WO2017024596A1 - 一种多单元永磁同步电机智能协同控制***及方法 - Google Patents

一种多单元永磁同步电机智能协同控制***及方法 Download PDF

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Publication number
WO2017024596A1
WO2017024596A1 PCT/CN2015/086955 CN2015086955W WO2017024596A1 WO 2017024596 A1 WO2017024596 A1 WO 2017024596A1 CN 2015086955 W CN2015086955 W CN 2015086955W WO 2017024596 A1 WO2017024596 A1 WO 2017024596A1
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permanent magnet
control unit
phase
unit
value
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PCT/CN2015/086955
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English (en)
French (fr)
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张化光
闫士杰
张炳义
闫伟航
王旭
刘秀翀
褚恩辉
许晓敏
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东北大学
沈阳工业大学
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Priority to US15/528,751 priority Critical patent/US10171020B2/en
Publication of WO2017024596A1 publication Critical patent/WO2017024596A1/zh

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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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • 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
    • H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
    • H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
    • H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
    • H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
    • H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M5/4585—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
    • 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
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/06—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes without control electrode or semiconductor devices without control electrode
    • H02M7/08—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes without control electrode or semiconductor devices without control electrode arranged for operation in parallel
    • 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
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without 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
    • H02M7/537—Conversion of dc power input into ac power output without 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 using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without 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 using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without 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 using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—Conversion of dc power input into ac power output without 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 using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
    • H02M7/53876—Conversion of dc power input into ac power output without 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 using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output based on synthesising a desired voltage vector via the selection of appropriate fundamental voltage vectors, and corresponding dwelling times
    • 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
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/15—Controlling commutation time
    • 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
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without 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
    • H02M7/217—Conversion of ac power input into dc power output without 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 using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without 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 using semiconductor devices only in a bridge configuration
    • 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
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/4815—Resonant converters
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

Definitions

  • the invention belongs to the technical field of power electronics and electric drive, and particularly relates to a multi-unit permanent magnet synchronous motor intelligent cooperative control system and method.
  • High-power electric drive system occupies an important position in industrial production, and is widely used in large-scale mine upgrading, large-scale ship main propulsion, and megawatt-class wind power generation.
  • the existing high-power electric drive system adopts a single-circuit structure, the voltage level is high, the system has no redundancy, and the reliability is low.
  • the rectification part of the system mostly adopts the uncontrollable rectification mode, the power factor is low, and there is a large reactive power transmission loss. It is easy to generate low frequency subharmonics in the unbalanced power supply network environment, and it is difficult to optimize the reactive power. control.
  • the system inverter part adopts the hard switching mode, and there is a large amount of switching loss, especially when the switching frequency of the power device increases and the power increases.
  • mechanical sensors are often used to detect the rotor position of the motor, the system cost is high, the reliability is low, and the maintenance workload is large.
  • the traditional permanent magnet motor stator manufacturing adopts the integral processing method, which brings difficulties in manufacturing, transportation, installation and maintenance of high-voltage motors, high cost of inverters and low reliability.
  • the present invention provides a multi-unit permanent magnet synchronous motor intelligent cooperative control system and method for solving the problem of energy loss and reactive power loss of a hard switching circuit in a high-power electric drive system, and solving multi-unit coordinated control and Fault-tolerant control problems, solve the problem of difficult installation, transportation and maintenance of the motor, realize the optimization of the overall energy, and achieve the purpose of improving the utilization efficiency of the electric energy.
  • a multi-unit permanent magnet synchronous motor intelligent cooperative control system comprising a double parallel PWM rectifier circuit, further comprising a first permanent magnet motor cooperative control unit, a second permanent magnet motor cooperative control unit, a third permanent magnet motor cooperative control unit and a plurality of The unit permanent magnet synchronous motor, wherein the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit coordinately control three of the multi-unit permanent magnet synchronous motors by means of parallel connection Stator unit.
  • the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit have the same structure, and each comprises a driving and amplifying circuit, a control unit and an inverter unit, and the control The unit realizes coordinated control of the multi-unit permanent magnet synchronous motor by mutual communication.
  • the control unit includes a distributed collaborative controller and a current control and speed estimating unit, wherein
  • the A-phase, B-phase, and C-phase current detection signals for collecting the input ends of the motor, and the estimated values of the rotor speeds obtained according to the collected A-phase, B-phase, and C-phase current detection signals are simultaneously sent to each control unit for distributed coordination. Controller; and Receiving the output value of the distributed cooperative controller, obtaining the direct-axis voltage reference value and the cross-axis voltage reference value in the two-phase stationary coordinate system according to the above output value, and then obtaining the PWM signal by using the space vector pulse width modulation, and obtaining the PWM signal Transmitting to the inverter unit through the driving and amplifying circuit;
  • the communication structure of three control units is described by using a method for constructing an undirected graph, and the communication association matrix of each control unit is obtained according to the constructed undirected graph, and the rotor speed is estimated according to the estimated value of the rotor speed.
  • the value and the overall communication association matrix of the control unit construct the error function, set the real matrix and the real number term, and obtain the output value of the distributed cooperative controller according to the constructed error function.
  • the multi-cell permanent magnet synchronous motor has a stator of 27 slots and 30 poles, and each unit has 9 slots and 10 poles, and each stator unit shares a rotor; the rotor is a permanent magnet built-in tangential type; each unit motor
  • the winding adopts a double-layer fractional slot winding with a pitch of 1, and the internal winding of each unit motor adopts a star connection.
  • the control method using the multi-unit permanent magnet synchronous motor intelligent cooperative control system comprises the following steps:
  • Step 1 the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit simultaneously collect the A phase, B phase, and C phase current detection signals at the motor input end;
  • Step 2 The first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit simultaneously obtain PWM according to the collected phase A, phase B, and C phase current detection signals. signal;
  • Step 3 According to the PWM signal, the frequency and amplitude of the output stator voltage are changed, and the coordinated control of the motor speed of each unit is realized.
  • the coordinated control described in step 2 includes the following steps:
  • Step 2-1 Obtain an estimated rotor speed according to the A phase, B phase, and C phase current detection signals, and simultaneously send to each control unit to realize mutual communication of the three control units;
  • Step 2-2 describe the communication structure of the three control units by using the method of constructing an undirected graph
  • Step 2-3 Obtain a communication association matrix of the control unit as a whole according to the constructed undirected graph, and construct an error function according to the rotor speed estimation value, the set rotor speed value set by the user, and the communication correlation matrix of the control unit as a whole;
  • Step 2-4 setting a real matrix and a real number, and obtaining an output value according to the constructed error function
  • Step 2-5 obtaining a direct-axis voltage reference value and a cross-axis voltage reference value in a two-phase stationary coordinate system according to the above output value, and then obtaining a PWM signal by using space vector pulse width modulation.
  • the rotor speed estimation value obtained according to the A phase, B phase, and C phase current detection signals described in step 2-1 includes the following steps:
  • Step 2-1-1 performing analog-to-digital conversion on the received current detection signal, and performing Clark coordinate transformation and Park coordinate transformation on the converted A-phase, B-phase, and C-phase current signals according to the initial phase angle value of the rotor.
  • Two-phase rotating coordinate system Straight axis current and cross shaft current;
  • Step 2-1-2 the cross-axis current is passed through a band-pass filter to obtain a high-frequency component of the cross-axis current, and the high-frequency component of the cross-axis current is multiplied by the sinusoidal high-frequency signal to obtain a cross-axis current of the separable phase angle error signal. a high frequency component and passing it through a low pass filtering process to obtain a current signal containing only phase angle errors;
  • Step 2-1-3 Obtain a rotor speed estimation value by using a PI control algorithm, and obtain an estimated rotor phase angle by integrating the above rotor speed estimation value.
  • the communication association matrix described in step 2-3 is a symmetric matrix, and the number of rows and columns of the matrix is 3, and the elements in the matrix have a value of 0 or 1.
  • the error function is: the difference between a certain control unit rotor speed estimation value and other control unit rotor speed estimation value multiplied by the coefficient, plus the control unit rotor speed estimation value and design
  • the difference between the given rotor speed values is multiplied by the coefficient;
  • the difference between the rotor cell speed estimate of one of the control units and the rotor speed estimate of the other control unit is multiplied by a coefficient, which is the communication correlation matrix Elements.
  • the output value described in steps 2-4 is solved by multiplying the error function by the real matrix and the real term, and then summing with the set rotor given velocity value; the real matrix is a 1 ⁇ 2 real vector .
  • Step 2-5-1 using the output value as the reference current of the cross-axis current
  • Step 2-5-2 obtaining the direct-axis current and the fundamental cross-axis current through the low-pass filtering process of the obtained direct-axis current and the cross-axis current;
  • Step 2-5-3 comparing the fundamental axis current and the cross-axis current reference amount to obtain the cross-axis current error value, and comparing the fundamental-axis direct-axis current with the direct-axis current reference amount to obtain a direct-axis current. difference;
  • Step 2-5-4 using the PI control algorithm to calculate the cross-axis current error value and the straight-axis current error value respectively, and obtain the cross-axis voltage reference value and the straight-axis voltage reference value, and the straight-axis voltage reference value and the high-frequency
  • the voltage signal values are summed to obtain a direct-axis voltage reference value including the high-frequency signal;
  • Step 2-5-5 according to the estimated value of the rotor phase angle of the motor, carry out the Park inverse coordinate transformation on the reference value of the cross-axis voltage and the direct-axis voltage reference value of the high-frequency signal, and obtain the direct-axis voltage reference in the two-phase stationary coordinate system.
  • the value and the cross-axis voltage reference value are then used to obtain the PWM signal using space vector pulse width modulation.
  • the invention relates to a multi-unit permanent magnet synchronous motor intelligent cooperative control system.
  • the invention adopts a parallel structure of a low-voltage multi-permanent magnet motor cooperative control unit to realize low-voltage high-power, low-speed large torque control and system redundancy control; double Parallel PWM rectifier circuit structure, when the system is in an unbalanced power supply network environment, two sets of PWM rectifiers are used to control the positive and negative sequence currents respectively, and the closed-loop control of the positive and negative sequence currents reduces the reactive loss and harmonics.
  • the inverter unit adopts a resonant pole type three-phase soft-switching inverter circuit, which improves the utilization of the DC bus voltage, greatly reduces the switching loss of the device at high frequencies; uses current control and speed estimation in the control of permanent magnet motor
  • the unit can accurately estimate the speed and phase angle information of the rotor, and has low cost and high reliability.
  • the controlled object is a multi-unit permanent magnet synchronous motor, which solves the problems of difficulty in installation, transportation and maintenance of the motor in the high-power electric drive system.
  • FIG. 1 is a structural block diagram of an intelligent cooperative control system for a multi-unit permanent magnet synchronous motor according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a dual parallel PWM rectifier circuit according to an embodiment of the present invention
  • FIG. 3 is a block diagram showing the internal structure of a first permanent magnet motor cooperative control unit, a second permanent magnet motor cooperative control unit, and a third permanent magnet motor cooperative control unit according to an embodiment of the present invention
  • FIG. 4 is a circuit diagram of a resonant pole type soft switch inverter circuit according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of an internal structure of a control unit according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of a multi-unit permanent magnet synchronous motor according to an embodiment of the present invention.
  • FIG. 7 is a star-shaped diagram of a slot of a 27-slot 30-pole monopole permanent magnet motor and a 9-slot 10-pole unit permanent magnet motor according to an embodiment of the present invention, wherein (a) is a 27-slot 30-pole integral permanent magnet motor slot potential Star map, Figure (b) is a 9-slot 10-pole permanent magnet motor slot potential star map;
  • FIG. 8 is a development view of a winding of a 27-slot 30-pole multi-unit permanent magnet synchronous motor according to an embodiment of the present invention
  • FIG. 9 is a flowchart of an intelligent cooperative control method using a multi-unit permanent magnet synchronous motor according to an embodiment of the present invention.
  • FIG. 10 is a block diagram of a sensorless control system for a multi-cell permanent magnet synchronous motor according to an embodiment of the present invention
  • FIG. 11 is an undirected view of a construction of an embodiment of the present invention.
  • Figure 12 is a graph showing the speed estimation values of the respective cooperative control units according to an embodiment of the present invention.
  • the multi-unit permanent magnet synchronous motor intelligent cooperative control system in the embodiment of the present invention comprises a dual parallel PWM rectifier circuit 1 , a first permanent magnet motor cooperative control unit 2 , a second permanent magnet motor cooperative control unit 3 , a third permanent magnet motor cooperative control unit 4 and a multi-unit permanent magnet synchronous motor 5, wherein the first permanent magnet motor cooperative control unit 2, the second permanent magnet motor cooperative control unit 3, and the third permanent magnet motor cooperative control unit 4 pass Coordinated control of three stator units of the multi-unit permanent magnet synchronous motor 5 in a parallel connection manner;
  • the dual parallel PWM rectifier circuit 1 is used for converting 380V AC power into DC power with adjustable voltage.
  • the circuit diagram is shown in FIG. 2, and two sets of three-phase voltage type PWM rectifier structures are adopted to connect the neutral point of the AC power source.
  • the integrated control scheme of positive and negative sequence current, voltage and power is formed, which solves the control problem of parallel PWM rectification structure under unbalanced power supply network environment;
  • the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit have the same structure, as shown in FIG. 3, each includes a driving and amplifying circuit and a control unit. And an inverter unit, wherein the control unit realizes coordinated control of the multi-unit permanent magnet synchronous motor by mutual communication;
  • control unit adopts a DSP of the TMS320F28335 model as a core, plus a communication module, an A/D sampling module and a pulse generation module, and the inverter unit adopts a resonant pole type three-phase soft switch inverter circuit (see application).
  • the inverter unit adopts a resonant pole type three-phase soft switch inverter circuit (see application). No. 200910010240.9 patent), as shown in Figure 4, each of the three-phase circuits has its own resonant inductor. This design can improve the utilization of the DC bus voltage, reduce the switching loss of the device, and reduce the production cost;
  • the control unit includes a distributed cooperative controller and a current control and speed estimating unit, wherein the current control and speed estimating unit is configured to collect the A phase, the B phase, and the C phase of the motor input end.
  • the current detection signal is sent to the distributed cooperative controller of each control unit simultaneously according to the collected A phase, B phase, and C phase current detection signals; and the output value of the distributed cooperative controller is received.
  • the direct-axis voltage reference value and the cross-axis voltage reference value in the two-phase stationary coordinate system are obtained, and then the PWM signal is obtained by using space vector pulse width modulation, and the obtained PWM signal is sent to the inverter through the driving and amplifying circuit.
  • the distributed collaborative controller is used to describe the communication structure of the three control units by constructing an undirected graph, and obtain the communication association matrix of each control unit according to the constructed undirected graph, and estimate the rotor speed according to the Set the rotor speed and the communication association matrix of the control unit as a whole, construct an error function, set the real matrix and The real number, and according to the constructed error function, the output value of the distributed collaborative controller is obtained.
  • the multi-unit permanent magnet synchronous motor with double-layer fractional slot winding structure with a pitch of 1 greatly improves the slot full rate of the motor, and is more suitable for mechanical automatic winding in industrial production, and
  • the number of pole pairs of the rotor is large, and the built-in tangential form of the rotor magnetic circuit is used, which provides the possibility of realizing the multi-pole and small-slot permanent magnet synchronous motor.
  • FIG. 6 A schematic diagram of a multi-unit permanent magnet synchronous motor is shown in FIG. 6 , which adopts a 27-slot 30-pole three-phase permanent magnet synchronous motor; in the figure, Cell 1 represents a stator unit 1 , Cell 2 represents a stator unit 2 , and Cell 3 represents a stator unit 3 ;
  • n is the number of phases of the stator winding of the motor, and b and c are the numerator and denominator of q, respectively;
  • the integer part of all the fractions obtained above is added to 1 in order, and the last integer is an integer, which is 0, 1, 1, 1, 2, 2, 2, 3,3,3,3; then subtract the previous item from the previous item in the resulting series, and the resulting series is the optimal cycle number sequence, which is 1,0,0,1,0,0,1 ,0,0,0;
  • this winding sequence is the first layer winding of the fractional slot winding, arranged as: AaACcCBbB;
  • a, b and c represent the reverse insertion of the coil; when the double-layer winding is used, the first layer winding is shifted to the right by one slot and then reversed to obtain the arrangement of the second layer winding;
  • a control method is implemented by using a multi-unit permanent magnet synchronous motor intelligent cooperative control system.
  • the method flow chart is shown in FIG. 9 and includes the following steps:
  • Step 1 the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit simultaneously collect the A phase, B phase, and C phase current detection signals at the motor input end;
  • three current sensors are used to simultaneously collect the A phase, B phase, and C phase current signals of the motor input end, and the current signal is sent to the first permanent magnet motor cooperative control unit and the second permanent magnet motor cooperative control unit.
  • a third permanent magnet motor cooperative control unit is used to simultaneously collect the A phase, B phase, and C phase current signals of the motor input end, and the current signal is sent to the first permanent magnet motor cooperative control unit and the second permanent magnet motor cooperative control unit.
  • a third permanent magnet motor cooperative control unit is used to simultaneously collect the A phase, B phase, and C phase current signals of the motor input end, and the current signal is sent to the first permanent magnet motor cooperative control unit and the second permanent magnet motor cooperative control unit.
  • a third permanent magnet motor cooperative control unit is used to simultaneously collect the A phase, B phase, and C phase current signals of the motor input end, and the current signal is sent to the first permanent magnet motor cooperative control unit and the second permanent magnet motor cooperative control unit.
  • a third permanent magnet motor cooperative control unit is used to simultaneously collect the A phase, B phase, and C phase
  • Step 2 The first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit simultaneously obtain PWM according to the collected phase A, phase B, and C phase current detection signals.
  • the signal includes the following steps:
  • FIG. 10 is a block diagram of a sensorless control system for a multi-unit permanent magnet synchronous motor. Referring to FIG. 10, taking the internal control process of the first permanent magnet motor cooperative control unit as an example, the specific steps of the cooperative control in step 2 are explained. :
  • Step 2-1 Obtain an estimated rotor speed based on the A-phase, B-phase, and C-phase current detection signals i a1 , i b1 , and i c1 . And simultaneously transmitting to each control unit (the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit) to realize mutual communication of the three control units;
  • Step 2-1-1 performing analog-to-digital conversion on the received current detection signals i a1 , i b1 , i c1 , and performing Clark on the converted A-phase, B-phase, and C-phase current signals according to the initial phase angle value of the rotor.
  • Coordinate transformation and Park coordinate transformation obtaining the direct axis current i d and the quadrature axis current i q under the two-phase rotating coordinate system dq;
  • the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit are used to obtain the internal stator winding resistance value and the rotor initial phase of each unit of the motor.
  • Angle value set the rotor given speed value ⁇ * and inject high frequency voltage signal value V inj cos ⁇ h t;
  • Step 2-1-2 the cross-axis current i q is obtained by band pass filtering to obtain the high-frequency component of the cross-axis current.
  • the above-mentioned high-frequency component of the AC current Multiplying the sinusoidal high-frequency signal sin ⁇ h t to obtain the high-frequency component of the cross-axis current of the separable phase angle error signal And Obtaining a current signal ⁇ containing only phase angle errors by low-pass filtering;
  • V inj represents the amplitude of the injected high-frequency voltage signal
  • ⁇ h represents the frequency of the injected high-frequency voltage signal
  • L 0 represents the half-difference inductance, which is half of the difference between the q-axis equivalent inductance and the d-axis equivalent inductance
  • L 1 represents the average inductance, which is half of the q-axis equivalent inductance and the d-axis equivalent inductance and value
  • ⁇ represents the phase angle error signal
  • Step 2-1-3 Obtain the rotor speed estimation value by PI control algorithm.
  • the rotor phase velocity estimation value is obtained by integral operation to obtain the rotor phase angle estimation value.
  • Step 2-2 describe the communication structure of the three control units by using the method of constructing an undirected graph
  • the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit all adopt a full duplex communication mode, so the undirected graph is used for distributed control.
  • the communication structure is described.
  • the first permanent magnet motor cooperative control unit, the second permanent magnet motor cooperative control unit and the third permanent magnet motor cooperative control unit in the system are respectively defined as three nodes ⁇ 1 , ⁇ 2 , ⁇ 3 ;
  • Step 2-3 Obtain a communication association matrix of the control unit as a whole according to the constructed undirected graph, and construct an error function according to the rotor speed estimation value, the set rotor speed value set by the user, and the communication correlation matrix of the control unit as a whole;
  • the adjacency matrix of the system is:
  • ⁇ denotes the communication association matrix between the two control units, that is, the adjacency matrix of the undirected graph;
  • Step 2-4 setting a real matrix and a real number, and obtaining an output value according to the constructed error function
  • u i represents the output value of the internal distributed cooperative controller of the i-th control unit
  • c is a real value
  • K is a 1 ⁇ 2 real number vector
  • ⁇ min ( ⁇ G) matrix ⁇ G represents a minimum value of the real part characteristic matrix ⁇ G is:
  • Step 2-5 Obtain a direct-axis voltage reference value and a cross-axis voltage reference value in a two-phase stationary coordinate system according to the output value, and then obtain a PWM signal by using space vector pulse width modulation, including the following steps:
  • Step 2-5-1 the output value u i is taken as the cross-axis current reference quantity i qref ;
  • Step 2-5-2 the obtained direct-axis current i d and the cross-axis current i q are obtained by low-pass filtering to obtain a fundamental straight-axis current i db and a fundamental-wave quadrature current i qb ;
  • Step 2-5-3 comparing the fundamental axis current i qb with the cross-axis current reference quantity i qref to obtain the cross-axis current error value i qe , and the fundamental-axis direct-axis current i db and the direct-axis current reference quantity i dref (takes a value of 0) is compared to obtain a straight-axis current error value i de ;
  • Step 2-5-4 using the PI control algorithm to calculate the cross-axis current error value i qe and the straight-axis current error value i de respectively, and obtain the cross-axis voltage reference value u qref and the straight-axis voltage reference value u dref , and
  • the straight-axis voltage reference value u dref is summed with the high-frequency voltage signal value V inj cos ⁇ h t to obtain a direct-axis voltage reference value u dh containing the high-frequency signal;
  • Step 2-5-5 based on the motor rotor phase angle estimate Performing Park inverse coordinate transformation on the cross-axis voltage reference value u qref and the direct-axis voltage reference value u dh containing the high-frequency signal to obtain the direct-axis voltage reference value u ⁇ ref and the cross-axis voltage reference value u ⁇ ref in the two-phase stationary coordinate system Entering u ⁇ ref and u ⁇ ref into the SVPWM module, which generates a PWM signal;
  • Step 3 changing the frequency and amplitude of the output stator voltage according to the PWM signal, thereby achieving coordinated control of the rotational speed of each unit motor;
  • the PWM signal is controlled by the driving and amplifying circuit to control the inverter unit 1 to output a corresponding three-phase sinusoidal waveform, thereby controlling the stator unit 1 of the motor.
  • Unit speed estimate Corresponding curve. It can be seen from the figure that the velocity estimation of the three units at the beginning is zero. Under the action of the distributed cooperative controller, the velocity estimates of the three units tend to be consistent after 4 s. Through the respective distributed cooperative controllers, each unit generates three synchronous rotating magnetic fields with speed synchronization without using the speed sensor, thereby realizing integrated coordinated control of the motor speed.

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Abstract

一种多单元永磁同步电机智能协同控制***，包括双并联PWM整流电路（1）、第一永磁电机协同控制单元（2）、第二永磁电机协同控制单元（3）、第三永磁电机协同控制单元（4）和多单元永磁同步电机（5），第一永磁电机协同控制单元（2）、第二永磁电机协同控制单元（3）和第三永磁电机协同控制单元（4）通过并联连接的方式协同控制多单元永磁同步电机（5）的三个定子单元。上述***能够解决大功率电气传动***中硬开关电路能量损耗和无功损耗问题、解决多单元协调控制和容错控制问题、解决电机安装运输和维护困难问题、实现优化整体能量、实现提高电能的利用效率的目的。

Description

一种多单元永磁同步电机智能协同控制***及方法 技术领域
本发明属于电力电子与电力传动技术领域，具体涉及一种多单元永磁同步电机智能协同控制***及方法。
背景技术
大功率电气传动***在工业生产中占有重要的地位，广泛应用于大型矿井提升、大型船舶主推进、兆瓦级风力发电等方面。目前，现有的大功率电气传动***存在很多问题，主要为：在***结构方面，大功率电气传动***多采用单一支路结构，电压等级高，***无冗余，可靠性低。在整流方面，***整流部分多采用不可控整流模式，功率因数较低，存在较大的无功功率传输损耗，在不平衡供电网络环境下易产生低频次谐波，难以实现无功功率的优化控制。在逆变方面，***逆变部分多采用硬开关工作模式，存在大量的开关损耗，特别是在功率器件开关频率增大和功率增大时更为突出。在电机控制方面，多采用机械传感器来检测电机转子位置，***成本高，可靠性低，维护工作量大。在电机制造方面，传统永磁电机定子制造多采用整体加工方法，带来高压电机制造、运输、安装和维护困难，变频器成本高、可靠性低等问题。
发明内容
针对现有技术的不足，本发明提出一种多单元永磁同步电机智能协同控制***及方法，以解决大功率电气传动***中硬开关电路能量损耗和无功损耗问题、解决多单元协调控制和容错控制问题、解决电机安装运输和维护困难问题、实现优化整体能量、实现提高电能的利用效率的目的。
一种多单元永磁同步电机智能协同控制***，包括双并联PWM整流电路，还包括第一永磁电机协同控制单元、第二永磁电机协同控制单元、第三永磁电机协同控制单元和多单元永磁同步电机，其中，第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元通过并联连接的方式协调控制多单元永磁同步电机的三个定子单元。
所述的第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元结构相同，均包括驱动与放大电路、控制单元和逆变单元，所述的控制单元通过相互通信实现多单元永磁同步电机的协同控制。
所述的控制单元包括分布式协同控制器和电流控制与速度估算单元，其中，
电流控制与速度估算单元：
用于采集电机输入端的A相、B相、C相电流检测信号，根据采集的A相、B相、C相电流检测信号，获得的转子速度估计值同时发送至每个控制单元的分布式协同控制器中；并 接收分布式协同控制器的输出值，根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号，将获得的PWM信号通过驱动与放大电路发送至逆变单元中；
分布式协同控制器：
用于采用构建无向图的方法对三个控制单元的通信结构进行描述，根据所构建的无向图获得各个控制单元整体的通信关联矩阵，并根据转子速度估计值、设置的转子给定速度值和控制单元整体的通信关联矩阵，构建误差函数，设置实数矩阵和实数项，并根据构建的误差函数，求得分布式协同控制器的输出值。
所述的多单元永磁同步电机，其定子为27槽30极分瓣式结构，每单元为9槽10极，各定子单元共享一个转子；其转子为永磁内置切向式；每单元电机绕组采用节距为1的双层分数槽绕组，各单元电机内部绕组采用星形连接方式。
采用多单元永磁同步电机智能协同控制***进行的控制方法，包括以下步骤：
步骤1、第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元同时采集电机输入端的A相、B相、C相电流检测信号；
步骤2、第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元同时根据所采集的A相、B相、C相电流检测信号，协调控制获得PWM信号；
步骤3、根据PWM信号改变输出定子电压的频率和幅值，实现各单元电机转速的协同控制。
步骤2所述的协调控制，包括以下步骤：
步骤2-1、根据A相、B相、C相电流检测信号获得转子速度估计值，并同时发送至每个控制单元中实现三个控制单元的相互通信；
步骤2-2、采用构建无向图的方法对三个控制单元的通信结构进行描述；
步骤2-3、根据所构建的无向图获得控制单元整体的通信关联矩阵，并根据转子速度估计值、用户设定的转子给定速度值和控制单元整体的通信关联矩阵，构建误差函数；
步骤2-4、设置实数矩阵和实数项，并根据构建的误差函数，获得输出值；
步骤2-5、根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号。
步骤2-1所述的根据A相、B相、C相电流检测信号获得的转子速度估计值，包括以下步骤：
步骤2-1-1、将接收到的电流检测信号进行模数转换，并根据转子初始相角值对转换后的A相、B相、C相电流信号进行Clark坐标变换和Park坐标变换，获得两相旋转坐标系下的 直轴电流和交轴电流；
步骤2-1-2、将交轴电流通过带通滤波处理获得交轴电流高频分量，将上述交轴电流高频分量与正弦高频信号相乘，获得可分离相角误差信号交轴电流高频分量，并将其通过低通滤波处理获得仅含相角误差的电流信号；
步骤2-1-3、采用PI控制算法获得转子速度估计值，将上述转子速度估计值通过积分运算获得转子相角估计值。
步骤2-3所述的通信关联矩阵为对称矩阵，该矩阵的行数和列数均为3，矩阵中的元素取值为0或1，当控制单元两两之间能够通信时，元素值为1，否则为0；所述的误差函数为：某一控制单元转子速度估计值与其他控制单元转子速度估计值之间的差值乘以系数，加上该控制单元转子速度估计值与设定的转子给定速度值之间差值乘以系数；所述的某一控制单元转子速度估计值与其他控制单元转子速度估计值之间的差值乘以系数，该系数为通信关联矩阵中的元素。
步骤2-4所述的输出值，求解方式为：误差函数乘以实数矩阵和实数项，再与设定的转子给定速度值求和；所述的实数矩阵为一个1×2的实数向量。
步骤2-5所述的根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，包括以下步骤：
步骤2-5-1、将输出值作为交轴电流参考量；
步骤2-5-2、将获得的直轴电流和交轴电流通过低通滤波处理获得基波直轴电流和基波交轴电流；
步骤2-5-3、将基波交轴电流与交轴电流参考量比较作差，获得交轴电流误差值，将基波直轴电流与直轴电流参考量比较作差，获得直轴电流误差值；
步骤2-5-4、采用PI控制算法分别对交轴电流误差值和直轴电流误差值进行计算，获得交轴电压参考值和直轴电压参考值，并将直轴电压参考值与高频电压信号值求和，获得含高频信号的直轴电压参考值；
步骤2-5-5、根据电机转子相角估计值，对交轴电压参考值和含高频信号的直轴电压参考值进行Park反坐标变换，获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号。
本发明优点：
本发明一种多单元永磁同步电机智能协同控制***，本发明采用低压多永磁电机协同控制单元并联结构，实现低压大功率、低速大转矩控制和***冗余控制；在整流方面，采用双 并联PWM整流电路结构，当***处于不平衡供电网络环境下，两组PWM整流器分别用于控制正、负序电流，通过对正、负序电流的闭环控制，减小了无功损耗和谐波损耗；逆变单元采用谐振极型三相软开关逆变电路，提高了直流母线电压的利用率，在高频时大大减小器件的开关损耗；在永磁电机控制方面采用电流控制与速度估算单元，能够准确估算出转子的速度和相角信息，成本低且可靠性高；被控对象为多单元永磁同步电机，解决大功率电气传动***中电机安装、运输和维护困难等问题。
附图说明
图1为本发明一种实施例的多单元永磁同步电机智能协同控制***结构框图；
图2为本发明一种实施例的双并联PWM整流电路原理图；
图3为本发明一种实施例的第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元内部结构框图；
图4为本发明一种实施例的谐振极型软开关逆变电路图；
图5为本发明一种实施例的控制单元内部结构示意图；
图6为本发明一种实施例的多单元永磁同步电机结构示意图；
图7为本发明一种实施例的27槽30极整体永磁电机与9槽10极单元永磁电机槽电势星型图，其中，图(a)为27槽30极整体永磁电机槽电势星型图，图(b)为9槽10极单元永磁电机槽电势星型图；
图8为本发明一种实施例的27槽30极多单元永磁同步电机绕组展开图；
图9为本发明一种实施例的采用多单元永磁同步电机智能协同控制方法流程图；
图10为本发明一种实施例的多单元永磁同步电机无传感器控制***框图；
图11为本发明一种实施例的构建的无向图；
图12为本发明的一种实施例的各协同控制单元速度估算值曲线图。
具体实施方式
下面结合附图对本发明一种实施例做进一步说明。
本发明实施例中多单元永磁同步电机智能协同控制***，如图1所示，包括双并联PWM整流电路1、第一永磁电机协同控制单元2、第二永磁电机协同控制单元3、第三永磁电机协同控制单元4和多单元永磁同步电机5，其中，第一永磁电机协同控制单元2、第二永磁电机协同控制单元3和第三永磁电机协同控制单元4通过并联连接的方式协调控制多单元永磁同步电机5的三个定子单元；
本发明实施例中，双并联PWM整流电路1用于将380V交流电转换为电压可调的直流电，其电路图如图2所示，采用两组三相电压型PWM整流器结构，以交流电源中性点为参考点， 建立正、负序电流分量与电网电压及有功功率的对应关系，通过正、负序瞬时有功分量和无功分量的解耦控制，并依据零序环流对电压低频分量的影响，补偿零序环流，形成正负序电流、电压及功率的一体化控制方案，解决了不平衡供电网络环境下并联PWM整流结构的控制难题；
本发明实施例中，第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元结构相同，如图3所示，均包括驱动与放大电路、控制单元和逆变单元，所述的控制单元通过相互通信实现多单元永磁同步电机的协同控制；
本发明实施例中，所述的控制单元以TMS320F28335型号的DSP为核心，外加通信模块、A/D采样模块及脉冲生成模块，逆变单元采用谐振极型三相软开关逆变电路(见申请号为200910010240.9专利)，如图4所示，三相电路中都分别具有各自的谐振电感，这一设计能够提高直流母线电压的利用率，减小器件的开关损耗，降低生产成本；
本发明实施例中，如图5所示，控制单元包括分布式协同控制器和电流控制与速度估算单元，其中，电流控制与速度估算单元用于采集电机输入端的A相、B相、C相电流检测信号，根据采集的A相、B相、C相电流检测信号，获得的转子速度估计值同时发送至每个控制单元的分布式协同控制器中；并接收分布式协同控制器的输出值，根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号，将获得的PWM信号通过驱动与放大电路发送至逆变单元中；分布式协同控制器用于采用构建无向图的方法对三个控制单元的通信结构进行描述，根据所构建的无向图获得各个控制单元整体的通信关联矩阵，并根据转子速度估计值、设置的转子给定速度值和控制单元整体的通信关联矩阵，构建误差函数，设置实数矩阵和实数项，并根据构建的误差函数，求得分布式协同控制器的输出值。
本发明实施例中，采用节距为1的双层分数槽绕组结构的多单元永磁同步电机，极大地提高了电机的槽满率，更加适用于工业生产中机械型自动绕线，并且由于转子的极对数较多，在转子磁路采用了内置切向形式，这些都为多极少槽永磁同步电机的实现提供了可能。多单元永磁同步电机的结构示意图如图6所示，采用27槽30极的三相永磁同步电机；图中Cell1表示定子单元1、Cell2表示定子单元2、Cell3表示定子单元3；
本发明实施例中，通过下面所述内容将其分为多单元模块永磁电机；
I计算整体电机的拆分单元数及单元电机槽极数；
整体电机定子槽数Z＝27，转子极对数p＝15，它们的最大公约数t＝3；整体电机定子槽数与极对数的最大公约数即为可以分成的单元电机的个数；由此可知整体电机是由3个完 全相同的单元电机组成的，各单元均使用同一个转子，各单元电机内部仍然采用星型连接的方式；
各单元电机的槽数和极对数分别为：Z0＝Z/t＝9，p0＝p/t＝5；因此得出，27槽30极的三相永磁同步电机可以拆分成3单元9槽10极三相永磁同步电机；
II确定整体电机及单元电机的槽电势星型图
计算槽距角α和每极每相槽数q分别为：
Figure PCTCN2015086955-appb-000001
Figure PCTCN2015086955-appb-000002
其中，m为电机定子绕组相数，b和c分别为q的分子和分母；
再根据下面内容获得分数槽绕组的最佳排列方式：
①首先根据每极每相槽数q，依次算出iq的值(i＝1，2，…)，直至得出整数为止，其分别为
Figure PCTCN2015086955-appb-000003
3：
②求取最优循环数列；
取0值作为第一个数，将上述求出的所有分数的整数部分加1依次排列在后，最后一个整数即取整数，其依次为0，1，1，1，2，2，2，3，3，3，3；再将所得数列中的后一项减去前一项，所得数列即为求取的最优循环数列，其为1，0，0，1，0，0，1，0，0，0；
③将最优循环数列重复多次，通常按照60°相带来划分，将绕组AcBaCb依次重复分配给最优循环数列，直至循环到起始状态；
Figure PCTCN2015086955-appb-000004
④将1下面的绕组取出，这一绕组序列即为分数槽绕组的第一层绕组，排列为：AaACcCBbB；
其中，a、b和c代表将线圈反向嵌放；采用双层绕组时，将第一层绕组右移一个槽后取反向即可得到第二层绕组的排列；
最终得出27槽30极整体永磁电机及9槽10极单元永磁电机的槽电势星型图如图7中图(a)和图(b)所示；
III画出单元电机的绕组展开图
规定顺时针方向为正方向，大写字母代表正方向，小写字母代表反方向，则27槽30极 多单元永磁同步电机绕组展开图如图8所示；
本发明实施例中，采用多单元永磁同步电机智能协同控制***进行的控制方法，方法流程图如图9所示，包括以下步骤：
步骤1、第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元同时采集电机输入端的A相、B相、C相电流检测信号；
本发明实施例中，采用三个电流传感器同时采集电机输入端的A相、B相、C相电流信号，并将电流信号发送至第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元中；
步骤2、第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元同时根据所采集的A相、B相、C相电流检测信号，协调控制获得PWM信号，包括以下步骤：
本发明实施例中，图10为多单元永磁同步电机无传感器控制***框图，结合图10，以第一永磁电机协同控制单元内部控制过程为例，进行说明步骤2中协同控制的具体步骤：
步骤2-1、根据A相、B相、C相电流检测信号ia1、ib1、ic1获得转子速度估计值
Figure PCTCN2015086955-appb-000005
并同时发送至每个控制单元(第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元)中实现三个控制单元的相互通信；
步骤2-1-1、将接收到的电流检测信号ia1、ib1、ic1进行模数转换，并根据转子初始相角值对转换后的A相、B相、C相电流信号进行Clark坐标变换和Park坐标变换，获得两相旋转坐标系d-q下的直轴电流id和交轴电流iq；
本发明实施例中，初始时，采用第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元获得电机各单元内部定子绕组阻感值及转子初始相角值，设置转子给定速度值ω*并注入高频电压信号值Vinjcosωht；
步骤2-1-2、将交轴电流iq通过带通滤波处理获得交轴电流高频分量
Figure PCTCN2015086955-appb-000006
将上述交轴电流高频分量
Figure PCTCN2015086955-appb-000007
与正弦高频信号sinωht相乘，获得可分离相角误差信号交轴电流高频分量
Figure PCTCN2015086955-appb-000008
并将
Figure PCTCN2015086955-appb-000009
通过低通滤波处理获得仅含相角误差的电流信号ε；
具体计算公式如下：
Figure PCTCN2015086955-appb-000010
Figure PCTCN2015086955-appb-000011
Figure PCTCN2015086955-appb-000012
其中，Vinj表示注入高频电压信号的幅值，ωh表示注入高频电压信号的频率；L0表示半差电感，其值为q轴等效电感与d轴等效电感差值的一半；L1表示平均电感，其值为q轴等效电感与d轴等效电感和值的一半；Δθ表示相角误差信号；
步骤2-1-3、采用PI控制算法获得转子速度估计值
Figure PCTCN2015086955-appb-000013
将上述转子速度估计值通过积分运算获得转子相角估计值
Figure PCTCN2015086955-appb-000014
步骤2-2、采用构建无向图的方法对三个控制单元的通信结构进行描述；
本发明实施例中，第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元均采用全双工通讯模式，因此采用无向图来对分布式控制器通信结构进行描述，如图11所示，将***中第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元分别定义为三个节点ν1、ν2、ν3；
步骤2-3、根据所构建的无向图获得控制单元整体的通信关联矩阵，并根据转子速度估计值、用户设定的转子给定速度值和控制单元整体的通信关联矩阵，构建误差函数；
建立无向图G＝(V，ε，Λ)，其中V＝{ν1，ν2，ν3}表示三个节点的集合，
Figure PCTCN2015086955-appb-000015
代表图上所有边的集合，Λ＝[aij]∈R3×3为无向图的邻接矩阵(控制单元整体的通信关联矩阵)，i，j＝1，2，3，aij为0或1值，Λ为3×3的实数对称矩阵，当第i个节点能够接收到第j个节点的信息时，aij＝1；否则aij＝0，因各个节点并不自己构成信息环，所以aii＝0；
***的邻接矩阵为：
Figure PCTCN2015086955-appb-000016
其中，Λ表示控制单元两两之间的通信关联矩阵，即为无向图的邻接矩阵；aij表示第i个控制单元与第j个控制单元之间的通信关系，当第i个控制单元能接收到第j个控制单元的信息时，aij＝1，否则aij＝0，i，j＝1，2，3；
对于第i个节点，构建输出向量
Figure PCTCN2015086955-appb-000017
则误差可以写为：
Figure PCTCN2015086955-appb-000018
矩阵
Figure PCTCN2015086955-appb-000019
Figure PCTCN2015086955-appb-000020
表示第i个控制单元获得的转子速度估计值，
Figure PCTCN2015086955-appb-000021
表示第i个控制单元获得的转子速度估计值的导数，矩阵
Figure PCTCN2015086955-appb-000022
ω*表示转子给定速度值，
Figure PCTCN2015086955-appb-000023
表示转子给定速度值的导数，即为加速度，gi取值为0或1，当第i个控制单元能接收到控制单元给定值ω*时，gi＝1，否则gi＝0。
则***误差函数为：
Figure PCTCN2015086955-appb-000024
步骤2-4、设置实数矩阵和实数项，并根据构建的误差函数，获得输出值；
ui＝ω*+cKei           (7)
其中，ui表示第i个控制单元内部分布式协同控制器的输出值，c为实数值，K为一个1×2的实数向量；
所述的
Figure PCTCN2015086955-appb-000025
λmin(ΛG)表示矩阵ΛG的特征值最小值的实部，矩阵ΛG为：
Figure PCTCN2015086955-appb-000026
所述的向量K计算步骤如下：
①建立性能指标函数
Figure PCTCN2015086955-appb-000027
求得性能指标函数最小时对应的最优矩阵N和矩阵R；其中，令矩阵N和矩阵R均为2×2正定对称矩阵，初始时矩阵N和矩阵R均设为单位矩阵；
②将求得的矩阵N和矩阵R代入方程DTM+MD+N-MBR-1BTM＝0中，求出矩阵M。 其中，矩阵
Figure PCTCN2015086955-appb-000028
矩阵
Figure PCTCN2015086955-appb-000029
③将求出的矩阵M代入公式K＝R-1BTM，即可求得向量K。
步骤2-5、根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号，包括以下步骤：
步骤2-5-1、将输出值ui作为交轴电流参考量iqref；
步骤2-5-2、将获得的直轴电流id和交轴电流iq通过低通滤波处理获得基波直轴电流idb和基波交轴电流iqb；
步骤2-5-3、将基波交轴电流iqb与交轴电流参考量iqref比较作差，获得交轴电流误差值iqe，将基波直轴电流idb与直轴电流参考量idref(取值为0)比较作差，获得直轴电流误差值ide；
步骤2-5-4、采用PI控制算法分别对交轴电流误差值iqe和直轴电流误差值ide进行计算，获得交轴电压参考值uqref和直轴电压参考值udref，并将直轴电压参考值udref与高频电压信号值Vinjcosωht求和，获得含高频信号的直轴电压参考值udh；
步骤2-5-5、根据电机转子相角估计值
Figure PCTCN2015086955-appb-000030
对交轴电压参考值uqref和含高频信号的直轴电压参考值udh进行Park反坐标变换，获得两相静止坐标系下的直轴电压参考值uβref和交轴电压参考值uαref，将uαref和uβref输入SVPWM模块，其产生的PWM信号；
步骤3、根据PWM信号改变输出定子电压的频率和幅值，实现各单元电机转速的协同控制；
本发明实施例中，将PWM信号经过驱动与放大电路控制逆变单元1输出相应的三相正弦波形，从而控制电机的定子单元1。
本发明实施例中，如图12所示，本实施例设定的转子给定速度值ω*＝300rad/s，图中w1、w2、w3分别代表输入到分布式协同控制器中的三个单元的速度估算值
Figure PCTCN2015086955-appb-000031
对应曲线。由图可知，开始时三个单元的速度估算值为零，在分布式协同控制器的作用下，经过4s的时间三个单元的速度估算值趋于一致。各单元通过各自的分布式协同控制器，在不使用速度传感器的情况下，使三个定子单元产生了速度同步的旋转磁场，从而实现了电机转速的一体化协同控制。

Claims (10)

  1. 一种多单元永磁同步电机智能协同控制***，其特征在于，包括双并联PWM整流电路、第一永磁电机协同控制单元、第二永磁电机协同控制单元、第三永磁电机协同控制单元和多单元永磁同步电机，其中，第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元通过并联连接的方式协调控制多单元永磁同步电机的三个定子单元。
  2. 根据权利要求1所述的多单元永磁同步电机智能协同控制***，其特征在于，所述的第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元结构相同，均包括驱动与放大电路、控制单元和逆变单元，所述的控制单元通过相互通信实现多单元永磁同步电机的协同控制。
  3. 根据权利要求2所述的多单元永磁同步电机智能协同控制***，其特征在于，所述的控制单元包括分布式协同控制器和电流控制与速度估算单元，其中，
    电流控制与速度估算单元：
    用于采集电机输入端的A相、B相、C相电流检测信号，根据采集的A相、B相、C相电流检测信号，获得的转子速度估计值同时发送至每个控制单元的分布式协同控制器中；并接收分布式协同控制器的输出值，根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号，将获得的PWM信号通过驱动与放大电路发送至逆变单元中；
    分布式协同控制器：
    用于采用构建无向图的方法对三个控制单元的通信结构进行描述，根据所构建的无向图获得各个控制单元整体的通信关联矩阵，并根据转子速度估计值、设置的转子给定速度值和控制单元整体的通信关系矩阵，构建误差函数，设置实数矩阵和实数项，并根据构建的误差函数，求得分布式协同控制器的输出值。
  4. 根据权利要求1所述的多单元永磁同步电机智能协同控制***，其特征在于，所述的多单元永磁同步电机，其定子为27槽30极分瓣式结构，每单元为9槽10极，各定子单元共享一个转子；其转子为永磁内置切向式；每单元电机绕组采用节距为1的双层分数槽绕组，各单元电机内部绕组采用星形连接方式。
  5. 采用权利要求1所述的多单元永磁同步电机智能协同控制***进行的控制方法，其特征在于，包括以下步骤：
    步骤1、第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元同时采集电机输入端的A相、B相、C相电流检测信号；
    步骤2、第一永磁电机协同控制单元、第二永磁电机协同控制单元和第三永磁电机协同控制单元同时根据所采集的A相、B相、C相电流检测信号，协调控制获得PWM信号；
    步骤3、根据PWM信号改变输出定子电压的频率和幅值，实现各单元电机转速的协同控制。
  6. 根据权利要求5所述的控制方法，其特征在于，步骤2所述的协调控制，包括以下步骤：
    步骤2-1、根据A相、B相、C相电流检测信号获得转子速度估计值，并同时发送至每个控制单元中实现三个控制单元的相互通信；
    步骤2-2、采用构建无向图的方法对三个控制单元的通信结构进行描述；
    步骤2-3、根据所构建的无向图获得控制单元整体的通信关联矩阵，并根据转子速度估计值、用户设定的转子给定速度值和控制单元整体的通信关联矩阵，构建误差函数；
    步骤2-4、设置实数矩阵和实数项，并根据构建的误差函数，获得输出值；
    步骤2-5、根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号。
  7. 根据权利要求6所述的控制方法，其特征在于，步骤2-1所述的根据A相、B相、C相电流检测信号获得的转子速度估计值，包括以下步骤：
    步骤2-1-1、将接收到的电流检测信号进行模数转换，并根据转子初始相角值对转换后的A相、B相、C相电流信号进行Clark坐标变换和Park坐标变换，获得两相旋转坐标系下的直轴电流和交轴电流；
    步骤2-1-2、将交轴电流通过带通滤波处理获得交轴电流高频分量，将上述交轴电流高频分量与正弦高频信号相乘，获得可分离相角误差信号交轴电流高频分量，并将其通过低通滤波处理获得仅含相角误差的电流信号；
    步骤2-1-3、采用PI控制算法获得转子速度估计值，将上述转子速度估计值通过积分运算获得转子相角估计值。
  8. 根据权利要求6所述的控制方法，其特征在于，步骤2-3所述的通信关联矩阵为对称矩阵，该矩阵的行数和列数均为3，矩阵中的元素取值为0或1，当控制单元两两之间能够通信时，元素值为1，否则为0；所述的误差函数为：某一控制单元转子速度估计值与其他控制单元转子速度估计值之间的差值乘以系数，加上该控制单元转子速度估计值与设定的转子给定速度值之间差值乘以系数；所述的某一控制单元转子速度估计值与其他控制单元转子速度估计值之间的差值乘以系数，该系数为通信关联矩阵中的元素。
  9. 根据权利要求6所述的控制方法，其特征在于，步骤2-4所述的输出值，求解方式为：误差函数乘以实数矩阵和实数项，再与设定的转子给定速度值求和；所述的实数矩阵为一个1×2的实数向量。
  10. 根据权利要求6所述的控制方法，其特征在于，步骤2-5所述的根据上述输出值获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，包括以下步骤：
    步骤2-5-1、将输出值作为交轴电流参考量；
    步骤2-5-2、将获得的直轴电流和交轴电流通过低通滤波处理获得基波直轴电流和基波交轴电流；
    步骤2-5-3、将基波交轴电流与交轴电流参考量比较作差，获得交轴电流误差值，将基波直轴电流与直轴电流参考量比较作差，获得直轴电流误差值；
    步骤2-5-4、采用PI控制算法分别对交轴电流误差值和直轴电流误差值进行计算，获得交轴电压参考值和直轴电压参考值，并将直轴电压参考值与高频电压信号值求和，获得含高频信号的直轴电压参考值；
    步骤2-5-5、根据电机转子相角估计值，对交轴电压参考值和含高频信号的直轴电压参考值进行Park反坐标变换，获得两相静止坐标系下的直轴电压参考值和交轴电压参考值，再采用空间矢量脉宽调制获得PWM信号。
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