CN113452287B - Control method and control system for multiple permanent magnet synchronous motors of underwater vehicle - Google Patents
Control method and control system for multiple permanent magnet synchronous motors of underwater vehicle Download PDFInfo
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- CN113452287B CN113452287B CN202110632918.8A CN202110632918A CN113452287B CN 113452287 B CN113452287 B CN 113452287B CN 202110632918 A CN202110632918 A CN 202110632918A CN 113452287 B CN113452287 B CN 113452287B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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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
- 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 control system of a multi-permanent magnet synchronous motor of an underwater vehicle, which comprises: the device comprises a rotor flux linkage identification module, a virtual host establishing module, a control weight value calculation module, a negative torque detection module, a control circuit calculation module, a weighted magnetic field orientation control module and a single frequency converter driving module; the rotor flux linkage identification module is connected with the permanent magnet synchronous motor; the rotor flux linkage identification module is respectively connected with the negative torque detection module and the control current calculation module; the virtual host establishing module is connected with the permanent magnet synchronous motor; the virtual host establishing module is connected with the control weight calculating module; the negative torque detection module and the control weight calculation module are connected with the control current calculation module; the control current calculation module is connected with the weighted magnetic field orientation control module; the weighted magnetic field orientation control module is connected with the single frequency converter driving module; and the single frequency converter driving module is connected with the permanent magnet synchronous motor. The single frequency converter drives the control model of the multiple permanent magnet synchronous motors, so that the motors tend to be stable.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a control system and a control method of a multi-permanent magnet synchronous motor of an underwater vehicle.
Background
With the decreasing of non-renewable resources on land, the development and utilization of marine resources are receiving wide attention from countries around the world. As a vehicle for the utilization and development of marine resources, the application of underwater vehicles is helpful for the exploration of submarine landforms and marine resources, the measurement of marine hydrological environmental parameters, and the exploration of marine biological resources. The underwater vehicle is an underwater unmanned navigation device, has the characteristics of small volume, flexible operation, remote control, capability of working in a high-risk environment for a long time and the like, and has extremely important significance in various fields of military affairs, submarine data collection, deep sea oil and gas exploration, marine organism information acquisition and the like. The underwater vehicle is different from ships, submarines and unmanned water surface ships, has small volume, limited internal space and small energy carried by the underwater vehicle, so that a specially designed efficient electric propulsion system is needed.
Compared with a single-frequency converter driving single-motor system, the system has the advantages of fewer components, light weight of technical equipment for current frequency conversion, relatively compact structure of the system and reduced system cost. The system is generally applied to the field of rail transit, the working efficiency of motor driving of the rail transit is improved, the rail transit is limited by inherent rails, the operation can be carried out only in a single degree of freedom, namely two steps of forward movement and backward movement, the free steering function cannot be realized, and the steering angle cannot be determined, so that the steering problem is considered in specific working conditions, and the system is very necessary for equipment with multiple degrees of freedom. An underwater vehicle using a lithium battery is used as a device with multiple degrees of freedom, is not beneficial to long-term underwater uninterrupted work, needs to be charged or replaced regularly, and also has the appearance of an underwater vehicle adopting novel energy sources, such as a fuel cell, flywheel energy storage and even a subminiature nuclear reactor which is possibly appeared in the future, in order to solve the problem of endurance. Unlike underwater vehicles using lithium batteries, such underwater vehicles using new types of energy sources require an inverter because the energy source is supplied with alternating current. The single frequency converter drives the underwater vehicle with the multiple permanent magnet synchronous motors, and the multiple motors have a certain rotation speed difference when steering underwater; in addition, when the underwater vehicle normally navigates underwater, the left propeller and the right propeller are unbalanced in load due to the interference of external water flow. The sudden load can cause the difference of the rotating speed and the torque of multiple motors controlled by the single frequency converter to be not constant, and can influence the balance of the system when the difference is serious, so that the ship body deviates from a preset air route. When the single frequency converter is used for driving the multi-motor system, the underwater vehicle adopting novel energy can effectively utilize the limited internal space, improve the dynamic performance of the multi-propulsion-motor system under the condition of sudden load imbalance, play a role in stabilizing a flight line and improve the propulsion efficiency.
Disclosure of Invention
The invention provides a control method and a control system for a multi-permanent magnet synchronous motor of an underwater vehicle, and aims to solve the technical problems that in the prior art, the control method for the multi-permanent magnet synchronous motor of the underwater vehicle is simple, the control response speed is low, and the control precision is low when the rotating speed is suddenly changed.
The invention provides a control method of a multi-permanent magnet synchronous motor of an underwater vehicle, which comprises the following steps:
when the rotating speed of the permanent magnet synchronous motor changes suddenly, the permanent magnet synchronous motor is regulated and controlled, and the method comprises the following specific steps:
step 1: establishing a weight function for determining the rotating speed and the torque of the virtual main motor;
and 2, step: simultaneously, the rotating speed and the torque of the permanent magnet synchronous motors are respectively used as the input of a weight function, the output of the weight function is used for virtualizing the rotating speed and the torque of a main motor, and all the permanent magnet synchronous motors are used as slave motors;
and 3, step 3: the ratio of the rotating speed and the torque of each slave motor to the rotating speed and the torque of the master motor is determined according to the ratio, the rotating speed and the torque of the slave motor are weighted, and the weighted value is used as the control weighted value of the slave motor;
and 4, step 4: multiplying the control weight value serving as a coefficient by the actual rotating speed of each slave motor, and taking the result as the corresponding differential rotating speed of each slave motor;
and 5: subtracting the difference rotating speed from the actual rotating speed of the motor to be used as a target rotating speed, and controlling the rotating speed of the slave motor to be reduced to the target rotating speed;
step 6: when the rotating speeds of all the slave motors are the same, the regulation and control process is completed;
and when the rotating speeds of all the slave motors are not the same, executing the step 2.
Further, the step 3 further includes doubling the control weight value when the slave motor generates negative torque;
and step 6 also comprises stopping the running of each permanent magnet synchronous motor when the rotating speed of the virtual main motor is less than or equal to zero.
Further, the method for judging the negative torque from the motor in the step 3 comprises the following steps: when the sum of the output torques of all the slave motors is smaller than the difference of the output torques, it is determined that a negative torque occurs in the slave motor.
Further, in step 1, the formula of the weight function is:
h(x)＝(1-K)(ω max +ω min )/2
k is the weight of the rotating speed or the torque of each permanent magnet synchronous motor relative to the rated rotating speed or the rated torque; k is the weight of the rotating speed when the rotating speed is input, and K is the weight of the torque when the torque is input; omega max The maximum rotating speed of the motor; omega min The minimum rotational speed of the motor.
Further, in step 3, the calculation formula of the control weight value is as follows:
wherein, K m To control the weight value, K mi Weighting the rotating speed and the torque of each permanent magnet synchronous motor relative to the rated rotating speed and the rated torque; the weight of the rotating speed when the rotating speed is input, and the weight of the torque when the rotating speed is input; k ti Controlling the torque component of the weighted value for each permanent magnet synchronous motor; k si And controlling the rotating speed component of the weighted value for each permanent magnet synchronous motor.
The invention also provides a control system of the multi-permanent magnet synchronous motor of the underwater vehicle, and a control method of the multi-permanent magnet synchronous motor of the underwater vehicle, which comprises the following steps:
the device comprises a rotor flux linkage identification module, a virtual host establishment module, a control weight value calculation module, a negative torque detection module, a control circuit calculation module, a weighted magnetic field orientation control module and a single frequency converter driving module;
the input end of the rotor flux linkage identification module is connected with a permanent magnet synchronous motor; the output end of the rotor flux linkage identification module is respectively connected with the input end of the negative torque detection module and the input end of the control current calculation module; the input end of the virtual host establishing module is connected with a permanent magnet synchronous motor; the output end of the virtual host establishing module is connected with the input end of the control weight calculating module; the output end of the negative torque detection module and the output end of the control weight calculation module are connected with the input end of the control current calculation module; the output end of the control current calculation module is connected with the input end of the weighted magnetic field orientation control module; the output end of the weighted magnetic field directional control module is connected with the input end of the single frequency converter driving module; the output end of the single frequency converter driving module is connected with the permanent magnet synchronous motor;
the rotor flux linkage identification module is used for acquiring the exciting current and the stator current of the permanent magnet synchronous motor;
the virtual main motor establishing module is used for establishing the rotating speed and the torque of the virtual main motor according to the rotating speed and the torque of all the permanent magnet synchronous motors;
the control weight calculation module is used for calculating a control weight value of the slave motor relative to the master motor according to the rotation speed and the torque ratio of the slave motor relative to the virtual master motor;
the negative torque detection module is used for detecting whether the permanent magnet synchronous motor generates negative torque or not and generating a signal when the negative torque is generated;
the control current calculation module is used for controlling a weighted value based on the real-time excitation current and the real-time stator current of the permanent magnet synchronous motor and calculating the control current of the permanent magnet synchronous motor;
the weighted magnetic field orientation control module generates a control signal based on the control current generated by the control current calculation module;
and the single frequency converter driving module drives the permanent magnet synchronous motor based on the control signal generated by the weighted magnetic field directional control module.
Further, the rotor flux linkage identification module acquires the excitation current and the stator current of the permanent magnet synchronous motor through the following formulas;
wherein i mri ＝ψ ri /L m ；i mri Is the exciting current of the ith motor; psi ri The rotor flux linkage of the ith motor; l is m Is the excitation inductance of the motor; i.e. i si Is the stator current of the ith motor, n p Is the number of pole pairs of the motor; psi fi And the permanent magnet flux linkage of the ith motor.
The invention has the beneficial effects that:
the invention establishes a control model for driving a plurality of parallel permanent magnet synchronous motors by a single frequency converter when the rotating speed suddenly changes, and the control model can control the rotating speed and the torque of the parallel propulsion motors in real time, so that the plurality of permanent magnet synchronous motors tend to be stable, the dynamic balance adjusting capability of the system in different-speed steering is improved, and the dynamic response performance of the system under the condition of suddenly increasing unbalanced load can be effectively improved. According to the invention, a virtual main motor is established to enable other slave motors to follow, and the following variable quantity is adjusted by controlling the weight value, so that the following variable speed of the slave motor deviating from the virtual main motor to a larger extent can be increased, and the adjusting efficiency is accelerated. The control weight value is set through the rotating speed and the torque, and the dynamic load imbalance generated when disturbance occurs can be compensated by increasing the torque, so that the control weight value is more accurately obtained. The invention also considers the condition of negative torque, increases the variable quantity of the slave motor when the negative torque leads the acceleration to approach to the virtual main motor, and simultaneously directly stops when the rotating speed of the virtual main motor is less than zero in the adjusting process, thereby not only providing the time for adjusting the permanent magnet synchronous motor with the negative torque, but also avoiding the damage of the motor caused by the long-time negative torque.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
fig. 1 is a system block diagram of a control system for multiple permanent magnet synchronous motors of an underwater vehicle in accordance with a specific embodiment of the present invention;
FIG. 2 is a dynamic equivalent circuit diagram of a single frequency converter driving multiple PMSM with iron loss taken into account according to an embodiment of the present invention;
fig. 3 is a vector diagram for distributing weights of parallel permanent magnet synchronous motors in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The specific embodiment of the invention provides a control method of a multi-permanent magnet synchronous motor of an underwater vehicle, which comprises the following steps:
when the permanent magnet synchronous motor is disturbed by water flow and is abnormal, and further the conditions of unbalanced load torque and sudden change of rotating speed of an individual permanent magnet synchronous motor are caused, the permanent magnet synchronous motor is regulated and controlled, and the method comprises the following specific steps:
step 1: establishing a weight function for determining the rotating speed and the torque of the virtual main motor; the formula of the weight function is:
h(x)＝(1-K)(ω max +ω min )/2
k is the weight of the rotating speed or the torque of each permanent magnet synchronous motor relative to the rated rotating speed or the rated torque; k is the weight of the rotating speed when the rotating speed is input, and K is the weight of the torque when the torque is input; omega max The maximum rotating speed of the motor is obtained; omega min The minimum rotating speed of the motor;
in order to enable the rotating speed and the torque of the virtual main motor to be closer to the rotating speed and the torque with abnormal sudden change, the adjusting amplitude of the permanent magnet synchronous motor with the sudden change in the subsequent adjusting process cannot be too large, and the damage of a motor system caused by the too large adjusting amplitude of the permanent magnet synchronous motor with the sudden change in the adjusting process is avoided.
Step 2: respectively taking the maximum rotating speed and torque, and the minimum rotating speed and torque in the permanent magnet synchronous motors as the input of a weight function, wherein the output of the weight function is the rotating speed and torque of a virtual main motor, and all the permanent magnet synchronous motors are taken as slave motors;
and step 3: the ratio of the rotating speed and the torque of each slave motor to the rotating speed and the torque of the master motor is determined according to the ratio, the rotating speed and the torque of the slave motor are weighted, and the weighted value is used as the control weighted value of the slave motor; when the sum of the output torques of all the slave motors is smaller than the difference of the output torques, determining that the slave motors generate negative torques, and doubling the control weight value when the slave motors generate the negative torques; the calculation formula of the control weight value is as follows:
wherein, K m To control the weight value, K mi Weighting the rotating speed and the torque of each permanent magnet synchronous motor relative to the rated rotating speed and the rated torque; the weight of the rotating speed when the rotating speed is input, and the weight of the torque when the rotating speed is input; k ti Controlling the torque component of the weighted value for each permanent magnet synchronous motor; k is si And controlling the rotating speed component of the weighted value for each permanent magnet synchronous motor.
In this step, the current real-time rotating speed and the real-time torque of the multiple motors are firstly detected and obtained through the sensors arranged in the system. The weighted value module is mainly composed of torque components and rotating speed components of multiple motors, so that weighted values are determined. Weight value K m Default to a given value 1/i (i is more than or equal to 2), and update the weight value in real time and apply the weight value to the control of the system motor.
Determining the ith motor torque component according to the actual load torques of the main motor and the corresponding motor:
K ti ＝T i /(T b +T i )
determining the rotation speed component of the ith motor according to the actual rotation speeds of the main motor and the corresponding motor:
K si ＝ω ri /(ω rb +ω ri )
to K m Denoising and filtering the torque component, and based on the torque component of the weighted value, carrying out the filtering on K m The range of the rotating speed component is judged, and the rotating speed component is compared to select an optimal value, specifically:
wherein, K m To control the weight value, K mi Weighting the rotating speed and the torque of each permanent magnet synchronous motor relative to the rated rotating speed and the rated torque; the weight of the rotating speed when the rotating speed is input, and the weight of the torque when the rotating speed is input; k ti Controlling the torque component of the weighted value for each permanent magnet synchronous motor; k si And controlling the rotating speed component of the weighted value for each permanent magnet synchronous motor.
The method is characterized in that a module for calculating the mean value of the rotating speed of the real-time motor is added, multiple motors driven by single variable frequency are controlled, each motor is refined, the independent rotating speed control performance of each motor is improved, and the closed-loop control of the rotating speed of the multiple motors is realized, and the method specifically comprises the following steps:
wherein, ω is rb The real-time rotating speed of the main motor is obtained; omega ri The real-time rotating speed of any motor is driven under a single frequency converter;
and the average real-time rotating speed value of the multiple motors is obtained.
And 4, step 4: multiplying the control weight value serving as a coefficient by the actual rotating speed of each slave motor, and taking the result as the corresponding differential rotating speed of each slave motor;
and 5: subtracting the difference value rotating speed from the actual rotating speed of the motor to be used as a target rotating speed, and controlling the rotating speed of the slave motor to be reduced to the target rotating speed;
and 6: when the rotating speeds of all the slave motors are the same, the regulation and control process is completed;
when the rotating speeds of all the slave motors are not the same, executing the step 2;
and when the rotating speed of the virtual main motor is less than or equal to zero, stopping the running of each permanent magnet synchronous motor.
The process is a temporary regulating and controlling process for the sudden change of the permanent magnet synchronous motor, when the rotating speeds of all the motors are the same, the regulation and the control are finished, and the normal operation process can be recovered. In the whole process, a virtual main motor is established, so that the rotating speed and the torque of the virtual main motor are close to the rotating speed and the torque of the motor with sudden change abnormality, but the motor with sudden change abnormality is not directly selected as the main motor to be regulated, firstly, the rotating speed and the torque of the motor with sudden change abnormality can be regulated and controlled in the regulation and control process, the condition that the sudden change abnormality is instantaneous or short-time is avoided, because the regulation process is dynamic, if the motor with sudden change abnormality is recovered, the virtual main motor is changed, and the regulation and control result can be more accurate; and secondly, establishing a virtual main motor with the rotating speed and the torque approaching to the rotating speed and the torque of the motor with the sudden change abnormality, aiming at trying to increase the rotating speed and the torque of the motor with the sudden change abnormality, wherein the increase amplitude is not too large, the damage to the motor caused by forcibly increasing the rotating speed and the torque when the motor with the sudden change abnormality fails and cannot be recovered is avoided, and aiming at reducing the rotating speed of the motor with the high rotating speed to the low rotating speed as soon as possible, so that the running process of the underwater vehicle is stable.
As shown in fig. 1, a specific embodiment of the present invention further provides a control system for multiple permanent magnet synchronous motors of an underwater vehicle, and a control method for multiple permanent magnet synchronous motors of an underwater vehicle, which can be operated, includes:
the device comprises a rotor flux linkage identification module, a virtual host establishment module, a control weight value calculation module, a negative torque detection module, a control circuit calculation module, a weighted magnetic field orientation control module and a single frequency converter driving module;
the input end of the rotor flux linkage identification module is connected with the permanent magnet synchronous motor; the output end of the rotor flux linkage identification module is respectively connected with the input end of the negative torque detection module and the input end of the control current calculation module; the input end of the virtual host establishing module is connected with the permanent magnet synchronous motor; the output end of the virtual host establishing module is connected with the input end of the control weight calculating module; the output end of the negative torque detection module and the output end of the control weight calculation module are connected with the input end of the control current calculation module; the output end of the control current calculation module is connected with the input end of the weighted magnetic field orientation control module; the output end of the weighted magnetic field orientation control module is connected with the input end of the single frequency converter driving module; the output end of the single frequency converter driving module is connected with the permanent magnet synchronous motor;
the rotor flux linkage identification module takes the rotating speed of the permanent magnet synchronous motor and three-phase stator current as input, outputs exciting current and stator current and is used for obtaining the exciting current and the stator current of the permanent magnet synchronous motor;
the virtual main motor establishing module is used for taking the rotating speed and the torque of the permanent magnet synchronous motor as input and outputting the rotating speed and the torque of the virtual main motor, and is used for establishing the rotating speed and the torque of the virtual main motor according to the rotating speed and the torque of all the permanent magnet synchronous motors;
the control weight calculation module takes the rotating speed of the virtual main motor, the rotating speed and the torque of the permanent magnet synchronous motor as input, outputs the rotating speed control weight component and the torque control weight component, and calculates the control weight value of the slave motor relative to the main motor according to the ratio of the rotating speed and the torque of the slave motor relative to the virtual main motor;
the negative torque detection module takes the stator current and the exciting current output by the rotor flux linkage identification module as input and outputs a torque control weight component, and is used for detecting whether the permanent magnet synchronous motor has negative torque and generating a signal when the permanent magnet synchronous motor has the negative torque;
the control current calculation module takes the stator current, the exciting current and the control weight output by the rotor flux linkage identification module as input, outputs a stator current weighting vector sum and vector difference and an exciting current weighting vector sum and vector difference, controls the weight value based on the real-time exciting current and stator current of the permanent magnet synchronous motor, and calculates the control current of the permanent magnet synchronous motor;
the weighted magnetic field orientation control module takes the weighted vector sum and vector difference of the stator current, the vector sum and vector difference of the excitation current as input, outputs a d-axis component and a q-axis component of the stator current vector sum, and generates a control signal based on the control current generated by the control current calculation module;
and the single-frequency converter driving module takes the d-axis component and the q-axis component of the stator current vector sum as input, outputs three-phase alternating voltage controlled by the permanent magnet synchronous motor, and drives the permanent magnet synchronous motor based on a control signal generated by the weighted magnetic field directional control module.
The rotor flux linkage identification module acquires the exciting current and the stator current of the permanent magnet synchronous motor through the following formulas;
wherein i mri ＝ψ ri /L m ；i mri Is the exciting current of the ith motor; psi ri The rotor flux linkage of the ith motor; l is m Is the excitation inductance of the motor; i.e. i si Is the stator current of the ith motor, n p Is the number of pole pairs of the motor; psi fi And the permanent magnet flux linkage of the ith motor.
Firstly, a rotor flux linkage recognizer is constructed according to a parallel control model of a single frequency converter driving multiple permanent magnet synchronous motors. And outputting the excitation current corresponding to each motor through the constructed rotor flux linkage recognizer according to the two-phase stator current output by the single frequency converter and the real-time rotating speed of the multiple motors.
Based on different working conditions and load conditions of each permanent magnet synchronous propulsion motor, a parallel model of a plurality of permanent magnet synchronous propulsion motors is established, namely:
wherein, A = S r L m ；
The average current of the stator current sum of each motor; delta I s1 ，ΔI s2 ，…，ΔI sn The difference value of the stator current of each motor is obtained; />
And &>
Dq-axis components of the average rotor flux linkage, respectively; delta psi r1 ，Δψ r2 ，…，Δψ rn The difference value of the rotor flux linkage of each motor is obtained; />
The average value of the permanent magnet flux linkage of each motor is obtained; delta psi f1 ，Δψ f2 ，…，Δψ fn The flux linkage difference value of the permanent magnet of each motor is obtained; s r Is the derivative of the motor rotor time constant; />
Averaging time constants of the motors; delta S r1 ,ΔS r2 ,…ΔS rn Is the derivative difference of the time constants of the motors.
In combination with the actual working condition of the underwater vehicle, in consideration of the characteristics of the synchronous motor, under the condition that the normal work of the motor is not influenced, the rotating speed difference exists between the synchronous motor and the asynchronous motor, and the parameter difference of the output electrical angular speed of each motor frequency converter and the angular speed of the motor can be ignored as shown in fig. 2. According to the dynamic equivalent diagram of the single frequency converter driving multi-permanent magnet synchronous propulsion motor considering iron loss in fig. 2, a parallel vector control model is obtained, and a rotor flux linkage recognizer is constructed as follows.
Wherein i mri ＝ψ ri /L m ；i mri Is the exciting current of the ith motor; psi ri The rotor flux linkage of the ith motor; l is m Is the excitation inductance of the motor; i.e. i si Is the stator current of the ith motor, n p Is the number of pole pairs of the motor; psi fi And the permanent magnet flux linkage of the ith motor.
Past weight value K m All the motors are constants or artificially given, a small part of the motors calculate the weighted values through a special algorithm, and the invention determines the weighted values through a special algorithm by tracking the rotating speeds and torques of a plurality of motors in real time. Defining a single frequency converter driving multi-motor weight value K m And establishing a weighted value and difference value module. As shown in fig. 3, the multi-parallel permanent magnet synchronous motor weight distribution vector diagram:
wherein i mra The vector sum of the exciting currents of the permanent magnet synchronous motors; i all right angle mrc The vector difference of the excitation currents of the permanent magnet synchronous motors is obtained; i.e. i sa The current vectors of the stators of the permanent magnet synchronous motors are summed; i.e. i sc And the current vector difference of the stators of the permanent magnet synchronous motors.
And respectively distributing weighted values to the sum and difference of the excitation current vectors and the sum and difference of the stator current and the difference vector of the output multiple permanent magnet synchronous motors. According to FIG. 3, θ a Converting a static coordinate system into an included angle of a rotating coordinate system, obtaining a compensation angle (the angle is measured by an angle measuring system) by the same phase of voltage generated by SVPWM and counter electromotive force of a motor, and obtaining a mechanical angle rotation by the angle measuring systemAlternatively, the rotation angle theta is determined a 。
Where park is the rotational coordinate system orientation and the variables labeled "d" and "q" are the rotational coordinate system components.
The sum and difference of the exciting currents of a plurality of permanent magnet synchronous motors is mra i mrc Stator current i sa i sc The d and q axis components are performed. According to
Can be got and/or judged>
Angle of flux linkage is synchronous with d-axis, exciting current and i mra Q-axis component of +>
According to the above
And &>
Is given a given value>
The current closed-loop control can be obtained by the formula, and the conventional control method of the system needs the weight value K m Taken constant, and to which the invention relates>
As the weight value changes.
The active load of the motor is controlled by combining the relation between the torque and the differential current of the multiple motors, and the expression of the sum and the difference of the torque of the multiple motors can be obtained under the condition that the loads of the multiple permanent magnet synchronous motors are unbalanced:
wherein: k x ＝1.5n p L m ，K y ＝1.5n p L m /L r ；
A permanent magnet rotor flux; l is m An excitation inductance; n is p Is electricity; number of machine pole pairs, i mrb i sb The excitation current and the stator current of the main motor.
Combining the above, the equation of the multi-motor torque current can be obtained as follows:
according to the formula, the real-time torque and T of multiple motors are determined for the condition of unbalanced load of multiple motors of a single frequency converter a Can be made of
And the torques and the control of the n motors are realized. By determining the real-time torque difference T between two multi-motor pairs c Can be selected by>
And realizing the torque difference control of the n motors.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (7)
1. A control method for a plurality of permanent magnet synchronous motors of an underwater vehicle is characterized by comprising the following steps:
when the rotating speed of the permanent magnet synchronous motor changes suddenly, the permanent magnet synchronous motor is regulated and controlled, and the method comprises the following specific steps:
step 1: establishing a weight function for determining the rotating speed and the torque of the virtual main motor;
step 2: simultaneously, the rotating speed and the torque of the permanent magnet synchronous motors are respectively used as the input of a weight function, the output of the weight function is used for virtualizing the rotating speed and the torque of a main motor, and all the permanent magnet synchronous motors are used as slave motors;
and step 3: the ratio of the rotating speed and the torque of each slave motor to the rotating speed and the torque of the master motor is determined according to the ratio, the rotating speed and the torque of the slave motor are weighted, and the weighted value is used as the control weighted value of the slave motor;
and 4, step 4: multiplying the control weight value serving as a coefficient by the actual rotating speed of each slave motor, and taking the result as the corresponding differential rotating speed of each slave motor;
and 5: subtracting the difference rotating speed from the actual rotating speed of the motor to be used as a target rotating speed, and controlling the rotating speed of the slave motor to be reduced to the target rotating speed;
step 6: when the rotating speeds of all the slave motors are the same, the regulation and control process is completed;
and when the rotating speeds of all the slave motors are not the same, executing the step 2.
2. The method of controlling multiple permanent magnet synchronous motors of an underwater vehicle according to claim 1, wherein said step 3 further comprises doubling the control weight value when a negative torque appears from the motor;
and step 6 also comprises stopping the running of each permanent magnet synchronous motor when the rotating speed of the virtual main motor is less than or equal to zero.
3. The method for controlling multiple permanent magnet synchronous motors of an underwater vehicle as claimed in claim 2, wherein the method for judging the occurrence of negative torque from the motors in the step 3 is as follows: when the sum of the output torques of all the slave motors is smaller than the difference of the output torques, it is determined that a negative torque occurs in the slave motor.
4. The method for controlling multiple permanent magnet synchronous motors of an underwater vehicle according to claim 1, wherein in step 1, the formula of the weight function is:
k is the weight of the rotating speed or the torque of each permanent magnet synchronous motor relative to the rated rotating speed or the rated torque; k is the weight of the rotating speed when the rotating speed is input, and K is the weight of the torque when the torque is input; omega max The maximum rotating speed of the motor is obtained; omega min The minimum rotation speed of the motor.
5. The method for controlling multiple permanent magnet synchronous motors of an underwater vehicle according to claim 1, wherein in step 3, the calculation formula of the control weight values is as follows:
wherein, K m To control the weight value, K mi Weighting the rotating speed and the torque of each permanent magnet synchronous motor relative to the rated rotating speed and the rated torque, wherein the weighting is the rotating speed when the rotating speed is input, and the weighting is the torque when the torque is input; k ti Controlling the torque component of the weighted value for each permanent magnet synchronous motor; k si And controlling the rotating speed component of the weighted value for each permanent magnet synchronous motor.
6. A control system of multiple permanent magnet synchronous motors of an underwater vehicle, capable of operating the control method of multiple permanent magnet synchronous motors of an underwater vehicle according to claims 1-5, characterized in that it comprises:
the device comprises a rotor flux linkage identification module, a virtual host establishment module, a control weight value calculation module, a negative torque detection module, a control circuit calculation module, a weighted magnetic field orientation control module and a single frequency converter driving module;
the input end of the rotor flux linkage identification module is connected with a permanent magnet synchronous motor; the output end of the rotor flux linkage identification module is respectively connected with the input end of the negative torque detection module and the input end of the control current calculation module; the input end of the virtual host establishing module is connected with the permanent magnet synchronous motor; the output end of the virtual host establishing module is connected with the input end of the control weight calculating module; the output end of the negative torque detection module and the output end of the control weight calculation module are connected with the input end of the control current calculation module; the output end of the control current calculation module is connected with the input end of the weighted magnetic field orientation control module; the output end of the weighted magnetic field directional control module is connected with the input end of the single frequency converter driving module; the output end of the single frequency converter driving module is connected with the permanent magnet synchronous motor;
the rotor flux linkage identification module is used for acquiring the exciting current and the stator current of the permanent magnet synchronous motor;
the virtual main motor establishing module is used for establishing the rotating speed and the torque of the virtual main motor according to the rotating speed and the torque of all the permanent magnet synchronous motors;
the control weight calculation module is used for calculating a control weight value of the slave motor relative to the master motor according to the rotating speed and the torque ratio of the slave motor relative to the virtual master motor;
the negative torque detection module is used for detecting whether the permanent magnet synchronous motor generates negative torque or not and generating a signal when the permanent magnet synchronous motor generates the negative torque;
the control current calculation module is used for calculating the control current of the permanent magnet synchronous motor based on the real-time excitation current and the real-time stator current of the permanent magnet synchronous motor and the control weight value;
the weighted magnetic field orientation control module generates a control signal based on the control current generated by the control current calculation module;
and the single frequency converter driving module drives the permanent magnet synchronous motor based on the control signal generated by the weighted magnetic field directional control module.
7. The system for controlling multiple permanent magnet synchronous motors of an underwater vehicle according to claim 6, wherein the rotor flux linkage identification module obtains the excitation current and the stator current of the permanent magnet synchronous motors by the following formulas:
wherein the content of the first and second substances,
；i mri is the exciting current of the ith motor; psi ri The rotor flux linkage of the ith motor; l is m Is the excitation inductance of the motor; i.e. i si Is the stator current of the ith motor, n p Is the number of pole pairs of the motor; psi fi The permanent magnet flux linkage of the ith motor; s r The derivative of the time constant of the motor rotor.
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