CN114710092A - Current source type driving and charging integrated system of doubly salient motor and control method - Google Patents

Current source type driving and charging integrated system of doubly salient motor and control method Download PDF

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Publication number
CN114710092A
CN114710092A CN202210423489.8A CN202210423489A CN114710092A CN 114710092 A CN114710092 A CN 114710092A CN 202210423489 A CN202210423489 A CN 202210423489A CN 114710092 A CN114710092 A CN 114710092A
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current
source type
motor
current source
charging
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Inventor
魏佳丹
翟相煜
刘航宇
赵晓聪
周波
杨明
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/28—Controlling the motor by varying the switching frequency of switches connected to a DC supply and the motor phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/04—Regulation of charging current or voltage
    • H02J7/06—Regulation of charging current or voltage using discharge tubes or semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/12—Arrangements for reducing harmonics from ac input or output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/66—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal
    • H02M7/68—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters
    • H02M7/72—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/79—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/81—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output with possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal arranged for operation in parallel
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a doubly salient motor current source type driving and charging integrated system and a control method. Under the driving operation mode, the two sections of excitation windings are connected in parallel in the same direction, constant current can be provided for a direct current side when the rotating speed of the motor is low through control over the charging and discharging converter, and energy feedback in the four-quadrant operation and braking process of the motor is achieved. Under the charging operation mode, the two sections of excitation windings are reversely connected in series to achieve the demagnetization effect, and the storage battery is charged while zero torque output is achieved. The system is suitable for the driving and charging integrated system of the electric automobile, has the advantages of few switching devices, high reliability and the like, saves space and cost, and reduces system loss.

Description

Current source type driving and charging integrated system of doubly salient motor and control method
Technical Field
The invention relates to a topological structure of a doubly salient motor current source type driving and charging integrated system for a multiplexing excitation winding of an electric automobile and a control method thereof, belonging to the field of motor systems and control.
Background
The driving motor in the electric automobile is mainly applied to permanent magnet motors such as a brushless direct current motor and a permanent magnet synchronous motor, and permanent magnet-free motors such as an induction motor and a switched reluctance motor at present. The brushless direct current motor is low in cost and simple in structure and control, but the control mode of the square wave current causes obvious torque ripple problems relative to the permanent magnet synchronous motor. The permanent magnet synchronous motor has higher power density and lower torque ripple, keeps higher efficiency at each rotating speed, is particularly suitable for the application working conditions of frequent start-stop and acceleration and deceleration of an electric automobile, and becomes the preferred scheme of most manufacturers in the market. However, due to the existence of the permanent magnet, the performance degradation of the magnetic steel can be caused when the permanent magnet is in weak magnetic high-speed and high-temperature vibration operation, and meanwhile, the cost of the motor system is difficult to reduce due to the higher price of the permanent magnet material, and the advantage of the performance of the permanent magnet motor cannot completely occupy the electric automobile consumption market. The induction motor is used as a permanent magnet-free motor which is most applied, has a simple structure and low cost, can stably run under severe working conditions, has excellent speed regulation performance under a mature vector control technology, is applied to the field of various commercial electric automobiles, and has the defects of low efficiency at low speed and large loss caused by induction current on a rotor winding. The switched reluctance motor has a simple and reliable structure and the lowest cost, and can adapt to various complex working conditions of commercial electric vehicles due to the wide speed regulation range and the strong heat dissipation capacity, but the switched reluctance motor can only exert force in an inductance rising area, so that the utilization rate of an iron core of the switched reluctance motor is lower, and the popularization of the switched reluctance motor in the field of household electric vehicles is also limited due to the inherent torque pulsation and noise of the switched reluctance motor.
In addition to the above conventional motor types, the double salient-pole motor is also applicable to the field of electric vehicles as a novel motor. The double-salient-pole motor is very similar to a switched reluctance motor in stator and rotor structures, is of a salient-pole structure, has no winding on a rotor side, and is divided into a permanent magnet double-salient-pole motor and an electric excitation double-salient-pole motor according to different excitation sources on a stator side. The double salient pole motor can output power in an inductance rising area and an inductance falling area, and the utilization rate and the power density of an iron core are improved. The electro-magnetic doubly salient motor adopts low-cost direct current windings for excitation at the stator side, the excitation is controllable, the magnetic regulation and speed regulation are simple and convenient to control, and the requirement on a controller is reduced. Compared with a permanent magnet double-salient motor, the cost is reduced by about 40% without a permanent magnet, and the loss is very limited under the application working conditions of high-power commercial electric automobiles, forklifts and the like although the loss is inevitably increased by the additional excitation winding. Therefore, the electrically excited doubly salient motor with low cost, high reliability and excellent speed regulation performance has great potential in the application field of the driving motor of the electric automobile.
At present, an electric energy converter of a mainstream driving/charging integrated system at home and abroad is a two-stage type cascade converter formed by cascading a DC/DC converter with a DC/AC converter, the application of the cascade converter is greatly limited due to the coupling relation between the front stage and the rear stage, the stability requirement of system operation and the like, and a multi-stage type structure needs additional power devices, so that the cost is increased, the control mode is more complicated, and the wide application is not facilitated. The development of science and technology has promoted the rise of current source type converters, which have a gradually increasing proportion in medium and high power applications, such as photovoltaic grid connection, ship heavy industry and the like, by taking the boost characteristic of the current source type converter as an inverter and the buck characteristic of the current source type converter as a rectifier. The step-up requirement from the storage battery side to the motor side during driving of the electric automobile and the step-down requirement from the power grid side to the storage battery side during charging are perfectly matched with the characteristics of the current source type converter, and the current source type converter has very high adaptability when being applied to a driving/charging integrated system.
Disclosure of Invention
In order to solve the problems, the invention provides a topological structure of a doubly salient motor current source type driving and charging integrated system for multiplexing an excitation winding and a control method thereof, which can realize the driving and charging integrated control of an electric automobile.
A doubly salient motor current source type driving and charging integrated system comprises a storage battery, a charge-discharge bidirectional converter, a current source type converter, an electro-magnetic doubly salient motor, an alternating current filter capacitor and a change-over switch K1、K2、K3And a detection control circuit; the storage battery is connected with the input end of the charge-discharge bidirectional converter, and the upper input end of the current source type converter sequentially passes through the selector switch K2And the excitation winding of the electrically excited doubly salient motor is connected into the middle point of the bridge arm of the charge-discharge bidirectional converter, and the lower input end is directly connected into the middle point of the bridge arm of the charge-discharge bidirectional converter, wherein the excitation winding is divided into two sections of windings F1And F2Winding F2Series changeover switch K1(ii) a Armature winding and change-over switch K of bridge arm of current source type converter sequentially passing through electro-magnetic doubly salient motor3The method comprises the following steps of accessing alternating current power grids, and sequentially connecting alternating current filter capacitors in parallel between the alternating current power grids;
the double salient pole motor current source type driving and charging integrated system further comprises a sampling signal control system, wherein the sampling signal control system samples an excitation current signal and an armature current signal of the double salient pole motor through a current sensor and performs various types of control including mode switching; under the driving operation mode, the excitation winding is multiplexed into a direct-current side energy storage inductor of the current source type converter under the control of the selector switch, and a driving control strategy is combined to realize that the storage battery drives the doubly salient motor through the current source type converter; in the charging operation mode, the armature winding is multiplexed into an alternating current side filter inductor through the control of the selector switch, and the alternating current network charges the storage battery through the armature winding of the doubly salient motor, the current source type converter, the excitation winding and the charging and discharging bidirectional converter by combining a charging control strategy.
Preferably, the charge-discharge bidirectional converter comprises three stringsA serial branch, each serial branch comprises diodes VD connected in sequence1And a switching tube S1Switching tube S2And a diode VD2Switching tube S3And a diode VD3The three branches are connected in parallel to form three bridge arm branches; wherein, the input end of the current source type converter passes through a change-over switch K2Connecting field winding F2，F2By means of a change-over switch K1Connection S3And VD3Bridge arm midpoint of, field winding F1Connection S2And VD2The lower input end of the current source type converter is connected with S1And VD1The bridge arm midpoint.
Preferably, the excitation winding of the electrically excited doubly salient motor is multiplexed as the dc-side energy storage inductor of the current source converter, and the changeover switch K is switched1、K2To a and b, realizing an excitation winding F1、F2The series or parallel control of (1) is specifically: in the drive mode of operation, the switch K is switched over1、K2All are pulled to a position to make the exciting winding F1、F2After being connected in parallel, the DC side of the current source type converter is connected; in the charging mode of operation, the switch K is switched over1、K2Are all pulled to the position b to lead the excitation winding F to be1、F2And the DC side of the current source type converter is connected with the DC side of the current source type converter after the reverse series connection.
The invention also discloses a control method of the doubly salient motor current source type driving and charging integrated system,
when the doubly salient motor current source type driving and charging integrated system of the multiplexing excitation winding operates in a driving mode, the specific control strategy is as follows:
step 1, controlling a change-over switch K1、K2Closing to a point a, connecting two excitation windings in parallel, providing DC current for the current source type converter by the two excitation currents, and switching a switch K3Naturally closed so that the motor three-phase armature winding ends, i.e. close to the change-over switch K3One end of the star-shaped winding is short-circuited to form a star-shaped winding connection mode.
Step 2, respectively aligning the two sectionsSwitch tube S in bidirectional converter for sampling exciting current and charging and discharging1Constant flow of S2、S3In PWM state, realizing the excitation winding F1、F2Current i off1、if2Are respectively constantly controlled so that if1、if2Are equal in size. The output of the storage battery passes through a switching tube S2、S3Excitation winding F1、F2And the current source type converter supplies power to the double salient pole motor.
And 3, detecting a position signal and an armature winding current of the doubly salient motor, controlling the current source type converter to work in an inverter working mode based on the collected position signal and the collected armature current signal, and controlling the inverter to output current by combining a control mode of a rotating speed and a current double closed loop so as to realize the driving operation of the doubly salient motor.
Preferably, when the electric automobile is braked in a deceleration mode, the control strategy of the motor driving system needs to be adjusted. The braking mode is another condition of the driving mode, at the moment, the motor performs generator operation to generate armature current due to deceleration braking of the electric automobile, the part of current energy is braking energy, and the braking energy is recovered through energy feedback, wherein the specific braking control strategy is as follows:
step 3.1, sampling the exciting current and the armature current through a current sensor, setting proper upper and lower thresholds and setting the direct current i of the current source type converter to ensure that the current sensor enters a braking mode mistakenly due to ripplesdcAnd the quadrature axis current i of the motor ac sideqThe hysteresis loop judging link judges the phase of the output signals of the two, and the output signal of the OR gate judges whether the system is in a braking mode. Step 3.2, after the system is determined to enter the braking mode, the switching tube S is controlled1Cut off, brake energy passes VD1Flows through the switching tube S2、S3Make-and-break realization pair if1、if2The excitation winding mode is switched according to the magnitude of the excitation current: when the exciting current is small, switching to an exciting winding charging mode: switch tube S2、S3Conducting, braking energy is through VD1And S2、S3To field winding F1、F2Charge energy so that if1、if2(ii) is increased; when the exciting current is large, the excitation winding is fed with energy mode: switch tube S2、S3Shut off, braking energy via VD1Fed back to the storage battery side and then passes through VD2、VD3Current through the field winding F1、F2A closed loop is formed, and the storage battery is used as an excitation feedback energy absorption source in the mode, so that the current i in the excitation windingf1、if2And decreases. And 3.3, controlling the current source type inverter to output reverse current according to the armature current of the motor and the rotor position sampling value and the braking instruction, so as to realize the motor braking function.
Preferably, to reduce the parallel field winding current if1And if2The generated ripple waves enable the current source type converter to obtain high-quality direct current input current, and a double-edge modulation strategy is adopted for S2、S3The control is carried out, specifically: 1) simultaneously generating a rising sawtooth wave and a falling sawtooth wave with the same frequency as if1And if2A carrier wave generated by the control signal; 2) the rising sawtooth wave carrier wave is connected with a switch tube S2Duty ratio d of2Comparison, d2Greater than S when rising sawtooth carrier2Conducting, otherwise S2Turning off; 3) the falling sawtooth wave carrier and the switch tube S3Duty ratio d of3Comparison, d3Greater than S when the falling sawtooth carrier3Conducting, otherwise S3And (6) turning off. The dual edge modulation method can be applied not only to a normal driving mode but also to a braking mode.
When the doubly salient motor current source type driving and charging integrated system of the multiplexing excitation winding operates in a charging mode, the specific control strategy is as follows:
1) change-over switch K1、K2Closed at point b, two excitation windings are connected in series in reverse direction and correspond to excitation current if1And if2Equal in size and opposite in direction, realizes the demagnetization function of the doubly salient motor in the charging mode, and the switch K is switched3Opening the double salient pole motor three-phase armature winding and alternating currentAnd the power grid is connected, and at the moment, the three-phase armature winding of the doubly salient motor is multiplexed into the filter inductance of the LC filter on the grid side. 2) Switch tube S in charge-discharge bidirectional converter1、S2、S3The current source type converter works in a rectification mode when being switched off, and the electric energy is transmitted through the VD1、VD2、VD3And charging the storage battery. 3) The method comprises the steps of sampling three-phase current of a motor through a current sensor at the rear stage, determining the angle of alternating current at the network side by combining a phase-locked loop of alternating current network voltage, adopting a control strategy of double closed loops of direct current at an output side and current at an alternating current side, enabling a current source type converter to work in a rectifier state, and charging a storage battery according to a charging instruction.
Advantageous effects
Compared with the traditional driving/charging integrated system, the doubly salient motor current source type driving and charging integrated system with the multiplexed excitation winding has two great advantages: on one hand, the excitation winding is multiplexed into a direct-current side energy storage inductor, so that an extra direct-current side inductor required by a current source type converter is omitted, a direct-current power supply required by excitation of a traditional electric excitation motor is omitted, and the power loss can be equivalently reduced; on the other hand, the boosting requirement from the storage battery side to the motor side during driving of the electric automobile and the voltage reduction requirement from the power grid side to the storage battery side during charging are perfectly matched with the boosting characteristic when the current source type converter is used as an inverter and the voltage reduction characteristic when the current source type converter is used as a rectifier, the current source type converter has very high adaptability when applied to a driving/charging integrated system, the system does not need an additional DC/DC converter, the problems of stability hidden trouble and additional cost existing in a cascade system are solved, and although a charging and discharging bidirectional converter needs to be added on the battery side, the required devices are few, the control method is simple and reliable, and the practical application value is large.
Drawings
Fig. 1 is a block diagram of a topology structure of a doubly salient motor current source type driving and charging integrated system of a multiplexing excitation winding;
FIG. 2 is a waveform diagram showing the simulation of the rotation speed of the motor in the driving mode;
FIG. 3 shows the motor armature current i in the drive modeaSimulation (Emulation)A waveform diagram;
FIG. 4 shows the motor exciting current i in the driving modef1A simulated oscillogram;
FIG. 5 shows the motor exciting current i in the driving modef2A detail diagram of the simulation waveform of (1);
FIG. 6 is a simulated waveform diagram of the DC side input current of the current source inverter in the driving mode;
FIG. 7 is a waveform diagram showing the simulation of the rotation speed of the motor in the braking mode;
FIG. 8 is a waveform of a motor torque simulation in braking mode;
FIG. 9 shows the motor armature current i in braking modeaA simulated oscillogram;
FIG. 10 shows the motor excitation current i in braking modef1A simulation waveform detail diagram;
FIG. 11 is a diagram of a battery side current simulation waveform;
FIG. 12 is a detail diagram of a simulation waveform of the energy feedback current on the battery side;
FIG. 13 is a waveform diagram showing a simulation of the charging current of the battery in the charging mode;
FIG. 14 shows the field current i in the charging modef1And (5) simulating a waveform diagram.
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 invention discloses a doubly salient motor current source type driving and charging integrated system and a control method. The double salient pole motor is characterized in that two split excitation windings of the double salient pole motor are multiplexed into a direct current side energy storage inductor of a current source type converter, the tail end of an armature winding of the double salient pole motor is switched to be completely short-circuited through a switch in a driving operation mode, the two excitation windings are connected in parallel in the same direction, a storage battery drives the double salient pole motor through a charge-discharge bidirectional converter and a current source type converter, constant current is provided for the direct current side when the rotating speed of the motor is low through control over the charge-discharge bidirectional converter, and energy feedback in the four-quadrant operation and braking processes of the electro-magnetic double salient pole motor is achieved. In the charging operation mode, an alternating current power grid is connected into a armature winding of the double salient pole motor through switching of a switch, the storage battery is charged through a power type converter and a charging and discharging bidirectional converter, two sections of excitation windings of the double salient pole motor are connected in series to achieve a demagnetization effect, and torque generated in the charging process is eliminated. The system is suitable for the driving and charging integrated system of the electric automobile, has the advantages of few switching devices, simple structure, high reliability and the like, and can also save the space and cost of the electric automobile and reduce the system loss.
The first embodiment is as follows:
the invention provides a doubly salient motor current source type driving and charging integrated system topological structure of a multiplexing excitation winding, which is shown in figure 1, and the system comprises a storage battery, a charging and discharging bidirectional converter, a current source type converter, an electro-excitation doubly salient motor, an alternating current filter capacitor and a change-over switch K1、K2、K3And a detection control circuit. The storage battery is connected with the input end of the charge-discharge bidirectional converter, and the upper input end of the current source type converter sequentially passes through the selector switch K2And the excitation winding of the electrically excited doubly salient motor is connected into the middle point of the bridge arm of the charge-discharge bidirectional converter, and the lower input end is directly connected into the middle point of the bridge arm of the charge-discharge bidirectional converter, wherein the excitation winding is divided into two sections of windings F1And F2Winding F2Series changeover switch K1(ii) a Armature winding and change-over switch K of bridge arm of current source type converter sequentially passing through electro-magnetic doubly salient motor3And the AC power grids are connected, and AC filter capacitors are connected in parallel between the AC power grids in sequence. By making a pair of K3The other end of the armature winding can be connected with an alternating current power grid or is in a complete short circuit to form star winding connection.
Charging and discharging bidirectional transformerThe converter comprises three series branches, each series branch comprises diodes VD connected in sequence1And a switching tube S1Switching tube S2And a diode VD2Switching tube S3And a diode VD3And three branches are connected in parallel to form three bridge arm branches. Wherein, the input end of the current source type converter passes through a change-over switch K2Connecting field winding F2，F2By means of a change-over switch K1Connection S3And VD3Bridge arm midpoint of, field winding F1Connection S2And VD2The lower input end of the current source type converter is connected with S1And VD1The bridge arm midpoint.
Excitation winding of electric excitation double salient pole motor is split into two sections of windings F1And F2，F1And F2One end of the switch tube S is respectively connected with the charge-discharge bidirectional converter2、S3And a diode VD2、VD3The formed bridge arms are connected, and the other end is connected with a change-over switch K1、K2The excitation winding of the electric excitation doubly salient motor is multiplexed as the DC side energy storage inductor of the current source type converter, and K pairs are used1、K2The control of the split-type excitation winding can realize the parallel connection or the reverse series connection of the two split-type excitation windings in the same direction. The windings F1 and F2 are used as excitation windings to provide an excitation magnetic field for the motor, and simultaneously, the windings are used as direct current side inductors to play an energy storage role in the converter, no matter K1、K2The excitation winding at the position a or the position b has the multiplexing function.
The current source converter comprises a switch tube S4、S5、S6、S7、S8、S9And diodes VD connected in series with the diodes respectively4、VD5、VD6、VD7、VD8、VD9Wherein S is4、VD4、S5、VD5In series, S6、VD6、S7、VD7In series, S8、VD8、S9、VD9Sequentially connected in series to form three serial branches connected in parallelThe branch circuit forms three bridge arms of the current source type converter, and the midpoints of the three bridge arms are respectively connected with an alternating current power grid through an armature winding A, B, C.
The controller collects data such as two-section exciting current, three-phase armature current, rotor position and three-phase network side voltage of the doubly salient motor through various sensors, and drives the charge-discharge bidirectional converter and the current source type converter according to the collected data and a control strategy so as to realize that the motor operates according to instructions under different working conditions.
The second embodiment:
in this embodiment, a control strategy of the electric vehicle in the driving mode is implemented on the basis of the first embodiment.
1. Control change-over switch K1、K2Closing to the point a, connecting two excitation windings in parallel, providing DC current for the current source type converter together by the two excitation currents, setting the current source type converter in the inverter state, and switching the switch K3Naturally closed so that the motor three-phase armature winding ends, i.e. close to the change-over switch K3One end of the star-shaped winding is short-circuited to form a star-shaped winding connection mode.
2. Switch tube S in charge-discharge bidirectional converter1Constant current, respectively sampling the two sections of exciting currents, and obtaining S by the difference between the reference value and the sampling value through a PI regulator2、S3Duty cycle of (1) driving2、S3Realize the excitation winding F1、F2Current i off1、if2Are respectively constantly controlled so that if1、if2Are equal in size. The output of the storage battery passes through a switch tube S2、S3Excitation winding F1And F2And the current source type converter supplies power to the double salient pole motor.
3. According to signals obtained by a motor armature winding current sensor and a position sensor, a current source type converter is controlled to be in an inverter working mode, a control mode of a rotating speed and a current double closed loop is combined, a switch tube in the current source type inverter is controlled to be switched on and off according to on-off logic of a traditional control mode, the current source type inverter outputs current, and driving operation of a double-salient-pole motor is achieved.
Example three:
in the embodiment, on the basis of the first embodiment, the control strategy of the electric vehicle in the braking mode is implemented.
1. Sampling exciting current and armature current by current sensor, setting proper upper and lower threshold values, and setting DC side current i of current source type converterdcAnd the quadrature axis current i of the motor ac sideqIn the hysteresis judgment link, the output signals after the judgment of the hysteresis judgment link and the hysteresis judgment link are in phase or phase, and the output signal of an OR gate is used for judging whether the system is in a braking mode or not.
2. After the system is determined to enter the braking mode, the switching tube S is controlled1Cut off and brake energy passes VD1Flows through the switching tube S2、S3Make-and-break realization pair if1、if2Constant control of S2、S3The control signal of (2) is output from a PI regulator that controls the excitation current. And switching between the excitation winding energy charging mode and the excitation winding energy feedback mode is realized according to the magnitude of the excitation current.
And (3) switching the excitation current to an excitation winding energy charging mode when the excitation current is small: switch tube S2、S3Conducting, braking energy is through VD1And S2、S3To field winding F1、F2Is charged with energy so that if1、if2(ii) is increased;
when the exciting current is large, the excitation winding is switched to an excitation winding energy feedback mode: switch tube S2、S3Shut off, braking energy via VD1Fed back to the storage battery side and then passes through VD2、VD3Current through the field winding F1、F2A closed loop is formed, and the storage battery is used as an excitation feedback energy absorption source in the mode, so that the current i in the excitation windingf1、if2And decrease.
3. And controlling the current source type inverter to output reverse current according to the armature current of the motor and the rotor position sampling value and the braking instruction, thereby realizing the electromagnetic braking function of the motor.
Example four:
this embodiment is based on the first embodiment, and is to improve the dc input current of the current source converterQuality, using a dual edge modulation strategy pair S2、S3The control is carried out, specifically:
1. simultaneously generating rising sawtooth wave and falling sawtooth wave with the same frequency as if1And if2A carrier wave generated by the control signal;
2. the rising sawtooth wave carrier wave is connected with a switch tube S2Duty ratio d of2Comparison, d2Greater than S when rising sawtooth carrier2Conducting, otherwise S2Turning off;
3. the falling sawtooth wave carrier and the switch tube S3Duty ratio d of3Comparison, d3Greater than S when the falling sawtooth carrier3Conducting, otherwise S3And (4) turning off.
Example five:
in this embodiment, on the basis of the first embodiment, a control strategy that the electric vehicle is in the charging mode is implemented.
1. Change-over switch K1、K2Closed at point b, two excitation windings are connected in series in reverse direction and correspond to excitation current if1And if2Equal in size and opposite in direction, realizes the demagnetization function of the doubly salient motor in the charging mode, and the switch K is switched3And opening the double salient pole motor, connecting the three-phase armature winding of the double salient pole motor with an alternating current power grid, and multiplexing the three-phase armature winding of the double salient pole motor into a filter inductor of an LC filter at the grid side.
2. Switch tube S in charge-discharge bidirectional converter1、S2、S3Turning off, the current source type converter works in a rectification mode, and electric energy is transmitted through the VD1、VD2、VD3And charging the storage battery.
3. The method comprises the steps of sampling three-phase current of a motor through a current sensor at the rear stage, determining the angle of alternating current at the network side by combining a phase-locked loop of alternating current network voltage, adopting a control strategy of double closed loops of direct current at an output side and current at an alternating current side, enabling a current source type converter to work in a rectifier state, and charging a storage battery according to a charging instruction.
Test example one:
according to example one, exampleIn the second and fourth embodiments, the doubly salient motor current source type driving and charging integrated system of the multiplex excitation winding and the driving control strategy thereof simulate the driving operation of the integrated system, and the specific simulation working conditions are as follows: the power supply voltage of a storage battery is 100V, the reference value of exciting current is set to be 10A, namely the input current of the direct current side of a current source type inverter is 20A, the electric excitation double salient pole motor is of an 12/10-pole structure, the resistance and the inductance of an armature winding are respectively 0.1 omega and 5.6mH, the resistance and the inductance of the exciting winding are respectively 0.4 omega and 13mH, the mutual inductance between the exciting winding and the armature winding is a sine wave with the amplitude of 6.78mH and changing along with the electric angle of a rotor, and the rotational inertia of the motor is 0.074 kg.m2The load torque was set to 5N · m, and the control command was such that the rotation speed was increased from 0 to 400rpm and was maintained constant.
FIG. 2 is a waveform diagram of the motor rotation speed in simulation, which shows that the motor maintains the constant rotation speed after gradually increasing the motor speed to 400rpm in 0 second; FIG. 3 shows the motor armature current iaThe waveform diagram is that three-phase current is symmetrical and has good sine degree; FIG. 4 shows the excitation current if1Waveform diagram, FIG. 5 is excitation current if2The waveform detail diagram of the transformer is that two sections of exciting currents are constant in the whole driving operation process, are equal in size and same in direction, and have current ripples smaller than 0.08A; fig. 6 is a waveform diagram of an input current at the dc side of the current source inverter, where the current is the sum of two sections of excitation currents, the magnitude of the current is constant at 20A, and the ripple is less than 0.14A, and the current source inverter can provide a high-quality input current. According to simulation results, under the simulation working conditions, the motor can realize normal starting and steady-state operation, the exciting current and the direct-current side current have small ripples and high quality, and the dual-salient-pole motor current source type driving and charging integrated system with the multiplexing exciting winding can realize a normal driving function and has good operation characteristics.
Test example two:
according to the doubly salient motor current source type driving and charging integrated system with the multiplexing excitation winding and the braking control strategy thereof, the braking operation of the integrated system is simulated, and the specific simulation working conditions are as follows: the power supply voltage of the storage battery is 100V, and an exciting current reference value is setThe current source type inverter direct current side input current is 20A, the electrically excited doubly salient motor is in an 12/10 pole structure, the resistance and the inductance of an armature winding are 0.1 omega and 5.6mH respectively, the resistance and the inductance of an excitation winding are 0.4 omega and 13mH respectively, the mutual inductance between the excitation winding and the armature winding is a sine wave which has an amplitude of 6.78mH and changes with the electrical angle of a rotor, and the rotary inertia of the motor is 0.074kg m2The load torque is set to 5N · m, and the control command is to reduce the rotation speed from 500rpm to 100 rpm.
Fig. 7 and 8 are waveform diagrams of the motor rotation speed and the torque in the simulation, and it can be known from the diagrams that the motor rotation speed is maintained constant after the motor rotation speed is reduced from 500rpm to 100rpm in 1 second, the torque is reversed according to a control command in 1 second, so that the rotation speed is reduced, and the rotation speed is gradually increased after 1.22 seconds so that the rotation speed is stabilized to 100rpm and the phenomenon of rotation speed overshoot is avoided; FIG. 9 shows armature current iaThe three-phase current is symmetrical and has better sine degree, the output current is reversed at 1 second to output negative torque, the motor enters a braking mode, the forward current is gradually recovered after 1.22 seconds, and the motor exits the braking mode; FIG. 10 shows the excitation current if1The waveform detail chart shows that the exciting current can be ensured to be constant in the whole driving operation process, and the exciting current has a peak due to the switching of the driving mode and the braking mode at 1 second and 1.22 seconds, but the peak is less than 0.2A and is in an allowable range; fig. 11 and 12 are detailed diagrams of waveforms of current on the side of the storage battery and energy feedback current thereof, the negative current is the charging current of the storage battery, the feed current is in a pulse shape due to the chopper control of the switching tube, and the maximum value of the feed current is determined by the given value of the exciting current. According to simulation results, under the simulation working conditions, the motor can realize energy feedback in the braking process on the basis of maintaining the excitation current unchanged, although peaks exist in the switching process of the driving mode and the braking mode, the peaks are small, and the normal operation of the system is not influenced within an allowable range.
Test example three:
simulating the charging operation of the integrated system according to the doubly salient motor current source type driving and charging integrated system of the multiplex excitation winding and the charging control strategy thereof, wherein the simulation working conditions are concreteThe following were used: the electric excitation double salient pole motor is of an 12/10-pole structure, the resistance and the inductance of an armature winding are 0.1 omega and 5.6mH, the resistance and the inductance of an excitation winding are 0.4 omega and 13mH, the mutual inductance between the excitation winding and the armature winding is a sine wave which has an amplitude of 6.78mH and changes along with the electric angle of a rotor, and the rotational inertia of the motor is 0.074 kg.m2The power grid side is three-phase alternating current with phase voltage of 220V and frequency of 50Hz, and the control instruction is constant current charging with charging current of 6A.
FIG. 13 is a waveform diagram of the charging current, i.e., the field current i, on the battery sidef2The current is constant at 6A and the ripple is within 0.1A; FIG. 14 shows an excitation current if1Wave pattern with two field windings in series and in reverse so that if1The current is negative, andf1the sizes are equal and the directions are opposite, and the output torque is eliminated; and because the simulation result is ideal, the torque output is 0 in the charging process, and the torque waveform is not discharged. According to a simulation result, the system can realize torque-free output in the constant-current charging process, and meets the charging requirement of an integrated system.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A doubly salient motor current source type driving and charging integrated system is characterized by comprising a storage battery, a charge-discharge bidirectional converter, a current source type converter, an electro-magnetic doubly salient motor, an alternating current filter capacitor and a change-over switch K1、K2、K3And a detection control circuit; the storage battery is connected with the input end of the charge-discharge bidirectional converter, and the input end of the current source type converter sequentially passes through the selector switch K2Excitation winding of electro-magnetic doubly salient motorThe excitation winding is divided into two sections of windings F1And F2Winding F2Series changeover switch K1(ii) a Armature winding and change-over switch K of bridge arm of current source type converter sequentially passing through electro-magnetic doubly salient motor3The method comprises the following steps of accessing alternating current power grids, and sequentially connecting alternating current filter capacitors in parallel between the alternating current power grids;
the double salient pole motor current source type driving and charging integrated system further comprises a sampling signal control system, wherein the sampling signal control system samples an excitation current signal and an armature current signal of the double salient pole motor through a current sensor and performs various controls including switching of a driving operation mode and a charging operation mode; under the driving operation mode, the excitation winding is multiplexed into a direct-current side energy storage inductor of the current source type converter under the control of the selector switch, and a driving control strategy is combined to realize that the storage battery drives the doubly salient motor through the current source type converter; under the charging operation mode, the armature winding is multiplexed into an alternating current side filter inductor under the control of the selector switch, and the alternating current network charges the storage battery through the armature winding of the doubly salient motor, the current source type converter, the excitation winding and the charge-discharge bidirectional converter in combination with a charging control strategy.
2. The integrated dual-salient-electrode current source type driving and charging system according to claim 1, wherein the charge-discharge bidirectional converter comprises three series branches, each series branch comprises sequentially connected diodes VD1And a switching tube S1Switching tube S2And a diode VD2Switching tube S3And a diode VD3Three branches are connected in parallel to form three bridge arm branches; wherein, the input end of the current source type converter passes through a change-over switch K2Connecting field winding F2，F2By means of a change-over switch K1Connection S3And VD3Bridge arm midpoint of (1), field winding F1Connection S2And VD2Bridge arm midpoint of (1), the current sourceThe lower input end of the type converter is connected with S1And VD1The midpoint of the bridge arm.
3. The doubly salient motor current source type driving and charging integrated system according to claim 2, wherein an excitation winding of an electrically excited doubly salient motor is multiplexed as a direct current side energy storage inductor of a current source type converter, and the changeover switch K is switched1、K2To a and b, realizing excitation winding F1、F2The series or parallel control of (1) is specifically: in the drive mode of operation, the switch K is switched over1、K2All are pulled to a position to enable the excitation winding F1、F2After being connected in parallel, the DC side of the current source type converter is connected; in the charging operation mode, the switch K is switched1、K2All are pulled to the position b to lead the exciting winding F to be wound1、F2And the DC side of the current source type converter is connected with the DC side of the current source type converter after the reverse series connection.
4. The control method of the double salient-pole motor current source type driving and charging integrated system according to claim 2 or 3, wherein when the system is operated in a driving mode, comprising the steps of:
step 1, controlling a change-over switch K1、K2Closed at a point, two excitation windings are connected in parallel, the two excitation currents jointly provide direct current for the current source type converter, the current source type converter is in an inverter state, and a switch K is switched3Naturally closing, and short-circuiting the tail ends of the three-phase armature windings of the motor to form a star winding connection mode;
step 2, respectively carrying out two-section excitation winding F1、F2The current of the charge-discharge bidirectional converter is sampled, and a switching tube S in the charge-discharge bidirectional converter1Constant flow of S2、S3In PWM state, realizing the excitation winding F1、F2Current i off1、if2Are respectively and constantly controlled so that if1＝if2(ii) a The output of the storage battery passes through a switching tube S2、S3Excitation winding F1、F2Current source type converter doubly salient motor supplyElectricity;
and 3, detecting a position signal and an armature winding current of the doubly salient motor, controlling the current source type converter to work in an inverter working mode based on the collected position signal and the collected armature current signal, controlling the inverter to output current by combining a control mode of a rotating speed and a current double closed loop, and realizing the driving mode operation and the braking mode operation of the doubly salient motor.
5. Method for controlling a doubly salient motor current-sourced drive-and-charge integrated system according to claim 4, characterised in that to reduce the parallel field winding current if1And if2The generated ripple waves enable the current source type converter to obtain high-quality direct current input current, and a double-edge modulation strategy is adopted for S2、S3The control is carried out, specifically:
step 2.1, simultaneously generating ascending sawtooth waves and descending sawtooth waves with the same frequency as if1And if2A carrier wave generated by the control signal;
step 2.2, the rising sawtooth wave carrier wave and the switch tube S2Duty ratio d of2Comparison, d2Greater than S when rising sawtooth carrier2Conducting, otherwise S2Turning off;
step 2.3, the descending sawtooth wave carrier wave and the switch tube S3Duty cycle d of3Comparison, d3Greater than S when the falling sawtooth carrier3Conducting, otherwise S3And (6) turning off.
6. The control method of the doubly salient motor current source type driving and charging integrated system according to claim 5, wherein the step 3 of realizing the braking mode operation of the doubly salient motor is specifically as follows:
step 3.1, sampling the exciting current and the armature current through a current sensor, setting upper and lower thresholds, and setting the direct current (i) of the current source type converterdcAnd the quadrature axis current i of the motor ac sideqThe hysteresis loop judging link inputs the output signals after the judgment of the hysteresis loop and the output signals into a logic OR gate,judging whether the system is in a braking mode or not according to an output signal of the OR gate, if so, entering a step 3.2, and if not, continuing to operate in a driving mode;
step 3.2, after the system is judged to enter the braking mode, the switching tube S is controlled1Cut off, brake energy passes VD1Flows through the switching tube S2、S3Make-and-break realization pair if1、if2The constant control of the excitation winding is realized by judging the energy charging mode of the excitation winding and the energy feeding mode of the excitation winding according to the magnitude of the excitation current so as to switch the modes;
and 3.3, controlling the current source type inverter to output reverse current according to the position of the motor rotor and the armature current sampling value and the braking instruction, so as to realize the motor braking function.
7. The control method of the doubly salient motor current source type driving and charging integrated system of claim 6, wherein the control method of the excitation winding charging mode is as follows: switch tube S2、S3Conducting and braking energy is obtained through VD1And S2、S3To field winding F1、F2Charge energy so that if1、if2(ii) is increased;
the control method of the energy feedback mode of the excitation winding comprises the following steps: switch tube S2、S3Shut off, braking energy via VD1Fed back to the storage battery side and then passes through VD2、VD3Current through the field winding F1、F2A closed loop is formed, and the storage battery is used as an excitation feedback energy absorption source in the mode, so that the current i in the excitation windingf1、if2And decreases.
8. The control method of the double salient-pole motor current source type driving and charging integrated system as claimed in claim 2 or 3, comprising the steps of, when the system is operated in a charging mode,
step A, a change-over switch K1、K2Closed at point b, two excitation windings F1、F2Reverse series connection, corresponding to exciting current if1And if2Equal in size and opposite in direction if1＝-if2Realizing the demagnetization function of the doubly salient motor in the charging mode, and switching the switch K3Opening, connecting the three-phase armature winding of the doubly salient motor with an alternating current power grid, and multiplexing the three-phase armature winding of the doubly salient motor into a filter inductor of an LC filter at the grid side;
step B, a switch tube S in the charge-discharge bidirectional converter1、S2、S3The current source type converter works in a rectification mode when being switched off, and the electric energy is transmitted through the VD1、VD2、VD3Charging the storage battery;
and step C, sampling the three-phase current of the motor through a current sensor at the rear stage, determining the angle of the alternating current at the grid side by combining a phase-locked loop of the alternating current grid voltage, adopting a control strategy of double closed loops of direct current at an output side and current at an alternating current side, enabling the current source type converter to work in a rectifier state, and charging the storage battery according to a charging instruction.
CN202210423489.8A 2022-04-21 2022-04-21 Current source type driving and charging integrated system of doubly salient motor and control method Pending CN114710092A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115940713A (en) * 2022-11-29 2023-04-07 南京航空航天大学 Resonance de-excitation device for electrically excited motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115940713A (en) * 2022-11-29 2023-04-07 南京航空航天大学 Resonance de-excitation device for electrically excited motor
CN115940713B (en) * 2022-11-29 2023-12-01 南京航空航天大学 Resonance de-excitation device for electric excitation motor

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