CN115149847A - Shaft offset compensation method for five-phase motor coaxial series system - Google Patents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
An axial deviation compensation method for a five-phase motor coaxial series system relates to the technical field of motor control. The invention aims to solve the problems that when the coaxial series driving system of a five-phase motor has an axial deviation fault, the output efficiency is reduced and the torques of two series motors are deviated. The invention relates to an axial deviation compensation method of a five-phase motor coaxial series system, which comprises the steps of firstly carrying out axial deviation angle detection on the five-phase motor coaxial series system and determining the size of an axial deviation angle; and then, carrying out shaft deviation compensation on the series system according to the shaft deviation angle, improving the torque output efficiency of the system and solving the problem of uneven torque output of the two motors.
Description
Technical Field
The invention belongs to the technical field of motor control.
Background
As more and more high-power hydraulic mechanized equipment starts to be electrified and reformed, the electrified driving of a large-inertia actuating mechanism puts more requirements on a motor driving system. The driving mode of the large-inertia actuating mechanism adopts a double-machine coaxial series driving mode in many cases, so that the requirements of high torque output, reduction of large-inertia dynamic influence, prolonging of the service life of a transmission shaft and the like are met. However, the conventional three-phase motor with two coaxial structures lacks fault tolerance capability, and cannot meet the requirements of high power density and high reliability in the fields of aerospace and the like. The multi-phase permanent magnet synchronous motor has the output characteristics of low torque pulsation, strong fault-tolerant capability, low voltage, high power and the like, is more suitable for series driving of a high-inertia transmission mechanism, and has important significance for improving the power and reliability of a system by coaxial series driving of the multi-phase motor. The coaxial series driving system of the five-phase motor can output larger power, and fault tolerance and reliability are improved. Single inverter drives have irreplaceable advantages both in terms of drive size and cost. However, the mechanical coaxial rigid connection is to ensure the position consistency of the two motors, and when the problems of assembly deviation, connection shaft aging and the like exist, the phase of the connection shaft can be deviated, so that the two motors have position deviation. The shaft offset fault has an important influence on the torque output efficiency of the system, and can cause uneven torque output of the two motors, so that the shaft offset is continuously deteriorated. Besides efficiency reduction caused by serious shaft deviation faults, the two motors can generate opposite torques, the service life of the connecting shaft is shortened, the reliability of the connecting shaft is further influenced, and potential safety hazards are caused to system operation. In summary, the reduction of the output efficiency of the system and the torque deviation of the two series motors are problems to be solved urgently.
Disclosure of Invention
The invention provides an axis deviation compensation control method of a five-phase motor coaxial series system, aiming at solving the problems that when an axis deviation fault occurs in the five-phase motor coaxial series drive system, the output efficiency is reduced and the torques of two series motors generate deviation.
The shaft offset compensation method of the five-phase motor coaxial series system comprises the following steps:
the method comprises the following steps: five-phase current I of a five-phase motor coaxial series system under a natural coordinate system by adopting a five-phase-two-phase static transformation array s Converting the current into alpha and beta axis current under a static coordinate system;
step two: observing the five-phase motor coaxial series system by using a flux linkage observer to obtain stator winding flux linkage observed values of alpha and beta axes under fundamental waves;
step three: and calculating permanent magnetic flux linkage estimated values of alpha and beta axes of the coaxial series system of the five-phase motor by the following formula:
wherein,
and
are respectively estimated values of permanent magnetic flux linkage of alpha axes under the fundamental wave of the two five-phase motors,
and
respectively are the permanent magnetic flux linkage estimated values of the beta axis under the fundamental wave of the two five-phase motors,
and
respectively are stator winding flux linkage observed values of an alpha shaft under the fundamental wave of the two five-phase motors,
and
stator winding flux linkage observed values i of beta shafts under fundamental waves of two five-phase motors respectively α And i β Alpha and beta axis currents, L, respectively in a stationary coordinate system α1 And L α2 Inductance of alpha axis under two fundamental waves of five-phase motor, L β1 And L β2 The inductances of the beta shafts under the fundamental waves of the two five-phase motors are respectively;
step four: estimating position angle of flux linkage of coaxial series system of five-phase motor by using normalized phase-locked loop
Step five: estimating position angle according to flux linkage of five-phase motor coaxial series system
And calculating an estimated value of the shaft deflection angle from the actual position angle theta of a five-phase motor
Step six: adjusting five phase currents I s Position angle theta of flux linkage of coaxial series system of five-phase motor sys Conforms to the formula:
the output torque of the five-phase motor coaxial series system is maximum, and the shaft offset compensation is completed.
Further, in the first step, the α and β axis currents in the stationary coordinate system are obtained according to the following formula:
wherein, alpha =2 pi/5,i a 、i b 、i c 、i d And i e The phase currents of the five-phase motors are a, b, c, d and e respectively.
Further, the expression of the flux linkage observer in the second step is as follows:
wherein R is s1 And R s2 Internal resistances, u, of two motors in a coaxial series system of five-phase motors, respectively α And u β The voltages of the alpha and beta axes at the fundamental wave,
and
stator winding flux linkage observed values p [ alpha ], [ beta ] axes under fundamental wave]Representing a differential function.
Further, in the fourth step, the estimated position angle of the flux linkage of the five-phase motor coaxial series system is estimated by using the following formula
Wherein psi dm Is the flux linkage amplitude of the permanent magnet.
Further, the flux linkage amplitude psi of the permanent magnet dm The expression of (c) is as follows:
further, the five-phase motor is coaxialTotal output torque T of series system e Comprises the following steps:
wherein q is the number of pole pairs of the motor, theta x To compensate for the angle, when the output torque is at a maximum
By the method, the fault tolerance and the reliability of the coaxial series driving system of the five-phase motor can be improved while outputting larger power. Specifically, the invention has the advantages that:
1) The method can be used for the axle deviation diagnosis and the axle deviation compensation without position identification.
2) By repositioning the current vector to the optimal shaft deviation compensation angle, the output torque of the system during shaft deviation is improved to the maximum extent, and the torque output efficiency of the system is improved.
3) The problem of uneven torque output of the two motors is solved, the continuous aggravation of the shaft deviation fault is avoided, the service life of the connection and the transmission shaft is prolonged, and the safety problem caused by the opposite torque when the shaft deviation is seriously failed is also avoided.
4) The coaxial assembly difficulty is reduced, the fault tolerance of the coaxial series system to the shaft deviation fault is improved, and even if the positive and negative shaft deviation angles are within 30 degrees, the torque output efficiency of the series motor is over 97 percent, so that the system keeps excellent operation performance.
In conclusion, the invention provides an axis deviation compensation method for a five-phase motor coaxial series system, which can improve the torque output efficiency of the system when an axis deviation fault occurs, solve the problem of uneven motor torque caused by the axis deviation and prolong the service life of a connecting shaft. The method has important significance for improving the output efficiency and the reliability of the system.
Drawings
Fig. 1 is a structural view of a five-phase motor coaxial series system, in which (a) shows a mechanical structure and (b) shows an electrical structure;
FIG. 2 is a FOC control block diagram of a five-phase motor coaxial series system;
FIG. 3 is a block diagram of normalized quadrature phase-locked loop position detection;
FIG. 4 is a schematic diagram of a space-integrated vector axis deviation of two five-phase motors;
FIG. 5 is a composite vector diagram of an off-axis compensated reorientation current;
FIG. 6 is a schematic diagram of an optimal compensation angle selection;
fig. 7 is a block diagram of the five-phase motor coaxial series torque output efficiency optimum shaft offset compensation control.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The first specific implementation way is as follows: the coaxial series system of the five-phase motor has higher requirement on coaxial phase synchronization, but the problem of shaft deflection cannot be avoided. Therefore, the scheme adopted by the implementation totally comprises two parts of means to deal with the following problems:
firstly, detecting the shaft deflection angle of a five-phase motor coaxial series system, and determining the size of the shaft deflection angle;
and secondly, performing shaft deviation compensation on the series system according to the shaft deviation angle, improving the torque output efficiency of the system and solving the problem of uneven torque output of the two motors. The present embodiment will be described with reference to fig. 1 to 7 in detail.
Fig. 1 is a structural diagram of a five-phase motor coaxial series system. The two five-phase motors are coaxially connected and share the same position; two motors are connected in series in the same phase, a single inverter supplies power to reduce driving area and cost and simplify control difficulty, and a control strategy based on FOC is shown in figure 2. The transformation equation of the five-phase motor coaxial series system is as follows:
U S ＝(R s1 +R s2 )I s +P(ψ s1 +ψ s2 )，
wherein, U S For the inverter output voltage, R s1 And R s2 Internal resistances, psi, of two motors in a coaxial series system of five-phase motors, respectively s1 And psi s2 The fundamental wave flux linkage p [ deg. ] of two five-phase motors]Representing a differential function.
The shaft offset compensation method based on the five-phase motor coaxial series system comprises the following steps:
the method comprises the following steps: five-phase current I of a five-phase motor coaxial series system under a natural coordinate system by adopting a five-phase-two-phase static transformation array s Conversion to alpha and beta axis currents i in a stationary coordinate system α And i β ：
Wherein, alpha =2 pi/5,i a 、i b 、i c 、i d And i e The currents of a, b, c, d and e of the five-phase motor are respectively.
Step two: observing a five-phase motor coaxial series system by using a flux linkage observer, wherein the expression of the flux linkage observer is as follows:
wherein R is s1 And R s2 Internal resistances, u, of two motors in a coaxial series system of five-phase motors, respectively α And u β Voltages of the alpha and beta axes at the fundamental wave, p [ deg. ], respectively]Representing a differential function.
Obtaining stator winding flux linkage observed values of alpha and beta axes under fundamental wave
And
step three: and calculating permanent magnetic flux linkage estimated values of alpha and beta axes of the coaxial series system of the five-phase motor by the following formula:
wherein,
and
respectively are the permanent magnetic flux linkage estimated values of the alpha axis under the fundamental wave of the two five-phase motors,
and
are respectively estimated values of permanent magnetic flux linkage of a beta shaft under the fundamental wave of the two five-phase motors,
and
respectively are stator winding flux linkage observed values of an alpha shaft under the fundamental wave of the two five-phase motors,
and
respectively is the observed value L of the stator winding flux linkage of the beta axis under the fundamental wave of the two five-phase motors α1 And L α2 Inductance of alpha axis under fundamental wave of two five-phase motors, L β1 And L β2 The inductances of the beta shaft under the fundamental wave of the two five-phase motors are respectively.
Step four: when the coaxial series system of the five-phase motors has an axis offset fault, the space operation states of the two five-phase motors are offset, as shown in fig. 4. In the five-phase motor coaxial series system, a sensor is arranged on the motor 1 to obtain an actual position angle theta of the five-phase motor.
Then, according to the property that the permanent magnet flux linkage of the five-phase motor is overlapped with the d axis of the motor, as shown in fig. 3, the normalized phase-locked loop is adopted to estimate the estimated position angle of the flux linkage of the coaxial series system of the five-phase motor
Wherein psi dm Is the amplitude of the flux linkage of the permanent magnet,
step five: estimating position angle according to flux linkage of five-phase motor coaxial series system
And calculating an estimated value of the shaft deflection angle from the actual position angle theta of a five-phase motor
So far, the shaft deflection angle detection of the five-phase motor coaxial series system is completed, and at the moment, the position angle of the motor 2 is the same as that of the shaft deflection fault
And then compensating the axial deviation of the five-phase motor coaxial series system.
Step six: as shown in FIG. 5, the five phase currents I are adjusted s Make the five-phase motor coaxially connected in seriesPosition angle theta of the system flux linkage sys Conforms to the formula:
the output torque of the five-phase motor coaxial series system is maximum, and the shaft offset compensation is completed.
At the moment, the total output torque T of the coaxial series system of the five-phase motor e Comprises the following steps:
wherein q is the number of pole pairs of the motor, theta x To compensate for the angle, when the output torque is at a maximum
ψ dm Is the flux linkage amplitude of the permanent magnet.
The output torques of the two five-phase motors are equal:
therefore, the system integrated current vector I is added s Reorientation to an off-axis optimum compensation angular position theta sys The output torque of the system can be improved, and the output torques of the two motors are equal. The integral control frame of the method for realizing the shaft offset compensation control of the five-phase motor coaxial series system is shown in figure 7.
In the present embodiment, if a position sensor is mounted on only one motor of a five-phase motor coaxial series system, the misalignment compensation needs to be performed after estimating the misalignment angle and performing the misalignment compensation as described above. However, when two motors of the coaxial system are respectively provided with a position sensor, the shaft offset compensation control method does not need to estimate the shaft offset angle, and can directly obtain the optimal shaft offset compensation angle as
(θ 2 Is the position angle of the motor 2), the shaft misalignment compensation control method is realized.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (6)
1. The shaft offset compensation method of the five-phase motor coaxial series system is characterized by comprising the following steps of:
the method comprises the following steps: five-phase current I of a five-phase motor coaxial series system under a natural coordinate system by adopting a five-phase-two-phase static transformation array s Converting the current into alpha and beta axis current under a static coordinate system;
step two: observing the coaxial series system of the five-phase motor by using a flux linkage observer to obtain stator winding flux linkage observation values of alpha and beta axes under fundamental waves;
step three: and calculating permanent magnetic flux linkage estimated values of alpha and beta axes of the coaxial series system of the five-phase motor by the following formula:
wherein,
and
respectively are the permanent magnetic flux linkage estimated values of the alpha axis under the fundamental wave of the two five-phase motors,
and
are respectively estimated values of permanent magnetic flux linkage of a beta shaft under the fundamental wave of the two five-phase motors,
and
respectively are stator winding flux linkage observed values of an alpha shaft under the fundamental wave of the two five-phase motors,
and
stator winding flux linkage observed values i of beta axes under fundamental waves of two five-phase motors respectively α And i β Respectively alpha and beta axis currents, L, in a stationary coordinate system α1 And L α2 Inductance of alpha axis under two fundamental waves of five-phase motor, L β1 And L β2 The inductances of the beta shafts under the fundamental waves of the two five-phase motors are respectively;
step four: method for estimating estimated position angle of flux linkage of five-phase motor coaxial series system by using normalized phase-locked loop
Step five: estimating position angle according to flux linkage of five-phase motor coaxial series system
And calculating an estimated value of the shaft deflection angle from the actual position angle theta of a five-phase motor
Step six: adjusting five phase currents I s Position angle theta of flux linkage of coaxial series system of five-phase motor sys Conforms to the formula:
the output torque of the five-phase motor coaxial series system is maximized, and the shaft offset compensation is completed.
2. The method for compensating for the shaft offset of the five-phase motor coaxial series system according to claim 1, wherein the α and β axis currents in the stationary coordinate system are obtained according to the following formula in the first step:
wherein, alpha =2 pi/5,i a 、i b 、i c 、i d And i e The currents of a, b, c, d and e of the five-phase motor are respectively.
3. The shaft offset compensation method of the five-phase motor coaxial series system according to claim 1, wherein the expression of the flux linkage observer in the second step is:
wherein R is s1 And R s2 Internal resistances, u, of two motors in a coaxial series system of five-phase motors, respectively α And u β The voltages of the alpha and beta axes at the fundamental wave,
and
stator winding flux linkage observed values p [ alpha ], [ beta ] axes under fundamental wave]Representing a differential function.
4. The method of claim 1, wherein the step four comprises estimating the estimated position angle of the flux linkage of the five-phase motor in-line series-wound system using the following formula
Wherein psi dm Is the flux linkage amplitude of the permanent magnet.
5. The method for compensating for the axial deviation of the coaxial series system of the five-phase motor according to claim 4, wherein the permanent magnet flux linkage amplitude ψ is dm The expression of (a) is as follows:
6. the shaft offset compensation method of the coaxial series system of five-phase motor according to claim 1, wherein the total output torque T of the coaxial series system of five-phase motor is e Comprises the following steps:
wherein q is the number of pole pairs of the motor，θ x To compensate for the angle, when the output torque is at a maximum
ψ dm Is the flux linkage amplitude of the permanent magnet.
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