phase voltage of the symmetrical windings into alpha-axis voltage and beta-axis voltage in a static coordinate system; according to the three-phase voltage of the second set of three-phase symmetrical winding of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period, the alpha-axis voltage and the beta-axis voltage converted from the three-phase voltage of the symmetrical winding to the static coordinate system are inquired in the table 3.
Then, according to the angle of the rotor of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period, which is obtained in step S103, a corresponding sine value and a corresponding cosine value are inquired in a sine and cosine change table, and according to the alpha-axis voltage and the beta-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period, and the sine value and the cosine value which are inquired correspondingly, the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the double-Y shift of 30 degrees in the current simulation period are obtained.
It should be noted that the sine and cosine change table is obtained in advance, that is, the rotor angle in [ 02 pi ] is discretized into 4096 points in advance, the sine value and the cosine value corresponding to each discrete point are respectively calculated, and all the discrete points and the corresponding sine value and cosine value are constructed into the sine and cosine change table. Since the sine and cosine change table has too much data, the table is not displayed here.
Then, d-axis voltage and q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period are calculated according to alpha-axis voltage and beta-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period and the sine value and the cosine value which are inquired correspondingly; furthermore, the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period can be calculated according to the following formula:
Figure GDA0003343443590000101
Figure GDA0003343443590000102
wherein, Ud1(n),Uq1(n),Ud2(n),Uq2(n) respectively representing d-axis voltage and q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation period, Uα1(n),Uβ1(n),Uα2(n),Uβ2And (n) respectively representing alpha-axis voltage and beta-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period, wherein the positive cosine value of the angle respectively corresponds to the found sine value and cosine value corresponding to the angle of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period.
Step S105, d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period are calculated according to the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period and the d-axis voltage and the q-axis voltage of the two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period respectively, and electromagnetic torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period is obtained.
Specifically, d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period are calculated according to the electric angular speed of the rotor of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period, d-axis voltage and q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period, and d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shift of 30 degrees in the previous simulation period; specifically, d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation period can be calculated according to the following current iterative algorithm:
Figure GDA0003343443590000111
wherein id1(n),iq1(n),id2(n),iq2(n) respectively representing d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation period, id1(n-1),iq1(n-1),id2(n-1),iq2(n-1) respectively representing d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the last simulation period, T is a sampling period, I is a four-dimensional unit matrix, and omega ise(n) represents the electrical angular velocity, U, of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation cycled1(n),Uq1(n),Ud2(n),Uq2(n) respectively representing d-axis voltage and q-axis voltage psi of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation periodfRepresents the permanent magnet flux linkage value, A, of the double-Y-shift 30-degree permanent magnet synchronous motor1And B1Is a preset constant value, wherein,
Figure GDA0003343443590000112
Figure GDA0003343443590000113
and L isdd＝1.5LAAd，Ld＝Ldd+LAAl，Lqq＝1.5LAAq，Lq＝Lqq+LAAl，LAAd、LAAqMain self-inductance of d-axis and q-axis of winding, LAAlFor leakage self-inductance, I is a four-dimensional unit matrix, T is a sampling period, and R represents the resistance of a stator in the double-Y30-degree-shift permanent magnet synchronous motor.
Calculating the torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period based on the d-axis current and the q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period, which are obtained in the current simulation period; calculating the torque of the permanent magnet synchronous motor with the double Y shifts of 30 degrees in the current simulation period according to the following formula:
Figure GDA0003343443590000121
wherein: t ise(n) represents the torque of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation period, id1(n),iq1(n),id2(n),iq2(n) respectively represents d-axis current and q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with the current simulation period and double Y shifts by 30 degrees, and psid1(n),ψq1(n),ψd2(n),ψq2(n) respectively representing d-axis flux linkage values and q-axis flux linkage values of two sets of symmetrical windings of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation period, and pnThe pole pair number of a double Y-shifted 30 degree permanent magnet synchronous motor is shown.
According to the hardware-in-loop real-time simulation method for the double-Y30-degree-shift permanent magnet synchronous motor, the complex calculation process is replaced by a table look-up mode in the hardware-in-loop real-time simulation method, so that delay caused by operation of converting voltage analog signals into digital signals under the condition of real-time simulation is effectively reduced, and the update speed of a motor model calculation result can be increased by at least one order of magnitude; meanwhile, the calculation process of the rotor angle value sine and cosine values in the process of converting the voltage from the three-phase static coordinate system to the rotating coordinate system is replaced by a table look-up mode, so that model collapse caused by errors in the calculation process can be effectively avoided, and the robustness of the hardware simulation model is effectively improved. Meanwhile, the table look-up method has lower requirements on hardware performance, and can use a high-speed signal processing unit with lower cost and achieve higher model simulation performance; therefore, the cost of the motor hardware-in-loop simulation system can be effectively reduced on the premise of achieving the specified motor hardware-in-loop simulation performance.
Example two
In order to solve the technical problems in the prior art, the embodiment of the invention provides a hardware-in-loop simulation device of a permanent magnet synchronous motor.
FIG. 2 shows a schematic structural diagram of a hardware-in-the-loop real-time simulation device of a double-Y-shift 30-degree permanent magnet synchronous motor according to an embodiment of the invention; referring to fig. 2, the double-Y-shift 30-degree in-loop real-time simulation device of the hardware of the permanent magnet synchronous motor according to the embodiment of the present invention includes a basic quantity acquisition module, a bridge arm state information acquisition module, a rotor angle acquisition module, a d-axis voltage and q-axis voltage acquisition module, and other simulation quantity acquisition modules, which are sequentially connected;
the basic quantity obtaining module is used for obtaining conduction states of six bridge arms of an inverter in the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and phase current direction information of six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
the bridge arm state information acquisition module is used for inquiring the phase voltage of the six phases of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the conduction states of the six bridge arms of the inverter in the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period and the phase current direction information of the six phases of the double-Y-shift 30-degree permanent magnet synchronous motor;
the rotor angle acquisition module is used for calculating the electrical angular speed of the permanent magnet synchronous motor rotor with double Y shifts by 30 degrees in the current simulation period and calculating the angle of the permanent magnet synchronous motor rotor with double Y shifts by 30 degrees in the current simulation period according to the electrical angular speed of the permanent magnet synchronous motor rotor with double Y shifts by 30 degrees in the current simulation period;
the d-axis voltage and q-axis voltage acquisition module is used for sequentially converting the six-phase voltage of the permanent magnet synchronous motor with the current simulation period and the double-Y shift of 30 degrees through a static coordinate system and a rotating coordinate system based on the angle of the rotor of the permanent magnet synchronous motor with the current simulation period and the double-Y shift of 30 degrees, and respectively acquiring the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the permanent magnet synchronous motor with the current simulation period and the double-Y shift of 30 degrees;
and the other simulation quantity acquisition module is used for calculating the d-axis current and the q-axis current of the two symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period according to the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period and the d-axis voltage and the q-axis voltage of the two symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period respectively, and acquiring the electromagnetic torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period.
According to the hardware-in-loop real-time simulation device for the double-Y30-degree-shift permanent magnet synchronous motor, a complex calculation process is replaced by a table look-up mode in the hardware-in-loop real-time simulation method, so that delay caused by operation of converting voltage analog signals into digital signals under the condition of real-time simulation is effectively reduced, and the update speed of a motor model calculation result can be increased by at least one order of magnitude; meanwhile, the calculation process of the rotor angle value sine and cosine values in the process of converting the voltage from the three-phase static coordinate system to the rotating coordinate system is replaced by a table look-up mode, so that model collapse caused by errors in the calculation process can be effectively avoided, and the robustness of the hardware simulation model is effectively improved. Meanwhile, the table look-up method has lower requirements on hardware performance, and can use a high-speed signal processing unit with lower cost and achieve higher model simulation performance; therefore, the cost of the motor hardware-in-loop simulation system can be effectively reduced on the premise of achieving the specified motor hardware-in-loop simulation performance.
EXAMPLE III
In order to solve the above technical problems in the prior art, an embodiment of the present invention further provides a storage medium, which stores a computer program, and when the computer program is executed by a processor, all steps of the hardware-in-loop real-time simulation method for a double-Y-shift permanent magnet synchronous motor by 30 degrees in the first embodiment can be implemented.
The specific steps of the double-Y-shift 30-degree permanent magnet synchronous motor hardware-in-the-loop real-time simulation method and the beneficial effects obtained by applying the readable storage medium provided by the embodiment of the invention are the same as those of the embodiment one, and are not described herein again.
It should be noted that: the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Example four
In order to solve the technical problems in the prior art, the embodiment of the invention also provides a terminal.
Fig. 3 is a schematic structural diagram of a four-terminal according to an embodiment of the present invention, and referring to fig. 3, the terminal according to this embodiment includes a processor and a memory, which are connected to each other; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the terminal can realize all the steps in the hardware-in-the-loop real-time simulation method of the double-Y-shift 30-degree permanent magnet synchronous motor in the embodiment when being executed.
The specific steps of the double-Y-shift 30-degree permanent magnet synchronous motor hardware-in-the-loop real-time simulation method and the beneficial effects obtained by applying the terminal provided by the embodiment of the invention are the same as those of the embodiment one, and the detailed description thereof is omitted here.
It should be noted that the Memory may include a Random Access Memory (RAM), and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Similarly, the Processor may also be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A hardware-in-loop real-time simulation method for a double-Y-shift 30-degree permanent magnet synchronous motor comprises the following steps: not less than two simulation cycles;
wherein each simulation cycle comprises the following steps:
acquiring conduction states of six bridge arms of an inverter in a double-Y30-degree-shift permanent magnet synchronous motor in a current simulation period and phase current direction information of six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
inquiring the phase voltage of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the conduction states of six bridge arms of an inverter in the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the phase current direction information of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
calculating the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period based on the electromagnetic torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period and the electric angular speed of the rotor of the motor, and calculating the angle of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period according to the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period;
based on the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, sequentially converting the six-phase voltage of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period through a static coordinate system and a rotating coordinate system, and respectively obtaining the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
and calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the d-axis voltage and the q-axis voltage of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, so as to obtain the electromagnetic torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period.
2. The method of claim 1, wherein the step of calculating the electrical angular velocity of the double-Y-shifted 30-degree PMSM rotor for the current simulation cycle, and the step of calculating the angle of the double-Y-shifted 30-degree PMSM rotor for the current simulation cycle based on the electrical angular velocity of the double-Y-shifted 30-degree PMSM rotor for the current simulation cycle comprises:
calculating the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period according to the electromagnetic torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period and the electric angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the previous simulation period;
and calculating the angle of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the current simulation period according to the angle of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the previous simulation period, the electrical angular speed of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the previous simulation period and the electrical angular speed of the permanent magnet synchronous motor rotor with 30 degrees of double Y shift in the current simulation period.
3. The method of claim 2, wherein the step of calculating the electrical angular velocity of the rotor of the double-Y-shifted 30-degree permanent magnet synchronous motor for the current simulation cycle based on the electromagnetic torque of the double-Y-shifted 30-degree permanent magnet synchronous motor for the previous simulation cycle and the electrical angular velocity of the rotor of the double-Y-shifted 30-degree permanent magnet synchronous motor for the previous simulation cycle comprises:
calculating the electrical angular speed of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation period according to the following formula:
Figure FDA0003343443580000021
wherein, ω ise(n) represents the electrical angle of the rotor of the permanent magnet synchronous motor with double Y shifts of 30 degrees in the current simulation periodSpeed, ωe(n-1) represents the electrical angular speed p of the rotor of the double-Y-shift permanent magnet synchronous motor in the last simulation period by 30 degreesnRepresenting the pole pair number of the permanent magnet synchronous motor with 30 degrees of double Y shift, T representing the sampling period, Te(n-1) represents the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the last simulation period, TLAnd (n-1) represents the load torque of the double-Y30-degree-shift permanent magnet synchronous motor in the last simulation period, and J represents the total rotational inertia of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor.
4. The method of claim 2, wherein the step of calculating the angle of the rotor of the permanent magnet synchronous motor with double Y shift by 30 degrees in the current simulation cycle according to the angle of the rotor of the permanent magnet synchronous motor with double Y shift by 30 degrees in the previous simulation cycle, the electrical angular velocity of the rotor of the permanent magnet synchronous motor with double Y shift by 30 degrees in the previous simulation cycle, and the electrical angular velocity of the rotor of the permanent magnet synchronous motor with double Y shift by 30 degrees in the current simulation cycle comprises:
and (3) calculating the angle of the double-Y-shift 30-degree permanent magnet synchronous motor rotor in the current simulation period according to the following angle iterative equation:
Figure FDA0003343443580000022
wherein, thetae(n) represents the angle of the rotor of the permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period, thetae(n-1) represents the angle, omega, of the rotor of the permanent magnet synchronous motor which is shifted by 30 degrees in the double Y mode in the last simulation periode(n) represents the electrical angular velocity, omega, of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation periode(n-1) represents the electrical angular speed of the rotor of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the last simulation period, and T represents a sampling period.
5. The method of claim 1, wherein the step of sequentially converting phase voltages of six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period through a stationary coordinate system and a rotating coordinate system based on the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period to obtain d-axis voltages and q-axis voltages of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period comprises the following steps of:
respectively inquiring alpha-axis voltage and beta-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in a first static coordinate system transformation table and a second static coordinate system transformation table according to the six-phase voltage of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
and respectively inquiring corresponding sine values and cosine values in a sine and cosine change table according to the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and respectively acquiring d-axis voltages and q-axis voltages of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to alpha-axis voltages and beta-axis voltages of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and the inquired sine values and cosine values.
6. The method according to claim 5, wherein the step of obtaining d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the alpha-axis voltage and the beta-axis voltage of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the sine value and the cosine value which are inquired correspondingly comprises the following steps:
calculating d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the following formula:
Figure FDA0003343443580000031
Figure FDA0003343443580000032
wherein, Ud1(n),Uq1(n),Ud2(n),Uq2(n) respectively represent the currentSimulating the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in a periodic manner, namely Uα1(n),Uβ1(n),Uα2(n),Uβ2(n) respectively representing the alpha-axis voltage and the beta-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and sin thetae(n) and cos θeAnd (n) is respectively the sine value and the cosine value of the angle of the double-Y-shifted 30-degree permanent magnet synchronous motor rotor in the inquired current simulation period.
7. The method according to claim 1, wherein the step of calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period according to the electrical angular velocity of the rotor of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period and the d-axis voltage and q-axis voltage of the two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period respectively to obtain the electromagnetic torque of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period comprises:
calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree permanent magnet synchronous motor in the current simulation period, d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period and d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the previous simulation period;
and calculating the torque of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period based on the d-axis current and the q-axis current of two sets of symmetrical windings of the permanent magnet synchronous motor with the double Y shift of 30 degrees in the current simulation period, which are obtained in the current simulation period.
8. The method of claim 7, wherein the step of calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period according to the electrical angular velocity of the rotor of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, d-axis voltage and q-axis voltage of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, and d-axis current and q-axis current of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the previous simulation period comprises:
Figure FDA0003343443580000041
wherein id1(n),iq1(n),id2(n),iq2(n) respectively representing d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation period, id1(n-1),iq1(n-1),id2(n-1),iq2(n-1) respectively representing d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the last simulation period, T is a sampling period, I is a four-dimensional unit matrix, and omega ise(n) represents the electrical angular velocity, U, of the double Y-shifted 30-degree PMSM for the current simulation cycled1(n),Uq1(n),Ud2(n),Uq2(n) respectively representing d-axis voltage and q-axis voltage psi of two sets of symmetrical windings of the double-Y30-degree permanent magnet synchronous motor in the current simulation periodfRepresents the permanent magnet flux linkage value, A, of the double-Y30-degree-shift permanent magnet synchronous motor1And B1Is a preset constant.
9. The method of claim 7, wherein the step of calculating the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period based on the d-axis current and the q-axis current of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period acquired in the current simulation period comprises:
calculating the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the following equation:
Figure FDA0003343443580000042
wherein: t ise(n) represents the torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, id1(n),iq1(n),id2(n),iq2(n) respectively represents d-axis current and q-axis current, psi, of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation periodd1(n),ψq1(n),ψd2(n),ψq2(n) respectively representing d-axis flux linkage value and q-axis flux linkage value of two sets of symmetrical windings of the double-Y-shift 30-degree permanent magnet synchronous motor in the current simulation period, and pnThe pole pair number of a double Y-shifted 30 degree permanent magnet synchronous motor is shown.
10. A hardware-in-loop real-time simulation device of a double-Y-shift 30-degree permanent magnet synchronous motor is characterized by comprising a basic quantity acquisition module, a bridge arm state information acquisition module, a rotor angle acquisition module, a d-axis voltage and q-axis voltage acquisition module and other simulation quantity acquisition modules which are sequentially connected;
the basic quantity obtaining module is used for obtaining conduction states of six bridge arms of an inverter in a permanent magnet synchronous motor with double Y shift of 30 degrees in the current simulation period and phase current direction information of six phases of the permanent magnet synchronous motor with double Y shift of 30 degrees;
the bridge arm state information acquisition module is used for inquiring the phase voltage of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period in a bridge arm state information table according to the conduction states of the six bridge arms of the inverter in the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the phase current direction information of the six phases of the double-Y30-degree-shift permanent magnet synchronous motor;
the rotor angle obtaining module is used for calculating the electric angular speed of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period based on the electromagnetic torque of the double-Y30-degree-shift permanent magnet synchronous motor in the previous simulation period and the electric angular speed of the rotor of the motor, and calculating the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
the d-axis voltage and q-axis voltage obtaining module is used for sequentially converting the phase voltage of six phases of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period through a static coordinate system and a rotating coordinate system based on the angle of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and respectively obtaining the d-axis voltage and the q-axis voltage of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period;
and the other simulation quantity acquisition module is used for calculating d-axis current and q-axis current of two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period according to the electric angular speed of the rotor of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period and the d-axis voltage and the q-axis voltage of the two sets of symmetrical windings of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period, and acquiring the electromagnetic torque of the double-Y30-degree-shift permanent magnet synchronous motor in the current simulation period.
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