CN113315251B - 一种无线电机***最优效率点跟踪装置及方法 - Google Patents
一种无线电机***最优效率点跟踪装置及方法 Download PDFInfo
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Abstract
本发明公开一种无线电机***最优效率点跟踪装置及方法,属于无线电能传输技术领域。装置包括蓝牙模块、最优效率点控制模块、移相角控制器。本发明通过设计线圈参数,使得额定工况下的电机满足阻抗匹配条件;计算满足电机运行状况的最小全桥整流电路输出电压,估算满足阻抗匹配条件的全桥整流电路输出电压,根据两个电压的大小关系,相应地控制电机的d轴电流。考虑到估算误差,引入扰动观察法得出全桥整流电路输出参考电压,改变发射侧全桥逆变电路的移相角使得接收侧全桥整流电路输出电压为上述参考电压,从而满足阻抗匹配条件,提高耦合线圈两端的效率,提高电机非额定工况下的***效率。本发明可以实现在保障电机正常运行的同时提高***效率。
Description
技术领域
本发明属于无线电能传输技术领域,更具体地,涉及一种无线电机***最优效率点跟踪装置及方法。
背景技术
由于化石能源短缺和生态环境恶化的问题日益严重,人类对于清洁能源愈发关注,电能作为清洁高效的能源得到了更加广泛的使用,电动汽车产业近年来蓬勃发展。无线电机作为电动汽车未来的一个发展方向,由于无线电机可以为电动汽车带来更大的设计自由度和更加灵活的控制,它受到了越来越多的关注。
转速和电磁转矩恒定的电机可以视为一个恒功率负载,而且从三相逆变器的输入侧看进去,电机和逆变器整体可以等效为一个阻性负载,因此可以通过参数设计使得额定工况下的等效负载刚好等于耦合线圈的最优负载,满足阻抗匹配条件,使得耦合线圈两端的传输效率最高。目前无线电机还处在研究阶段,一些文献里提到的无线电机在额定工况下存在较高的传输效率。然而,实际运行中电机运行无法始终维持于额定工况,导致电机的等效负载将偏离阻抗匹配条件,进而引起线圈两端的传输功率下降。所以,应该研究一种满足非额定工况下的阻抗匹配、效率优化方法。
发明内容
针对现有技术的缺陷,本发明的目的在于提供一种无线电机***最优效率点跟踪装置及方法,旨在在各种电机工况下,无线电机耦合线圈两端的传输效率最高,从而保证整个***的效率。
为实现上述目的,本发明一方面提供了一种无线电机***最优效率点跟踪装置,无线电机***分为发射侧和接收侧,发射侧包括:直流电源、全桥逆变电路、发射模块,接收侧包括接收模块、全桥整流电路、三相逆变电路、永磁同步电机;所述全桥逆变电路用于将直流电源的直流电压逆变成方波电压;全桥逆变电路的输出端与发射模块的输入端相连,所述发射模块与接收模块为SS型补偿网络,均由线圈串联补偿电容组成,发射模块与接收模块之间电气隔离,通过电磁感应的方式无线传输电能;所述接收模块的输出端与全桥整流电路的输入端相连,所述全桥整流电路用于将接收线圈感应的交变电压整流成直流电压;全桥整流电路的输出端与三相逆变电路的输入端相连,所述三相逆变电路用于实现基于SVPWM调制的永磁同步电机调速控制。
该装置包括第一蓝牙模块、第二蓝牙模块、最优效率点控制模块、移相角控制器,移相角控制器与发射侧的第一蓝牙模块相连,最优效率点控制模块与接收侧的第二蓝牙模块相连;所述最优效率点控制模块用于生成全桥整流电路输出电压参考值;所述第二蓝牙模块通过无线传输的方式将全桥整流电路的输出电压实际值、输出电压参考值发送给第一蓝牙模块,所述移相角控制器用于处理第一蓝牙模块接收到的数据,改变全桥逆变电路移相角。
优选地,最优效率点控制模块用于处理全桥整流电路的输出电压和输出电流、电机三相电流和电机转速,计算满足电机运行状态的全桥整流电路的输出最小电压Udc_min和满足阻抗匹配条件的全桥整流电路的输出电压Udc0,通过比较Udc_min和Udc0的幅值选取相应控制策略,在保证电机运行状态的条件下满足阻抗匹配条件,最终得到全桥整流电路的输出电压参考值Uref。
优选地,全桥整流电路的输出最小电压Udc_min和满足阻抗匹配条件的全桥整流电路的输出电压Udc0分别为:
其中,Uout为电机达到稳定运行状态时的全桥整流电路的输出电压,Iout为电机达到稳定运行状态时的全桥整流电路的输出电流,Rn为电机处于额定工况下的全桥整流电路的输出阻抗,ω为永磁同步电机同步角速度,Lq为永磁同步电机的q轴电感,Ld为永磁同步电机的d轴电感,iq为永磁同步电机的q轴电流,id为永磁同步电机的d轴电流,Rs为永磁同步电机定子相电阻,ψ为永磁同步电机相绕组中的永磁磁链幅值。
优选地,电机处于额定工况下的全桥整流电路的输出阻抗Rn可以使得线圈满足阻抗匹配的条件,实现最大传输效率,Rn与线圈参数的关系为:
其中,ωss为SS型补偿网络的谐振角频率,M为发射、接收线圈之间的互感,R1、R2分别为发射、接收线圈的电阻。
本发明另一方面提供了一种基于上述装置的无线电机***最优效率点跟踪方法,包括以下步骤:
(1)控制全桥整流电路的输出电压为电机额定电压的幅值,预设永磁同步电机的d轴电流参考值id_ref为零;
(2)基于SVPWM调制方法实现对电机的d轴电流和q轴电流的闭环控制,使电机达到稳态,计算阻抗匹配所需的全桥整流电路输出电压Udc0和满足电机运行状态所需的最小全桥整流电路输出电压Udc_min,根据Udc0和Udc_min的关系确定具体的最优效率点跟踪方法,使无线电机处于效率最优状态。
优选地,若Udc0≥Udc_min:改变移相角,将全桥整流电路的输出电压控制为Udc0,再通过扰动观察法得出全桥整流电路的输出参考电压Uref,使得全桥整流电路的输出等效负载追踪电机处于额定工况下的全桥整流电路的输出阻抗Rn;
若Udc_min>Udc0:测量电机的三相电流,计算电机的q轴电流,求解电机的电磁转矩,给定定子相电压为ε2为扰动观察法的电压变化步长,求解出永磁同步电机的d轴电流参考值id_ref,回到步骤(2)。
优选地,具体分析本发明提供的效率优化方法,分为两个阶段:
第一阶段:由电机的额定工况设计线圈参数,使得额定电机工况下满足阻抗匹配条件。
(1)三相逆变直流侧接直流电源,控制电机处于额定转速、额定转矩工况下,测量全桥整流电路的输出阻抗(纯阻性),设此负载为最优负载Rn。
(2)针对SS型补偿网络,在谐振状态下,可以得出耦合线圈两端的传输效率为
其中,R1、R2分别为发射、接收线圈的电阻,M为发射、接收线圈之间的互感,RL为与接收线圈串联的负载,ωss为SS型补偿网络的谐振角频率。将ηcoil关于RL求导可知,当时,ηcoil存在最大值,满足阻抗匹配条件。
第二阶段:电机在非额定工况运行,采用最优效率点跟踪方法,调节全桥整流电路的输出电压,从而改变全桥整流电路的输出阻抗,满足阻抗匹配条件。
(1)当电机处于非额定工况时,首先控制全桥整流电路的输出电压为电机额定电压的幅值,采用基于SVPWM调制的转子磁场定向FOC技术控制电机达到稳定运行状态。此时,控制电机的d轴电流id=0。
(2)测量电机转速ω,测量全桥整流电路的输出电压Uout、输出电流Iout,测量电机的三相电流ia、ib、ic,利用坐标变换求得的d、q轴电流:
(3)计算阻抗匹配所需的全桥整流电路输出电压Udc0,和满足电机运行状态所需的最小全桥整流电路输出电压Udc_min:
其中,Rs为永磁同步电机定子相电阻,ψ为永磁同步电机相绕组中的永磁磁链幅值,ω为永磁同步电机同步角速度。
(4)根据Udc0和Udc_min的关系确定具体的最优效率点跟踪方法:
若Udc0≥Udc_min:改变移相角,先将全桥整流电路的输出电压控制为Udc0,考虑三相逆变电路在电压调节前后的损耗不同,所以Udc0是一个估算值。为了保证控制精度,之后通过扰动观察法得出全桥整流电路的输出参考电压Uref,使得全桥整流电路的输出等效负载追踪最优负载Rn,并且要保证Uref>Udc_min。
若Udc_min>Udc0:说明保证电机运行的同时无法满足达到阻抗匹配的条件。为了同时满足这两个条件,需要控制电机的d轴电流id<0。首先,由之前计算得到的q轴电流,求解电机的电磁转矩Te:
Te=1.5npψiq
可以求解出具体的id_ref。通过三相逆变电路,控制d轴电流为id_ref。之后,重复上述步骤(2)、(3)、(4)。
通过本发明所构思的以上技术方案,与现有技术相比,能够取得以下有益效果:
(1)目前的一些现有技术中,无线电机在额定工况下具有很高的传输效率,其他工况下的传输效率难以保证。本发明提出的无线电机***最优效率点跟踪方法通过改变全桥整流电路的输出电压,使得线圈满足阻抗匹配条件,最终提高非额定工况下的传输效率。
(2)本发明所提的最优效率点跟踪方法采用结合了估算法和扰动观察法。先估算出一个全桥整流电路输出电压参考值,然后在该参考值的基础上采用扰动观察法,得到最终的电压参考值。这样既保证了调节速度,又保证了调节精度。
(3)本发明所提的最优效率点跟踪方法结合了电机本身的运行特点,在保障电机的运行状态下进行阻抗匹配调节。相较其他无线充电领域所使用阻抗匹配调节方法,本发明所述的硬件***无需额外的阻抗匹配电路,降低了***硬件成本。
附图说明
图1为本发明实施例提供的一种无线电机***最优效率点跟踪方法;
图2为本发明实施例提供的无线电机***的电路图;
图3为本发明实施例提供的最优效率点控制模块的详细内容;
图4为本发明实施例提供的最优效率点跟踪方法的整体流程图;
图5为本发明实施例提供的基于扰动观察法的最优效率点跟踪方法流程图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。此外,下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间不构成冲突就可以相互组合。
如图1所示,本发明提供一种无线电机***最优效率点跟踪装置包括:直流电源、全桥逆变电路、发射模块、接收模块、全桥整流电路、三相逆变电路、永磁同步电机、输出电流传感器、输出电压传感器、电机电流传感器、转速传感器、蓝牙模块、最优效率点控制模块、移相角控制器。
如图2所示,全桥逆变电路由4个MOSFET组成,全桥逆变电路的输入端连接直流电源,输出端连接发射模块,全桥逆变电路用于按照一定的移相角将直流电源的直流电压逆变成高频方波电压,其运行特性由移相角控制器进行调节。
具体地,发射模块与接收模块属于SS型补偿网络,均由耦合线圈串联补偿电容组成,通过电磁感应的方式,无线传输能量。
具体地,全桥整流电路由4个二极管和一个电容组成。4个二极管组成不控整流桥,其交流侧连接接收线圈,直流侧连接电容。全桥整流电路用于将接收线圈感应的交变电压整流成直流电压。
具体地,三相逆变电路由6个IGBT组成,实现基于SVPWM的永磁电机调速控制。其工作模式由最优效率点跟踪方法进行控制。
具体地,输出电压传感器、输出电流传感器、电机电流传感器和转速传感器用于检测全桥整流电路的输出电压和输出电流、电机三相电流、电机转速。
如图3所示,所述最优效率点控制模块用于处理上述测量量,计算满足电机运行状态的全桥整流电路的输出最小电压Udc_min和估算满足阻抗匹配条件的全桥整流电路的输出电压Udc0。再针对这两个电压分类讨论,在保证电机运行状态的条件下满足阻抗匹配条件,最终得到全桥整流电路的输出电压参考值Uref。
具体地,蓝牙模块将全桥整流电路输出电压实际值、参考值从接收侧发送到发射侧。
具体地,接收到的数据作为移相角控制器的输入信号,移相角控制器输出全桥逆变电路移相角,使全桥整流电路输出电压变为上述电压参考值Uref,进而满足阻抗匹配的条件,达到效率优化的目标。
基于上述***,本发明所提出的效率优化方法分为两个阶段:
第一阶段:由电机的额定工况设计线圈参数。使得额定电机工况下满足阻抗匹配条件。
(1)三相逆变直流侧接直流电源,控制电机处于额定转速、额定转矩工况下,测量全桥整流电路的输出阻抗(纯阻性),设此负载为最优负载Rn。
(2)针对SS型补偿网络,在谐振状态下,可以得出耦合线圈两端的传输效率为
其中,R1、R2分别为发射、接收线圈的电阻,M为发射、接收线圈之间的互感,RL为与接收线圈串联的负载,ωss为SS型补偿网络的谐振角频率。将ηcoil关于RL求导可知,当时,ηcoil存在最大值,满足阻抗匹配条件。
第二阶段:电机在非额定工况运行,采用最优效率点跟踪方法,调节全桥整流电路的输出电压,从而改变全桥整流电路的输出阻抗,满足阻抗匹配条件。具体流程如图4所示。
(1)当电机处于非额定工况时,首先控制全桥整流电路的输出电压为电机额定电压的幅值,采用基于SVPWM调制的转子磁场定向FOC技术控制电机达到稳定运行状态。此时,控制电机的d轴电流id=0。
(2)测量电机转速ω,测量全桥整流电路的输出电压Uout、输出电流Iout,测量电机的三相电流ia、ib、ic,利用坐标变换求得的d、q轴电流:
(3)计算阻抗匹配所需的全桥整流电路输出电压Udc0,和满足电机运行状态所需的最小全桥整流电路输出电压Udc_min:
其中,Rs为永磁同步电机定子相电阻,ψ为永磁同步电机相绕组中的永磁磁链幅值,ω为永磁同步电机同步角速度。
(4)根据Udc0和Udc_min的关系确定具体的最优效率点跟踪方法:
若Udc0≥Udc_min:改变移相角,先将全桥整流电路的输出电压控制为Udc0,考虑三相逆变电路在电压调节前后的损耗不同,所以Udc0是一个估算值。为了保证控制精度,之后通过扰动观察法得出全桥整流电路的输出参考电压Uref,使得全桥整流电路的输出等效负载追踪最优负载Rn,并且要保证Uref>Udc_min。具体流程如图5所示。
若Udc_min>Udc0:说明保证电机运行的同时无法满足达到阻抗匹配的条件。为了同时满足这两个条件,需要控制电机的d轴电流id<0。首先,由之前计算得到的q轴电流,求解电机的电磁转矩Te:
Te=1.5npψiq
对于表面式永磁同步电机(SPM),有Ld=Lq=L,上述方程组可以简化为:
可求解出小于0的d轴电流,记为id_ref,之后通过三相逆变电路,控制d轴电流为id_ref。之后,重复上述步骤(2)、(3)、(4)。
本领域的技术人员容易理解,以上所述仅为本发明的较佳实施例而已,并不用以限制本发明,凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明的保护范围之内。
Claims (4)
1.一种无线电机***最优效率点跟踪装置,所述无线电机***分为发射侧和接收侧,发射侧包括直流电源、全桥逆变电路、发射模块,接收侧包括接收模块、全桥整流电路、三相逆变电路和永磁同步电机,全桥逆变电路用于将直流电源的直流电压逆变成方波电压,全桥逆变电路的输出端与发射模块的输入端相连,发射模块与接收模块为SS型补偿网络,均由线圈串联补偿电容组成,发射模块与接收模块之间电气隔离,通过电磁感应的方式无线传输电能,接收模块的输出端与全桥整流电路的输入端相连,全桥整流电路用于将接收线圈感应的交变电压整流成直流电压,全桥整流电路的输出端与三相逆变电路的输入端相连,三相逆变电路用于实现基于SVPWM调制的永磁同步电机调速控制;其特征在于,
装置包括:第一蓝牙模块、第二蓝牙模块、最优效率点控制模块、移相角控制器;移相角控制器与发射侧的第一蓝牙模块相连;最优效率点控制模块与接收侧的第二蓝牙模块相连;
所述最优效率点控制模块用于生成全桥整流电路输出电压参考值;所述最优效率点控制模块用于处理全桥整流电路的输出电压和输出电流、电机三相电流和电机转速,计算满足电机运行状态的全桥整流电路的输出最小电压Udc_min和满足阻抗匹配条件的全桥整流电路的输出电压Udc0,通过比较Udc_min和Udc0的幅值选取相应控制策略,在保证电机运行状态的条件下满足阻抗匹配条件,最终得到全桥整流电路的输出电压参考值Uref;全桥整流电路的输出最小电压Udc_min和满足阻抗匹配条件的全桥整流电路的输出电压Udc0分别为:
其中,Uout为电机达到稳定运行状态时的全桥整流电路的输出电压,Iout为电机达到稳定运行状态时的全桥整流电路的输出电流,Rn为电机处于额定工况下的全桥整流电路的输出阻抗,ω为永磁同步电机同步角速度,Lq为永磁同步电机的q轴电感,Ld为永磁同步电机的d轴电感,iq为永磁同步电机的q轴电流,id为永磁同步电机的d轴电流,Rs为永磁同步电机定子相电阻,ψ为永磁同步电机相绕组中的永磁磁链幅值;电机处于额定工况下的全桥整流电路的输出阻抗Rn为:
其中,ωss为SS型补偿网络的谐振角频率,M为发射、接收线圈之间的互感,R1、R2分别为发射、接收线圈的电阻;
所述第二蓝牙模块通过无线传输的方式将全桥整流电路的输出电压实际值、输出电压参考值发送给第一蓝牙模块;
所述移相角控制器用于处理第一蓝牙模块接收到的数据,改变全桥逆变电路移相角,控制全桥整流电路的输出电压。
2.基于权利要求1所述的装置的无线电机***最优效率点跟踪方法,其特征在于,包括以下步骤:
(1)控制全桥整流电路的输出电压为电机额定电压的幅值,预设永磁同步电机的d轴电流参考值id_ref为零;
(2)基于SVPWM调制方法实现对电机的d轴电流和q轴电流的闭环控制,使电机达到稳态,计算阻抗匹配所需的全桥整流电路输出电压Udc0和满足电机运行状态所需的最小全桥整流电路输出电压Udc_min,根据Udc0和Udc_min的关系确定具体的最优效率点跟踪方法,使无线电机处于效率最优状态;
若Udc0≥Udc_min:改变移相角,将全桥整流电路的输出电压控制为Udc0,再通过扰动观察法得出全桥整流电路的输出参考电压Uref,使得全桥整流电路的输出等效负载追踪电机处于额定工况下的全桥整流电路的输出阻抗Rn;
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