CN113687161A - Flywheel pulse power supply large inertia load characteristic simulation device - Google Patents
Flywheel pulse power supply large inertia load characteristic simulation device Download PDFInfo
- Publication number
- CN113687161A CN113687161A CN202110963101.9A CN202110963101A CN113687161A CN 113687161 A CN113687161 A CN 113687161A CN 202110963101 A CN202110963101 A CN 202110963101A CN 113687161 A CN113687161 A CN 113687161A
- Authority
- CN
- China
- Prior art keywords
- curve
- motor
- torque
- flywheel
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 claims abstract description 62
- 230000001133 acceleration Effects 0.000 claims abstract description 39
- 238000012360 testing method Methods 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims description 41
- 238000004364 calculation method Methods 0.000 claims description 18
- 239000011159 matrix material Substances 0.000 claims description 16
- 238000005070 sampling Methods 0.000 claims description 12
- 101000841267 Homo sapiens Long chain 3-hydroxyacyl-CoA dehydrogenase Proteins 0.000 claims description 11
- 102100029107 Long chain 3-hydroxyacyl-CoA dehydrogenase Human genes 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 11
- JJYKJUXBWFATTE-UHFFFAOYSA-N mosher's acid Chemical compound COC(C(O)=O)(C(F)(F)F)C1=CC=CC=C1 JJYKJUXBWFATTE-UHFFFAOYSA-N 0.000 claims description 11
- 238000009826 distribution Methods 0.000 claims description 9
- 230000014509 gene expression Effects 0.000 claims description 9
- 230000004907 flux Effects 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 238000004146 energy storage Methods 0.000 abstract description 14
- 238000011217 control strategy Methods 0.000 abstract description 5
- 238000012795 verification Methods 0.000 abstract description 4
- 230000008859 change Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000011056 performance test Methods 0.000 abstract 1
- 239000000306 component Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- XOFYZVNMUHMLCC-ZPOLXVRWSA-N prednisone Chemical compound O=C1C=C[C@]2(C)[C@H]3C(=O)C[C@](C)([C@@](CC4)(O)C(=O)CO)[C@@H]4[C@@H]3CCC2=C1 XOFYZVNMUHMLCC-ZPOLXVRWSA-N 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A flywheel pulse power supply large inertia load characteristic simulation device does not need to depend on a torque sensor and does not need to be additionally provided with an auxiliary flywheel disc, so that the test requirement that the acceleration time of a tested energy charging motor is shortest is met as a constraint condition, and through the design of the change rate of the torque and the rotating speed of the simulation device along with time, the simulation device can accurately simulate the large inertia load characteristic of a flywheel pulse power supply system. The device and the method for simulating the large inertia load characteristics can provide convenient test conditions for the verification of the steady state and dynamic performance of the charging motor of the flywheel pulse power supply system and the optimization of a control strategy, and shorten the performance test time of the charging motor of the large inertia flywheel energy storage system such as the flywheel pulse power supply system.
Description
Technical Field
The invention relates to a large inertia load characteristic simulation device of a flywheel pulse power supply.
Background
The flywheel pulse power supply is a special power supply system which utilizes a large inertia flywheel to realize energy storage and can output high-power electric energy for supplying power to a load in a short time, and the application is very wide. The flywheel pulse power supply mainly comprises a flywheel energy charging motor, a flywheel and a generator, the working process of the flywheel pulse power supply can be divided into two stages of energy charging and energy releasing, the energy charging stage stores mechanical energy by driving the flywheel to rotate in an accelerating mode through the energy charging motor, the energy releasing stage releases the mechanical energy stored by the flywheel to the outside quickly through the generator, and a single set of unit can achieve hundred megawatt-level pulse power output. The pulse power supply system based on flywheel energy storage realizes conversion and storage from mechanical energy to electric energy by dragging a flywheel to rotate in an accelerating way through an energy charging motor, the energy charging motor generally adopts alternating current motors such as an asynchronous motor and a synchronous motor and is coaxially installed with the flywheel and a generator, the energy charging motor is used as a core component for realizing mutual conversion between electric energy and mechanical energy in the flywheel energy storage system, and the performance of the energy charging motor directly influences the performance of the whole flywheel energy storage system. The process of realizing flywheel energy charging through the acceleration of the energy charging motor is used as a necessary preposed link before the flywheel pulse power supply discharges, the time consumption of the stage is an important factor influencing the rapidity of the output electric energy of the flywheel pulse power supply, and the examination of the energy charging speed of the energy charging motor becomes a specific requirement for realizing the rapid output of a pulse power supply system.
The flywheel pulse power supply system has better advantages in volume energy ratio and energy conversion efficiency, but the large-inertia flywheel pulse power supply system has the advantages that the size and the mass of the whole set of equipment are large due to the existence of the flywheel disc, strong vibration and noise are easily generated in the experimental process, once mechanical faults occur, the safety of peripheral equipment and personnel can be greatly threatened, and the problems cause the troublesome problems that the large-inertia flywheel system has long test period, high test cost and the like in the principle verification stage. The method is an effective means for verifying the dynamic and static performances of the flywheel system energy charging motor. For an indoor test bed for researching the performance of a flywheel pulse power supply, a key technology is how to truly simulate the rotational inertia of a flywheel, and the accurate simulation of the rotational inertia is a precondition for realizing the consistency of the working condition of the test bed and the actual operation working condition of a flywheel pulse power supply system.
At present, the inertia test bed mainly has two types, namely flywheel mechanical inertia simulation and electric inertia simulation. Although the mechanical inertia simulation test bed is simple to control, the problems of large structure of a rack, poor inertia simulation precision, discontinuous inertia simulation and the like exist, and the pure mechanical inertia simulation test bed can not meet the test requirements gradually. With the progress of computer technology and motor control technology, the electric inertia simulation test bed is rapidly developed, the compensation of the rotational inertia is realized by controlling the output torque and the rotating speed of the load simulation motor in the test process, so that the dynamic characteristic of the test system approaches to an ideal flywheel system, and compared with the pure mechanical inertia simulation, the electric inertia simulation test bed can realize the accurate matching of the test inertia.
Patent 201310262944.1 discloses a brake electrical inertia simulation test bed and an electrical inertia simulation control method thereof, which realizes the simulation of brake electrical inertia based on a torque sensor, a flywheel, a dragging motor, a speed sensor and an electrical inertia simulation control unit. Similarly, patent 201710104555.4, "a flywheel-generator set inertia simulation system", patent 201410315638.4, "a directly set load torque and rotational inertia simulation system and a control method thereof," and patent 200810114716.9, "a new dynamic inertia simulation principle" all adopt a mode that a small inertia flywheel disc is coaxially connected with a load motor, and realize the inertia simulation by applying torque and rotating speed to the load motor, and an additional inertia disc and a torque sensor are necessary components for ensuring the work of the system. The above patents all construct a flywheel simulation device based on the principle of simulating mechanical inertia by electrical inertia, and although the above simulation device can simulate the load characteristics of a large inertia flywheel, the following problems exist in practical application. Firstly, the existing electric inertia simulation method relies on a small inertia flywheel to realize the compensation of electric inertia, the small inertia flywheel disc replaces a large inertia flywheel to simplify the complexity of flywheel installation, but the existence of the small flywheel still brings troubles to the shafting design, installation and protection of the simulation device; secondly, in order to realize the torque control of the load motor, the electric inertia simulation device needs to measure the torque information of the load simulation motor in real time, a torque sensor needs to be coaxially installed in order to realize the torque measurement, and for a high-power flywheel simulation device, the purchase and installation costs of the sensor need to be considered; meanwhile, the existing method only realizes the simulation of the rotating speed and the torque characteristics of the flywheel, and the requirement of the loading process of the energy-charging motor on the evaluation of the accelerating rapidity index cannot be met because the test limit of the simulation device is not planned in advance on the basis of comprehensively considering the load and the power output capacity of the tested motor.
Therefore, the method for simulating the load characteristic of the large inertia flywheel, which meets the test requirement of the shortest acceleration time of the tested energy charging motor, does not need to add a small inertia flywheel and a torque sensor, and has practical significance for truly simulating the large inertia load characteristic of the energy charging motor under the application condition of a pulse power supply system.
Disclosure of Invention
The invention aims to overcome the problems that an auxiliary small inertia flywheel and a coaxially connected torque sensor are needed in the existing flywheel load characteristic simulation device based on electric inertia simulation, the requirement for speed-up rapidity index check in the process of dragging a load by an energy-charging motor is not considered, and the like, and provides a flywheel pulse power supply large inertia load characteristic simulation device. The invention can meet the test requirement of shortest acceleration time when the tested charging motor is loaded with a large inertia flywheel, does not depend on a small inertia flywheel on a shaft system and does not need to be coaxially connected with a torque sensor, can more accurately realize the simulation of the load characteristic of the large inertia flywheel in a pulse power supply system in a laboratory environment, and considers the requirement of the tested charging motor on the speed-up rapidity index examination in the loading process. The invention provides a simulation load for the steady-state and dynamic loading process of the energy charging motor of the flywheel pulse power supply system and provides a convenient test condition for the performance verification and control strategy optimization of the energy charging motor, thereby shortening the bench test verification time of the energy charging motor of the flywheel pulse power supply system and reducing the research and development period and the research and development cost of the pulse power supply system.
The invention discloses a large inertia load characteristic simulation device of a flywheel pulse power supply, which comprises: the inertia simulation device controls the upper computer, the load motor, a rotating speed sensor coaxially mounted on a load motor rotor, a load motor frequency converter used for controlling the load motor, the tested energy charging motor and the tested energy charging motor frequency converter. The inertia simulation device controls the upper computer to be connected with the load motor frequency converter and the tested energy charging motor frequency converter through a CAN bus; the load motor frequency converter is respectively connected with the alternating current power grid and the load motor through power cables; the rotating speed sensor is installed on a rotor shaft of the load motor, the signal output end of the rotating speed sensor is connected with the speed measuring signal input end of a load motor frequency converter, and the load motor frequency converter uploads the collected rotating speed signals to the inertia simulation device through a CAN bus to control the upper computer.
The moment of inertia of the flywheel is J, and the moment of inertia of the load motor is Jm，J>>Jm(ii) a Flywheels are generally mounted in a vacuum chamber, with a friction torque TfNeglected, the "acceleration characteristic" of the flywheel described by the acceleration a is:
let t0～t1During the time period, the angular speed of the flywheel is controlled by
Is accelerated to
The electromagnetic torque for accelerating the flywheel driven by the charging motor is TeAnd then the energy storage characteristic of the flywheel in the acceleration process meets the following requirements:
where Δ E is the increment of the energy stored by the flywheel.
In the flywheel pulse power supply system, an energy charging motor is coaxially connected with an energy storage flywheel, and the energy charging motor drives the flywheel to increase the speed to complete the energy charging process of the flywheel pulse power supply system. The charging motor is usually an alternating current motor such as an induction motor and a synchronous motor, and is coaxially connected with a large inertia flywheel of a pulse power supply system, so that the torque-rotating speed characteristic of the flywheel in the acceleration process is determined by the external characteristic of the charging motor. The typical external characteristic curve of an ac motor can be divided into two parts, a constant torque operating region and a constant power operating region: when the device works in a constant-torque working area, the maximum output torque is kept unchanged and does not change along with the change of the rotating speed; in the constant power region, the maximum output torque decreases with the increase of the rotation speed, and the output power is kept unchanged, and the working characteristics of the flywheel when the energy charging motor drags the flywheel under two typical working modes of constant torque and constant power are respectively described below.
Mode 1: constant torque mode
t0～t1During the time period, the angular speed of the flywheel is changed from the initial value
Is accelerated to
The time consumed by the acceleration process is tr＝t1-t0In constant torque mode, the electromagnetic torque T of the motor is charged during the speed raising processeRemains unchanged, so the equation of motion of the flywheel can be written according to the aforementioned "acceleration characteristic" of the flywheel and newton's second law:
where a is the acceleration of the flywheel, and in the constant torque mode, the "acceleration characteristic" of the flywheel can be expressed as:
according to the motion equation of the flywheel, the acceleration time t of the flywheel can be obtainedrIn the constant torque mode, the "acceleration time characteristic" of the flywheel can be expressed as:
wherein J is the moment of inertia of the flywheel; t is t0Is the initial moment of flywheel acceleration, at which moment the flywheel angular velocity is
t1Is the moment when the flywheel acceleration is completed, the flywheel angular velocity is
Acceleration time of flywheel: t is tr＝t1-t0。
Mode 2: constant power mode
t0～t1Within a time period, the tested energy charging motor drags the angular speed of the flywheel to be changed from an initial value
Is accelerated to
Maximum output power P in the process of increasing speedmaxRemaining unchanged, i.e. the function of the power over time during the ramp-up P (t) PmaxIs constant.
Assuming time t for the acceleration processr，t0The electromagnetic torque of the motor charged at any moment is Te0Since the power remains constant during constant power operation, for any angular velocity omega,
the torque output by the tested charging motor is,
in the constant power mode, the "acceleration characteristic" of the flywheel can be expressed as:
energy storage variable quantity in the process of flywheel acceleration: Δ E ═ p: (j:)t)dt＝Pmax∫dt＝Pmaxtr
In combination with the energy storage characteristic equation of the flywheel given above,
in the constant power mode, the "acceleration time characteristic" of the flywheel can be expressed as:
wherein J is the moment of inertia of the flywheel; omega is the angular speed of the tested energy-charging motor; t ise(omega) is the torque output by the tested energy-charging motor when the angular speed value omega is taken; t is t0Corresponding to the initial moment of flywheel acceleration, at which the flywheel has an angular velocity of
The electromagnetic torque of the tested energy charging motor at the moment is Te0；t1Corresponding to the moment when the flywheel acceleration is completed, the flywheel angular velocity is
a is the acceleration of the flywheel; p (t) is a function of the output power of the energy-charging motor with time t, and P (t) is PmaxIs a constant; and delta E is the variation of stored energy in the process of accelerating the flywheel.
The description of the load characteristic of the inertia flywheel can be realized through the three characteristics of the energy storage characteristic, the acceleration time characteristic and the like.
The invention adopts the permanent magnet synchronous motor as a load motor, and the permanent magnet motor is used for simulating the large inertia load characteristic of the flywheel. The specific implementation process is as follows: the inertia simulation device controls the upper computer to complete the calculation of torque and rotating speed control instructions in the upper computer of the inertia simulation device according to the set to-be-simulated rotational inertia J and the known T-omega external characteristic curves of the load motor and the tested motor under the constraint condition of the shortest acceleration time; the inertia simulation device controls the upper computer to send the rotating speed instruction value to the tested energy charging motor frequency converter through the CAN bus, and the rotating speed closed-loop control of the tested motor is completed by utilizing the rotating speed closed-loop control function of the tested energy charging motor frequency converter; the inertia simulation device controls the upper computer to send the torque instruction value to the load frequency converter through the CAN bus, the main control unit of the load frequency converter completes the calculation of d-axis and q-axis current instruction values according to the torque instruction value, the d-axis and q-axis current control software in the main control unit of the load frequency converter is utilized to complete the closed-loop control of current, the tracking of the torque instruction value is realized, and the torque is applied to the tested charging motor.
Taking a flywheel with the rotational inertia of J as an example, the tested charging motor and the load motor are both alternating current motors, wherein the load motor is a three-phase alternating current permanent magnet synchronous motor, the tested charging motor can be a permanent magnet motor, an asynchronous motor or other forms of alternating current motors, and the external T-omega characteristic curves of the tested charging motor and the load motor are known, and based on the premise conditions, the method for simulating the large inertia load characteristic of the flywheel pulse power supply based on the minimum acceleration time planning comprises the following steps:
process 1, solving working area of flywheel pulse power supply inertia simulation device and calculating torque, rotating speed and action time
The process is completed in an upper computer controlled by an inertia simulation device.
The inertia simulation device can be compatible with a plurality of types of charging motors with different power grades in the set ranges of the rotating speed and the torque, and the maximum rotating speed and the maximum torque of the load motor are considered when the load motor is selected, and enough allowance is reserved. The large inertia load simulator is in coaxial mechanical connection with the tested energy charging motor through the coupler, and in order to ensure that the two motors are not overloaded, the maximum rotating speed and the maximum torque index which can be realized by the inertia simulator are jointly determined by the external T-omega characteristics of the load motor and the tested energy charging motor.
Step 1: obtaining limit operation curve of inertia simulation device
A coordinate system is established by taking the rotating speed omega as a horizontal axis and the torque T as a vertical axis, and T-omega external characteristic curves of the load motor and the tested charging motor can be drawn under the coordinate system. The operable area of the load motor and the tested charging motor is an area enclosed by the T-omega external characteristic curve of the motor, the horizontal axis and the vertical axis of the coordinate system. In order to ensure that the load motor and the tested energy charging motor are not overloaded in the operation process of the inertia simulation device, the working area of the inertia simulation device is determined by the intersection of the working areas of the load motor and the tested energy charging motor. In particular, the boundary of the working area of the load motor and the tested charging motor is used as the limit operating curve of the inertia simulation device, the limit operating curve represents the maximum load capacity of the inertia simulation device, and on the basis of obtaining the limit operating curve of the inertia simulation device, the invention can meet the requirement of the shortest acceleration time test of the tested charging motor by applying control action to enable the inertia simulation device to operate along the working condition described by the curve.
The 'limit operation curve' of the inertia simulation device generally consists of a plurality of curve segments, each curve segment can be classified as a constant torque curve or a constant power curve of a motor, the 'limit operation curve' of the inertia simulation device is taken as an example to explain the solving process, and when the number of the curve segments is other values, the similar process can be adopted to solve:
and numbering the three sections of curve segments, namely a first section, a second section and a third section respectively. The extreme operation curve of the inertia simulation device consisting of curve segments II 2, II 0 and II 4 has the following characteristics: 1) the curve segment I is a constant torque curve, the abscissa of the curve segment is gradually increased from zero, and the ordinate of the curve segment is kept unchanged and corresponds to the constant torque characteristic that the maximum torque output in the process of increasing the rotating speed of the motor is unchanged; 2) the curve sections II 3 and III are constant power curves, the torque represented by the ordinate of the curve is reduced along with the gradual increase of the rotating speed represented by the abscissa, and the torque corresponds to the constant power characteristic that the maximum power output in the rotating speed increasing process of the motor is kept unchanged; 3) the first, second and third curve segments are connected in the first place to form a continuous curve. Curve segments of first, second and thirdThe starting and ending points may be O (0, T)e2)、A(ω1，Te2)、B(ω2，Te3)、C(ωmax，Te4) The points a and B are the intersection points of the external T- ω characteristic curves of the load motor and the motor to be measured, and the points O and C are ω ═ 0 and ω ═ ω, respectivelymaxThe coordinate values of four points such as the point O, the point A, the point B and the point C can be obtained by solving the intersection point of the expressed straight line and the T-omega external characteristic curve.
Step 2: calculating the torque command value of the inertia simulator
Referring to the above-mentioned "acceleration time characteristics" of the flywheel, the torque command value of the inertia simulation device
The inertia simulator can be used to simulate the torque command values along the curves
And
the segmentation is represented as:
wherein ω is the angular velocity of the flywheel;
the torque instruction value of the inertia simulation device is obtained;
and
respectively representing torque command values when the inertia simulation device runs along curves I, II and III and the angular speed of the flywheel is omega; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3The torque value corresponding to the end position of the curve (c).
And step 3: calculating the rotating speed instruction value of the inertia simulation device
By referring to the acceleration characteristic of the flywheel, the rotation speed command value omega of the inertia simulator in the operation process can be obtained along the curve*(t) expression as a function of time t:
wherein, ω is*(t) is a rotating speed instruction value of the inertia simulation device at the moment t; j is the moment of inertia of the flywheel; t is tr①、tr②And tr③Simulating the operation duration of the device along the curve segments I, II and III; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3The torque value corresponding to the end position of the curve (c).
Referring to the acceleration time characteristic of the flywheel, the starting point/end point coordinates of the curve segments (i), (ii) and (iii) obtained in the step 1 can be used for respectively obtaining:
wherein, tr①、tr②And tr③Simulating the operation duration of the device along the curve segments I, II and III; j is the moment of inertia of the flywheel; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3The torque value corresponding to the end position of the curve (c).
Based on the process, the acquisition of the running area of the flywheel pulse power supply inertia simulation device and the calculation of the control instruction based on the minimum time planning are completed.
Process 2, controlling the torque of the load motor of the inertia simulator
The process is completed in a main control unit of the load motor frequency converter.
Step 1: obtaining load motor inductance Ld、LqWith id、iqVariable functional expressions
Based on the least square principle, the dq axis component L of the stator inductance of the load motor is completedd、LqFitting the curve and determining the value of the fitted quadratic polynomial coefficient.
With known load motors at different id、iqInductance L under currentd、LqThe value of (A) is as follows:
Ld1＝fd(id1,iq1)，Ld2＝fd(id2，iq2)，……，LdM＝fd(idM，iqM)
Lq1＝fq(id1，iq1)，Lq2＝fq(id2，iq2)，……，LqN＝fq(idN，iqN)
respectively substituted into the above quadratic polynomials, and expressed in matrix form,
wherein M, N is known positive integer, and corresponds to different id、iqUnder current Ld、LqThe number of data points of (a); l isdi＝fd(idi，iqi) Taking the value i for the currentdi、iqiThe d-axis inductance value i of the stator of the load motor is 1,2, … and M; l isqj＝fq(idj,iqj) For a current value of idj、iqjThe q-axis inductance value of the stator of the load motor, j, is 1,2, …, N.
In the above formula, the division matrix a ═ a20 a02 a11 a10 a01 a00]T、B＝[b20 b02 b11 b10 b01 b00]TBesides, the others are known quantities, and a matrix A and a matrix B can be obtained through matrix operation, so that L is obtaineddCoefficient a of a quadratic polynomial20、a02、a11、a10、a01、a00And L isqCoefficient b of a quadratic polynomial20、b02、b11、b10、b01、b00。
Step 2: obtaining stator current d and q axis component i based on maximum torque current ratio (MTPA)d、iqLaw of distribution
The torque expression of the load motor is,
wherein, TeIs the torque of the load motor; i.e. isIs the load motor stator current; i.e. id、iqD and q axis components of the stator current of the load motor; l isd、LqThe inductors are used for loading d and q axes of a motor; n ispAnd
the number of pole pairs of the rotor magnetic poles of the load motor and the rotor permanent magnet flux linkage are respectively constant for the load motor with determined model.
At the stator current i of the load motorsWhen a constant value is maintained, the torque T can be enabled by distributing the d-axis current and the q-axis current by adopting a maximum torque current ratio (MTPA) current distribution strategyeTake the maximum value, and TeWhen the maximum value is taken, the current is satisfied,
equation (6) is the stator current i of the load motor based on the maximum torque current ratio (MTPA)d、iqAnd (4) allocating the law.
And step 3: calculating d-axis and q-axis current command values of load motor according to torque command
A united vertical type (4), a formula (5) and a formula (6),
torque command value obtained in step 2 of procedure 1
Into the above formula, i.e., order
Obtaining a torque command value by solving the equation set
I of the corresponding currentdAnd iq。
To obtain idAs an initial value of the d-axis current command
Namely, it is
To obtain iqAs an initial value of the q-axis current command
Namely, it is
In order to ensure that the load motor operates under the constant-power working condition, the calculated d-axis current instruction initial value
Output delta i of PI regulator with weak magnetic loopdThe added command value of d-axis current
That is to say that the first and second electrodes,
initial value of q-axis current command
Directly as the command value of the q-axis current
That is to say that the first and second electrodes,
the command values as d and q axis currents of the load motor are loaded on the current inner ring;
and 4, step 4: calculating to obtain d and q axis voltage command signals u of stator of load motord、uq：
The method comprises the steps of obtaining a load motor three-phase current sampling value obtained by sampling a current sampling circuit of a load motor frequency converter, and obtaining a current sampling value i under a d-q axis coordinate system through Clark and Park coordinate transformationdAnd iqAnd 3. the load motor stator obtained in the step 3Command values of d and q-axis components of current
Respectively associated with current sample values id、iqMaking difference, and obtaining stator d and q axis voltage command signals u of the load motor through the closed-loop control action of a load motor frequency converter d and q axis current controllerd、uq，
In the above formula, kpd,kidProportional coefficient and integral coefficient of d-axis current regulator respectively; k is a radical ofpq,kiqThe q-axis current regulator proportionality coefficient and integral coefficient are respectively.
And 5: the load motor stator voltage command signal u obtained in the step 4 is processedd、uqAnd as the input of a later-stage SVPWM link, generating 6 paths of PWM driving control signals through the operation of a space vector modulation SVPWM strategy operated in a main control unit of the load motor frequency converter, outputting the PWM driving control signals to a power driving circuit of the load motor frequency converter, and controlling the on and off of a three-phase fully-controlled bridge through the power driving circuit to realize the closed-loop control of the load motor.
Controlling the upper computer to obtain the rotating speed instruction value omega calculated in the step 3 in the process 1 by the inertia simulation device*The value is sent to the tested energy-charging motor frequency converter through the CAN bus, and the rotating speed control of the inertia simulation device is completed by utilizing the rotating speed closed-loop control function of the tested motor frequency converter.
In summary, the invention is based on the analysis of three characteristics of the flywheel pulse power supply, such as 'energy storage characteristic', 'acceleration characteristic' and 'acceleration time characteristic', takes the shortest acceleration time as the constraint condition, and completes the torque, the rotating speed and the acceleration of the large-inertia flywheel system by the control upper computer of the load simulation device on the basis of not depending on a torque sensor and not needing to additionally install an auxiliary flywheel discAnd calculating three factors of action time, and respectively sending the rotating speed and the torque command value obtained by calculation to the tested energy-charging motor frequency converter and the load motor frequency converter. The rotating speed control of the inertia simulation device is completed by utilizing the rotating speed closed-loop control function of the frequency converter of the tested energy-charging motor; in a main control unit of a load motor frequency converter, stator current d and q axis components i are completed based on a maximum torque current ratio (MTPA) strategyd、iqThe method comprises the steps of obtaining a distribution law, converting a torque instruction value into a current instruction value, completing the equivalence of the output torque of a load motor and the torque of a tested motor and a large-inertia flywheel load at any rotating speed through the closed-loop control action of a load motor frequency converter on current, and further realizing the simulation of the torque characteristic of the large-inertia flywheel.
Drawings
FIG. 1 is a schematic diagram of a connection relationship between an energy charging motor and an energy storage flywheel of a flywheel pulse power supply system;
FIG. 2 is a schematic diagram of a connection relationship between an inertia simulation apparatus and a tested charging motor;
FIG. 3 acquisition of an "extreme operating curve" of the inertia simulation apparatus;
FIG. 4 is a block diagram of the control scheme of the inertia simulator;
FIG. 5 shows d-axis inductance L of load motordWith id、iqCurve L of variationd＝fd(id,iq)；
FIG. 6 shows q-axis inductance L of load motorqWith id、iqCurve L of variationq＝fq(id,iq)。
Detailed Description
The invention is further described below with reference to the accompanying drawings and the detailed description.
Fig. 1 is a schematic diagram of a connection relationship between an energy charging motor and an energy storage flywheel of a flywheel pulse power supply system. As shown in FIG. 1, the tested energy charging motor is coaxially connected with the large inertia flywheel and drives the flywheel to rotate so as to realize energy storage. The resistance torque generated in the rotation process of the flywheel is balanced with the torque output by the energy charging motor.
The invention adopts a large inertia load simulation device to replace a real flywheel to provide a loading test environment for the energy charging motor of the flywheel pulse power supply system, the simulation device and the energy charging motor serving as a tested motor are in coaxial mechanical connection through a coupler, and the connection principle of the simulation device and the energy charging motor is shown in figure 2. The embodiment of the large inertia load characteristic simulation device of the flywheel pulse power supply comprises the following steps: the inertia simulation device controls the upper computer, the load motor, a rotating speed sensor coaxially mounted on a load motor rotor, a load motor frequency converter used for controlling the load motor, the tested energy charging motor and the tested energy charging motor frequency converter. The inertia simulation device controls the upper computer to be connected with the load motor frequency converter and the tested energy charging motor frequency converter through a CAN bus; the load motor frequency converter is respectively connected with the alternating current power grid and the load motor through power cables; the rotating speed sensor is installed on a rotor shaft of the load motor, the signal output end of the rotating speed sensor is connected with the speed measuring signal input end of a load motor frequency converter, and the load motor frequency converter uploads the collected rotating speed signals to the inertia simulation device through a CAN bus to control the upper computer.
Fig. 4 is a schematic block diagram of a control strategy of the large inertia load characteristic simulation device. The control strategy of the load characteristic simulation device comprises the steps of simulation characteristic calculation, current instruction calculation, current closed-loop control, weak magnetic calculation, SVPWM and the like. The simulation characteristic calculation is realized in a simulation device control upper computer, and the output of the simulation characteristic calculation is a torque and rotating speed instruction; the current instruction calculation, the current closed-loop control, the weak magnetic calculation and the SVPWM control are realized based on a load motor frequency converter main control unit; the rotating speed control of the simulation device is realized based on a rotating speed closed-loop control strategy of a main control unit of the frequency converter of the tested energy-charging motor.
As shown in fig. 4, a user inputs a to-be-simulated rotational inertia J and a T- ω curve of a tested/loaded motor into a control upper computer of the inertia simulation device, the simulation control upper computer completes the solution of a working area of the large inertia simulation device and the calculation of three elements, such as torque, rotating speed, action time and the like, and sends the rotating speed and torque instruction values obtained by calculation to a frequency converter of the tested energy-charged motor and a frequency converter of the loaded motor respectively. Main control list of frequency converter of load motorIn the element, the stator current d and q axis components i are completed based on a maximum torque current ratio (MTPA) strategyd、iqThe method comprises the steps of obtaining a distribution law, converting a torque instruction value into a current instruction value, completing the torque equivalence of the output torque of a load motor and the torque of a tested motor under the condition of real application by taking a flywheel as a load at any rotating speed through the closed-loop control action of a load motor frequency converter on the current, and realizing the simulation of the load characteristic of the large-inertia flywheel.
Based on the foregoing analysis, taking the tested charging motor and the load motor having the characteristic curves outside the curve 1 and the curve 2 in fig. 3 as an example, the working process of the large inertia load characteristic simulation method of the present invention is described as follows:
calculating the working area solution, torque, rotating speed and action time of the flywheel pulse power supply inertia simulation device in the process 1
Step 1: acquisition of the "limit operating curve" of an inertia simulation device
The inertia simulation device controls an upper computer to input a rotational inertia J to be simulated and a T-omega curve of a tested/loaded motor, and the working area of the inertia simulation device is an intersection of a T-omega external characteristic curve and a graph defined by a horizontal axis and a vertical axis. The boundary of the working area of the inertia simulation device corresponds to a limit operation curve of the inertia simulation device, as shown in fig. 3, the curve consists of (i) three curve segments, and the like, and the specific calculation method of the coordinates of the starting point, the end point and the middle turning point of the limit operation curve of the inertia simulation device comprises the following steps:
starting point O (0, T) of "Limit operating Curvee2) And end point C (ω)max,Te4) Are respectively represented by ω ═ 0 and ω ═ ωmaxThe set of solutions for which the torque value is smaller in the intersection of the straight line represented with the T- ω outer characteristic curve.
Two middle turning points A (omega) of the limit operation curve1,Te2) And B (ω)2,Te3) The coordinates of (c) can be determined from the intersection of the two T- ω outer characteristic curves.
This step gives Te2、Te3、Te4、ω1、ω2And ωmaxThe value of (a).
Step 2: calculating the torque command value of the inertia simulator
According to the acceleration time characteristic of the inertia flywheel, the torque instruction value of the inertia simulator
The inertia simulator can be used to simulate the torque command values along the curves
And
the segmentation is represented as:
wherein ω is the angular velocity of the flywheel;
the torque instruction value of the inertia simulation device is obtained;
and
respectively representing torque command values when the inertia simulation device runs along curves I, II and III and the angular speed of the flywheel is omega; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3The torque value corresponding to the end position of the curve (c).
And step 3: calculating the rotating speed instruction value of the inertia simulation device
According to the acceleration characteristic of the inertia flywheel, the curve of the inertia simulation device can be obtainedFirstly, secondly and thirdly, a rotating speed instruction value omega in operation*(t) expression as a function of time t:
wherein, ω is*(t) is a rotating speed instruction value of the inertia simulation device at the moment t; j is the moment of inertia of the flywheel; t is tr①、tr②And tr③Simulating the operation duration of the device along the curve segments I, II and III; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3The torque value corresponding to the end position of the curve (c).
According to the acceleration time characteristic of the inertia flywheel, the running time is calculated by the following formula by using the coordinates of the starting point, the end point and the middle turning point of the limit running curve obtained in the step 1:
wherein J is the moment of inertia of the flywheel; t is tr①、tr②And tr③Simulating the operation duration of the device along the curve segments I, II and III; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3The torque value corresponding to the end position of the curve (c).
Based on the process, the acquisition of the running area of the flywheel pulse power supply inertia simulation device and the calculation of the control instruction based on the minimum time planning are completed.
Process 2, controlling the torque of the load motor of the inertia simulator
Step 1: obtaining load motor inductance Ld、LqWith id、iqVariable functional expressions
Stator d and q axis inductance L of load motord、LqCan be represented by a quadratic polynomial as,
sets of data of inductance variation with current as shown in fig. 5 and 6 are respectively substituted into the above-mentioned quadratic polynomial, and expressed in matrix form as follows,
wherein M, N is known positive integer, and corresponds to different id、iqUnder current Ld、LqThe number of data points of (a); l isdi＝fd(idi,iqi) Taking value of (i) for currentdi,iqi) The d-axis inductance value i of the stator of the load motor is 1,2, … and M; l isqj＝fq(idj,iqj) Taking the current as (i)dj,iqj) The q-axis inductance value of the stator of the load motor, j, is 1,2, …, N.
In the above formula, the division matrix a ═ a20 a02 a11 a10 a01 a00]T、B＝[b20 b02 b11 b10 b01 b00]TIn addition, the other can be obtained from fig. 5 and fig. 6, and the matrix a and the matrix B can be obtained through matrix operation in the load motor frequency converter, and further the matrix L can be obtaineddCoefficient a of a quadratic polynomial20、a02、a11、a10、a01、a00And L isqCoefficient b of a quadratic polynomial20、b02、b11、b10、b01、b00。
Step 2: obtaining stator current d and q axis component i based on maximum torque current ratio (MTPA)d、iqLaw of distribution
The torque expression of the load motor is,
wherein, TeIs the torque of the load motor; i.e. isIs the load motor stator current; i.e. id、iqD and q axis components of the stator current of the load motor; l isd、LqThe inductors are used for loading d and q axes of a motor; n ispAnd
the number of pole pairs of the rotor magnetic poles of the load motor and the rotor permanent magnet flux linkage are respectively constant for the load motor with determined model.
The maximum torque T under the unit current can be obtained by distributing the currents of the d axis and the q axis by adopting a maximum torque current ratio (MTPA) current distribution strategye，TeWhen the maximum value is taken, the current is satisfied,
the above equation is the stator current i of the load motor based on the maximum torque current ratio (MTPA)d、iqAnd (4) allocating the law.
And step 3: calculating d-axis and q-axis current command values of load motor according to torque command
Simultaneous vertical type (4), formula (5), formula (6),
torque command value obtained in step 2 of procedure 1
Into the above formula, i.e., order
Obtaining a torque command value by solving the equation set
I of the corresponding currentdAnd iq。
To obtain idAs an initial value of the d-axis current command
Namely, it is
To obtain iqAs an initial value of the q-axis current command
Namely, it is
In order to ensure that the load motor operates under the constant-power working condition, the calculated d-axis current instruction initial value
Output delta i of PI regulator with weak magnetic loopdThe added command value of d-axis current
That is to say that the first and second electrodes,
initial value of q-axis current command
Directly as the command value of the q-axis current
That is to say that the first and second electrodes,
command values as d and q-axis currents of the load motor are loaded on the current inner loop, and the control process is as shown in fig. 4.
And 4, step 4: calculating to obtain d and q axis voltage command signals u of stator of load motord、uq：
The method comprises the steps of carrying out Clark and Park coordinate transformation on a load motor three-phase current sampling value obtained by sampling an alternating current sampling circuit of a load motor frequency converter to obtain a current sampling value i under a d-q axis coordinate systemdAnd iqAnd 3, obtaining the instruction values of the d and q axis components of the stator current of the load motor in the step 3
Respectively associated with current sample values id、iqMaking difference, and obtaining stator d and q axis voltage command signals u of the load motor through the closed-loop control action of a load motor frequency converter d and q axis current controllerd、uq，
In the above formula, kpd,kidProportional coefficient and integral coefficient of d-axis current regulator respectively; k is a radical ofpq,kiqThe q-axis current regulator proportionality coefficient and integral coefficient are respectively.
And 5: the load motor stator voltage command signal u obtained in the step 4 is processedd、uqAs the input of the later-stage SVPWM link, 6 paths of PWM driving control signals are generated through the operation of a space vector modulation SVPWM strategy operated in a main control unit of the load motor frequency converter, and the PWM driving signals are output to the load motor frequency converterOn the power driving circuit, the power driving circuit controls the on and off of the three-phase fully-controlled bridge, so as to realize the closed-loop control of the load motor.
The inertia simulation device controls the upper computer to calculate the rotating speed instruction value omega obtained in the step 3 in the process 1*The value is sent to the tested energy charging motor frequency converter through the CAN bus, and the rotating speed control of the large-inertia load simulation device is completed by utilizing the rotating speed closed-loop control function of the tested energy charging motor frequency converter.
Claims (2)
1. A flywheel pulse power supply high inertia load characteristic simulation device is characterized by comprising: the inertia simulation device controls an upper computer, a load motor, a rotating speed sensor coaxially installed with a load motor rotor, a load motor frequency converter used for controlling the load motor, a tested energy charging motor and a tested energy charging motor frequency converter; the inertia simulation device controls the upper computer to be connected with the load motor frequency converter and the tested energy charging motor frequency converter through a CAN bus; the load motor frequency converter is respectively connected with the alternating current power grid and the load motor through power cables; the rotating speed sensor is arranged on a rotor shaft of the load motor, the signal output end of the rotating speed sensor is connected with the speed measurement signal input end of a load motor frequency converter, and the load motor frequency converter uploads the collected rotating speed signal to the inertia simulation device through a CAN bus to control an upper computer;
the control upper computer takes the shortest acceleration time as a constraint condition, and completes the calculation of torque and rotating speed control instructions in the control upper computer of the inertia simulation device according to the set to-be-simulated rotary inertia J and the known T-omega external characteristic curves of the load motor and the tested motor; the tested charging motor frequency converter receives a rotating speed instruction value sent by the load simulation device control upper computer through a CAN bus, the control upper computer of the inertia simulation device sends the rotating speed instruction value to the tested charging motor frequency converter through the CAN bus, and the rotating speed closed-loop control of the tested motor is completed by utilizing the rotating speed closed-loop control function of the tested charging motor frequency converter; the load motor frequency converter receives a torque command value sent by the load simulation device control upper computer through a CAN bus, the load motor frequency converter completes the calculation of d-axis and q-axis current command values according to the torque command value and completes the closed-loop control of d-axis and q-axis currents, the control upper computer of the load simulation device sends the torque command value to the load frequency converter through the CAN bus, a main control unit of the load frequency converter completes the calculation of the d-axis and q-axis current command values according to the torque command value, the closed-loop control of the currents is completed by using d-axis and q-axis current control software in a main control unit of the load frequency converter, the tracking of the torque command value is realized, the torque is applied to a tested energy-charging motor, and the simulation of the torque characteristic of the large-inertia flywheel is realized.
2. The flywheel pulse power supply large inertia load characteristic simulation device as claimed in claim 1, wherein the method for simulating the large inertia flywheel load characteristic by the load characteristic simulation device is as follows:
the method comprises the following steps of 1, solving a working area of a flywheel pulse power supply inertia simulation device and calculating torque, rotating speed and action time;
the process is finished in an upper computer controlled by an inertia simulation device;
step 1: acquiring a limit operation curve of the inertia simulation device;
establishing a coordinate system by taking the rotating speed omega as a horizontal axis and the torque T as a vertical axis, and drawing a T-omega external characteristic curve of the load motor and the tested energy-charging motor under the coordinate system; the operable area of the load motor and the tested energy-charging motor is an area enclosed by the T-omega external characteristic curve of the motor, the horizontal axis and the vertical axis of the coordinate system; in order to ensure that a load motor and a tested charging motor are not overloaded in the operation process of the inertia simulation device, the working area of the inertia simulation device is determined by the intersection of the working areas of the load motor and the tested charging motor, the boundary of the working area of the load motor and the tested charging motor is used as the limit operation curve of the inertia simulation device, the inertia simulation device is controlled to operate along the working condition described by the curve, and the requirement of the shortest acceleration time test of the tested charging motor is met;
the extreme operation curve of the inertia simulation device consists of three sections of curve segments, the three sections of curve segments are numbered respectively and are marked as a first curve, a second curve and a second curve 1, the first curve is a constant torque curve, the abscissa of the first curve is gradually increased from zero, and the ordinate of the first curve is kept unchanged and corresponds to the constant torque characteristic that the maximum torque output in the process of increasing the rotating speed of the motor is unchanged; the curve sections II and III are constant power curves, the torque represented by the ordinate of the curve is reduced along with the gradual increase of the rotating speed represented by the abscissa, and the torque corresponds to the constant power characteristic that the maximum power output in the rotating speed increasing process of the motor is kept unchanged; the first, second and third curve sections are connected in the head position to form a continuous curve; the starting point and the end point of the curve segments are O (0, T)e2)、A(ω1，Te2)、B(ω2，Te3)、C(ωmax，Te4) The points a and B are points at the intersection of the external T- ω characteristic curves of the load motor and the motor to be measured, and the points O and C are points ω ═ 0 and ω ═ ω, respectivelymaxThe coordinate values of four points of O point, A point, B point and C point are obtained by solving the intersection point of the expressed straight line and the T-omega external characteristic curve, and the torque, the rotating speed and the acting time of the load motor and the tested energy-charging motor are obtained;
step 2: calculating a torque command value of the inertia simulation device;
torque command value T of the inertia simulation apparatuse *The inertia simulator runs along the curves of the first, the second and the third
The segmentation is represented as:
wherein ω is the angular velocity of the flywheel;
the torque instruction value of the inertia simulation device is obtained;
and
respectively representing torque command values when the inertia simulation device runs along curves I, II and III and the angular speed of the flywheel is omega; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3A torque value corresponding to the end point position of the curve II;
and step 3: calculating a rotating speed instruction value of the inertia simulation device;
the inertia simulator follows curves (i, ii and iii) to obtain a rotation speed command value omega during operation*(t) the expression over time t is:
wherein, ω is*(t) is a rotating speed instruction value of the inertia simulation device at the moment t; j is the moment of inertia of the flywheel; t is tr①、tr②And tr③Respectively representing the running duration of the simulation device along the curve segments of the first, the second and the third; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3A torque value corresponding to the end point position of the curve II;
the inertia simulator runs along the curve segments (I), (II) and (III) for a time tr①、tr②And tr③Calculated from the following formula:
wherein, tr①、tr②And tr③Simulating the operation duration of the device along the curve segments I, II and III; j is the moment of inertia of the flywheel; omega1The angular speed of the flywheel corresponding to the end point position of the curve I is obtained; omega2The angular velocity of the flywheel corresponding to the end point position of the curve II is obtained; omegamaxThe angular velocity of the flywheel corresponding to the end point position of the curve (c); t ise2A torque value corresponding to the end point position of the curve I is obtained; t ise3A torque value corresponding to the end point position of the curve II;
process 2, controlling the torque of the load motor of the inertia simulator
The process is completed in a main control unit of a load motor frequency converter;
step 1: obtaining load motor inductance Ld、LqWith id、iqVariable functional expressions
Based on the least square principle, the d-axis component L and the q-axis component L of the stator inductance of the load motor are completedd、LqFitting a curve and determining the value of a fitted quadratic polynomial coefficient;
d, q axis component L of stator inductance of load motord、LqIs expressed by a second-order polynomial,
with known load motors at different id、iqInductance L under currentd、LqThe values of the first order polynomial are respectively substituted into the second order polynomial and expressed in a matrix form,
Ld1＝fd(id1，iq1)，Ld2＝fd(id2，iq2)，......，LdM＝fd(idM，iqM)
Lq1＝fq(id1，iq1)，Lq2＝fq(id2，iq2)，......，LqN＝fq(idN，iqN)
wherein M, N are known positive integers respectively corresponding to id、iqUnder current Ld、LqThe number of data points of (a); l isdi＝fd(idi，iqi) Taking the value i for the currentdi、iqiThe d-axis inductance value i of the stator of the time-loaded motor is 1, 2. L isqj＝fq(idj，iqj) For a current value of idj、iqjThe q-axis inductance value of the stator of the load motor, j, is 1, 2.
In the above formula, the division matrix a ═ a20 a02 a11 a10 a01 a00]T、B＝[b20 b02 b11 b10 b01 b00]TBesides, the others are known quantities, and a matrix A and a matrix B are obtained through matrix operation, so that L is obtaineddCoefficient a of a quadratic polynomial20、a02、a11、a10、a01、a00And L isqCoefficient b of a quadratic polynomial20、b02、b11、b10、b01、b00；
Step 2: obtaining stator current d and q axis component i based on maximum torque current ratio (MTPA)d、iqA distribution law;
the torque expression of the load motor is,
wherein, TeIs the torque of the load motor; i.e. isIs the load motor stator current; i.e. id、iqD and q axis components of the stator current of the load motor; l isd、LqThe inductors are used for loading d and q axes of a motor; n ispAnd
the number of pole pairs of a rotor magnetic pole of the load motor and the permanent magnet flux linkage of the rotor are respectively constant for the load motor with determined model;
at the stator current i of the load motorsWhen a constant value is maintained, the torque T can be made by distributing the currents of d and q axes by using a maximum torque current ratio (MTPA) current distribution strategyeTake the maximum value, and TeWhen the maximum value is taken, the current satisfies the following conditions:
equation (6) is the stator current i of the load motor based on the maximum torque current ratio (MTPA)d、iqA distribution law;
and step 3: calculating d and q axis current instruction values of the load motor according to the torque instruction;
a united vertical type (4), a formula (5) and a formula (6),
torque command value obtained in step 2 of procedure 1
Into the above formula, i.e., order
Obtaining a torque command value by solving the equation set
I of the corresponding currentdAnd iq；
To obtain idAs an initial value of the d-axis current command
Namely, it is
To obtain iqAs an initial value of the q-axis current command
Namely, it is
In order to ensure that the load motor operates under the constant-power working condition, the calculated d-axis current instruction initial value
Output delta i of PI regulator with weak magnetic loopdThe added command value of d-axis current
That is to say that the first and second electrodes,
initial value of q-axis current command
Directly as the command value of the q-axis current
That is to say that the first and second electrodes,
the command values as d and q axis currents of the load motor are loaded on the current inner ring;
and 4, step 4: calculating to obtain d and q axis voltage command signals u of stator of load motord、uq：
The method comprises the steps of obtaining a load motor three-phase current sampling value obtained by sampling a current sampling circuit of a load motor frequency converter, and obtaining a current sampling value i under a d-q axis coordinate system through Clark and Park coordinate transformationdAnd iqAnd 3, obtaining the instruction values of the d and q axis components of the stator current of the load motor in the step 3
Respectively associated with current sample values id、iqMaking difference, and obtaining stator d and q axis voltage command signals u of the load motor through the closed-loop control action of a load motor frequency converter d and q axis current controllerd、uq，
In the above formula, kpd，kidProportional coefficient and integral coefficient of d-axis current regulator respectively; k is a radical ofpd，kiqRespectively a q-axis current regulator proportionality coefficient and an integral coefficient;
and 5: the load motor stator voltage command signal u obtained in the step 4 is processedd、uqAs the input of a later-stage SVPWM link, generating 6 paths of PWM driving control signals through the operation of a space vector modulation SVPWM strategy operated in a main control unit of a load motor frequency converter, outputting the PWM driving signals to a power driving circuit of the load motor frequency converter, and controlling the on and off of a three-phase fully-controlled bridge through the power driving circuit to realize the closed-loop control of a load motor;
process 3, controlling the rotational speed of the inertia simulation apparatus
The inertia simulator controls the upper computer to calculate the result in the step 3 in the process 1To the rotational speed command value omega*The value is sent to the tested energy-charging motor frequency converter through the CAN bus, and the rotating speed control of the inertia simulation device is completed by utilizing the rotating speed closed-loop control function of the tested motor frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963101.9A CN113687161B (en) | 2021-08-20 | 2021-08-20 | Flywheel pulse power supply large inertia load characteristic simulation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110963101.9A CN113687161B (en) | 2021-08-20 | 2021-08-20 | Flywheel pulse power supply large inertia load characteristic simulation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113687161A true CN113687161A (en) | 2021-11-23 |
| CN113687161B CN113687161B (en) | 2024-03-01 |
Family
ID=78581135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110963101.9A Active CN113687161B (en) | 2021-08-20 | 2021-08-20 | Flywheel pulse power supply large inertia load characteristic simulation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113687161B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116907825A (en) * | 2023-09-11 | 2023-10-20 | 湖南揽月机电科技有限公司 | Automatic checking system and method for flywheel shafting |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5687838A (en) * | 1979-12-19 | 1981-07-16 | Horiba Instr Inc | Dynamo meter |
| US6601011B1 (en) * | 1999-02-26 | 2003-07-29 | Kabushiki Kaisha Meidensha | Apparatus for measuring angular velocity variation rate of rotary axle |
| CN101674046A (en) * | 2009-09-07 | 2010-03-17 | 清华大学 | Electric current reconstructing and over-modulating device of air conditioning frequency converter and method thereof |
| CN102749853A (en) * | 2012-07-11 | 2012-10-24 | 北京交通大学 | dSPACE-based integral machine control semi-physical simulation platform of wind generating set |
| CN103078581A (en) * | 2012-11-06 | 2013-05-01 | 株洲南车时代电气股份有限公司 | Electrical inertia control system |
| CN103338003A (en) * | 2013-06-28 | 2013-10-02 | 西安交通大学 | Online simultaneous identifying method for load torque and inertia of motor |
| CN203385512U (en) * | 2013-07-19 | 2014-01-08 | 南京埃斯顿自动控制技术有限公司 | Simulation device of motor load inertia |
| CN103943009A (en) * | 2014-04-17 | 2014-07-23 | 武汉新能源接入装备与技术研究院有限公司 | Simulated wind power generation grid connection experimental system |
| CN106602960A (en) * | 2015-10-20 | 2017-04-26 | 上海三菱电梯有限公司 | Motor moment-of-inertia identification method and device and motor control device |
| CN206772601U (en) * | 2017-02-24 | 2017-12-19 | 中国铁建高新装备股份有限公司 | One kind is based on flywheel generating unit inertia simulation system |
| CN207218582U (en) * | 2017-06-23 | 2018-04-10 | 中国电力工程顾问集团华东电力设计院有限公司 | The DC bus current control system of double feedback electric engine frequency conversion speed-adjusting system |
| CN207304427U (en) * | 2017-09-07 | 2018-05-01 | 中国石油天然气集团公司 | A kind of simulation model of high-pressure frequency-conversion driving induction machine |
| CN108303875A (en) * | 2017-12-31 | 2018-07-20 | 湖南沃森电气科技有限公司 | A kind of control method of electric power load for testing simulator and its system |
| CN109264586A (en) * | 2018-10-17 | 2019-01-25 | 南通航运职业技术学院 | A kind of design method of harbor quayside crane energy feedback system |
| CN111693864A (en) * | 2020-06-15 | 2020-09-22 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
-
2021
- 2021-08-20 CN CN202110963101.9A patent/CN113687161B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5687838A (en) * | 1979-12-19 | 1981-07-16 | Horiba Instr Inc | Dynamo meter |
| US6601011B1 (en) * | 1999-02-26 | 2003-07-29 | Kabushiki Kaisha Meidensha | Apparatus for measuring angular velocity variation rate of rotary axle |
| CN101674046A (en) * | 2009-09-07 | 2010-03-17 | 清华大学 | Electric current reconstructing and over-modulating device of air conditioning frequency converter and method thereof |
| CN102749853A (en) * | 2012-07-11 | 2012-10-24 | 北京交通大学 | dSPACE-based integral machine control semi-physical simulation platform of wind generating set |
| CN103078581A (en) * | 2012-11-06 | 2013-05-01 | 株洲南车时代电气股份有限公司 | Electrical inertia control system |
| CN103338003A (en) * | 2013-06-28 | 2013-10-02 | 西安交通大学 | Online simultaneous identifying method for load torque and inertia of motor |
| CN203385512U (en) * | 2013-07-19 | 2014-01-08 | 南京埃斯顿自动控制技术有限公司 | Simulation device of motor load inertia |
| CN103943009A (en) * | 2014-04-17 | 2014-07-23 | 武汉新能源接入装备与技术研究院有限公司 | Simulated wind power generation grid connection experimental system |
| CN106602960A (en) * | 2015-10-20 | 2017-04-26 | 上海三菱电梯有限公司 | Motor moment-of-inertia identification method and device and motor control device |
| CN206772601U (en) * | 2017-02-24 | 2017-12-19 | 中国铁建高新装备股份有限公司 | One kind is based on flywheel generating unit inertia simulation system |
| CN207218582U (en) * | 2017-06-23 | 2018-04-10 | 中国电力工程顾问集团华东电力设计院有限公司 | The DC bus current control system of double feedback electric engine frequency conversion speed-adjusting system |
| CN207304427U (en) * | 2017-09-07 | 2018-05-01 | 中国石油天然气集团公司 | A kind of simulation model of high-pressure frequency-conversion driving induction machine |
| CN108303875A (en) * | 2017-12-31 | 2018-07-20 | 湖南沃森电气科技有限公司 | A kind of control method of electric power load for testing simulator and its system |
| CN109264586A (en) * | 2018-10-17 | 2019-01-25 | 南通航运职业技术学院 | A kind of design method of harbor quayside crane energy feedback system |
| CN111693864A (en) * | 2020-06-15 | 2020-09-22 | 中国科学院电工研究所 | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor |
Non-Patent Citations (2)
| Title |
|---|
| DANYANG BAO 等: "Lntegrated-Power-Control-Strategy-Based Electrolytic Capacitor-Less Back-to-Back Converter for Variable Frequency Speed Control System", 《IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS》, vol. 67, no. 12, pages 10065 - 10074 * |
| 朱斑斓: "汽车变速器试验台电惯量模拟研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》, no. 5, pages 035 - 524 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116907825A (en) * | 2023-09-11 | 2023-10-20 | 湖南揽月机电科技有限公司 | Automatic checking system and method for flywheel shafting |
| CN116907825B (en) * | 2023-09-11 | 2024-01-16 | 湖南揽月机电科技有限公司 | Automatic checking system and method for flywheel shafting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113687161B (en) | 2024-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103187919B (en) | A kind of system and method for permagnetic synchronous motor weak-magnetic speed-regulating | |
| CN111693864B (en) | Propeller characteristic simulation experiment device based on permanent magnet synchronous motor | |
| CN110212710B (en) | Design method of permanent magnet synchronous motor for vehicle | |
| CN110412462B (en) | Transient temperature prediction method for permanent magnet synchronous motor for aviation | |
| CN103427751B (en) | The apparatus and method of permagnetic synchronous motor static parameter on-line identification | |
| CN110492817A (en) | A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor | |
| CN103853891A (en) | Finite element analysis-based variable-element permanent magnet synchronous motor modeling method | |
| CN109194219A (en) | Based on model-free non-singular terminal sliding formwork control permanent magnet synchronous motor method and system | |
| CN110929448B (en) | Simulation analysis method for no-load current consistency of permanent magnet synchronous motor | |
| CN106059419A (en) | Permanent magnet synchronous motor parallel vector control scheme | |
| CN113687161B (en) | Flywheel pulse power supply large inertia load characteristic simulation device | |
| Moldovan et al. | Typhoon HIL real-time validation of permanent magnet synchronous motor’s control | |
| CN115980572A (en) | Simulation test device and simulation test method for load characteristics of propeller | |
| CN114499334A (en) | Permanent magnet three-phase alternating current motor and load simulation device and control method thereof | |
| CN109062077B (en) | Pumped storage variable speed unit power generation and electric test system and control method thereof | |
| CN111857197B (en) | Three-phase alternating current motor and load simulation method and device thereof | |
| CN102279103B (en) | Drive system test method and device for alternating current drive electric locomotive | |
| CN111413568A (en) | Frequency converter test system and frequency converter test method | |
| CN106462125B (en) | Device loss simulation for improved field orientation control accuracy | |
| JP3428885B2 (en) | Synchronous machine simulator and synchronous machine simulation method | |
| Montonen et al. | Electric drive dimensioning for a hybrid working machine by using virtual prototyping | |
| US20200195176A1 (en) | Device and method for controlling rotary electric machine | |
| CN113949320B (en) | Induction motor prediction control driving method and system | |
| Zhu | The key technologies for powertrain system of intelligent vehicles based on switched reluctance motors | |
| CN114123878A (en) | Permanent magnet three-phase alternating current motor and load simulation method and device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |