阅读说明：本技术 混合转子双定子同步电机转矩解耦矢量控制方法 (Torque decoupling vector control method for hybrid rotor double-stator synchronous motor ) 是由 金石 金无痕 于思洋 徐振耀 姜旺 丁辉 于 2020-04-23 设计创作，主要内容包括：本发明属于电机控制领域,具体涉及混合转子双定子同步电机转矩解耦矢量控制方法。该方法通过引入外定子转矩解耦模块和内定子转矩解耦模块实现分别精确控制混合转子双定子同步电机内外定子绕组输出转矩及功率。该系统包括混合转子双定子同步电机,内、外定子与内、外定子驱动逆变器分别相连；外、内定子驱动逆变器由第一、第二电流控制器控制,转速信号通过转速PI控制器分别经过内、外定子转矩解耦模块,与第一矢量控制模块、第一三相电流比较器、第一电流控制器依次连接；或者与第二矢量控制模块、第二三相电流比较器、第二电流控制器依次连接。本发明转矩解耦矢量控制方法具有结构简单、控制方式灵活、响应速度快等优点。(The invention belongs to the field of motor control, and particularly relates to a torque decoupling vector control method for a hybrid rotor double-stator synchronous motor. According to the method, the output torque and power of the inner stator winding and the outer stator winding of the hybrid rotor double-stator synchronous motor are respectively and accurately controlled by introducing the outer stator torque decoupling module and the inner stator torque decoupling module. The system comprises a hybrid rotor double-stator synchronous motor, wherein an inner stator and an outer stator are respectively connected with an inner stator driving inverter and an outer stator driving inverter; the outer stator driving inverter and the inner stator driving inverter are controlled by a first current controller and a second current controller, and rotating speed signals pass through the rotating speed PI controller and the inner stator torque decoupling module and the outer stator torque decoupling module respectively and are connected with the first vector control module, the first three-phase current comparator and the first current controller in sequence; or the second vector control module, the second three-phase current comparator and the second current controller are connected in sequence. The torque decoupling vector control method has the advantages of simple structure, flexible control mode, high response speed and the like.)

1. The hybrid rotor double-stator synchronous motor torque decoupling vector control method is characterized in that: the control method specifically comprises the following steps: the rotating speed signal n of the mixed rotor double-stator synchronous motor (1) is differed with the system given rotating speed signal n, and the difference signal is converted into a torque current reference value i through a rotating speed PI controller (13)_qReference value of torque current i_qRespectively obtaining an outer stator torque decoupling current and an inner stator torque decoupling current through an outer stator torque decoupling module (11) and an inner stator torque decoupling module (12);

the outer stator torque decoupling current obtains an outer stator current reference signal through a first vector control module (9), and the inner stator torque decoupling current obtains an inner stator current reference signal through a second vector control module (10);

subtracting the outer stator current reference signal from the outer stator current feedback signal to obtain an outer stator driving inverter modulation signal, and subtracting the inner stator current reference signal from the inner stator current feedback signal to obtain an inner stator driving inverter modulation signal;

respectively introducing the modulation signal of the outer stator driving inverter and the modulation signal of the inner stator driving inverter into a first three-phase current comparator (14) and a second three-phase current comparator (15), wherein the first three-phase current comparator (14) acquires the modulation signal of the outer stator driving inverter and acquires the driving signal of the outer stator inverter according to a hysteresis loop current control principle; and the second three-phase current comparator (15) acquires the modulation signal of the inner stator driving inverter and acquires the driving signal of the inner stator inverter according to the hysteresis loop current control principle.

2. The hybrid rotor double-stator synchronous motor torque decoupling vector control method according to claim 1, characterized in that: a hybrid rotor (4) is further arranged between an inner stator (3) and an outer stator (2) of the hybrid rotor double-stator synchronous motor (1), a permanent magnet part on the outer side of the hybrid rotor (4) adopts a surface-mounted non-salient pole structure, and a magnetic resistance part on the inner side of the hybrid rotor (4) adopts a magnetic barrier type rotor structure, and because the magnetic barrier type rotor structure is adopted by the inner magnetic resistance part of the hybrid rotor (4)

P_e＝T_e·n (1)

Wherein, P_eAs motor power, T_eIs the electromagnetic torque of the motor, and n is the rotating speed of the motor;

since the ratio of the electromagnetic torque of the outer stator (2) to the electromagnetic torque of the inner stator (3) is x: y, the electromagnetic torque generated by the outer stator (2) is

T_e1＝p₁ψ_fi_q ^*(2)

p₁The pole pairs of the permanent magnet structure of the hybrid rotor (4) generate magnetic flux linkage phi_fThe difference between the given rotation speed n and the rotation speed n generated by the hybrid rotor double-stator synchronous motor generates an inner and outer double-stator current reference value i through a rotation speed PI controller (13)_q*；

The inner stator (3) generates an electromagnetic torque of

T_e2＝p₂(L_d-L_q)i_q ^*2(3)

Wherein p is₂The number of pole pairs of the magnetic resistance structure; d. q-axis equivalent inductances are respectively L_dAnd L_q；

Introducing an outer stator torque decoupling coefficient K_Te1Decoupling coefficient K of torque of stator and inner stator_Te2To obtain

Due to the decoupling coefficient K of the torque of the outer stator_Te1Decoupling coefficient K of torque of stator and inner stator_Te2The sum is 1, thus obtaining

3. The hybrid rotor double-stator synchronous motor torque decoupling vector control method according to claim 1, characterized in that: the first vector control module (9) adopts i_dThe second vector control module (10) adopts a maximum torque current ratio vector control method as 0 vector control method.

4. The hybrid rotor double-stator synchronous motor torque decoupling vector control method according to claim 1, characterized in that: the first current controller (7) and the second current controller (8) both adopt a hysteresis comparator principle.

5. Two stator synchronous machine torque decoupling zero vector control system of hybrid rotor, including two stator synchronous machine (1) of hybrid rotor, two stator synchronous machine (1) of hybrid rotor have inner stator (3) and outer stator (2), still are equipped with hybrid rotor (4), its characterized in that between inner stator (3) and outer stator (2): the inner stator (3) is connected with an inner stator driving inverter (6); the outer stator (2) is connected with an outer stator driving inverter (5), the outer stator driving inverter (5) is controlled by a first current controller (7), the inner stator driving inverter (6) is controlled by a second current controller (8), a rotating speed signal passes through an outer stator torque decoupling module (11) and an inner stator torque decoupling module (12) through a rotating speed PI controller (13), and the outer stator torque decoupling module (11) is sequentially connected with a first vector control module (9), a first three-phase current comparator (14) and the first current controller (7); the inner stator torque decoupling module (12) is sequentially connected with the second vector control module (10), the second three-phase current comparator (15) and the second current controller (8); current i output by hybrid rotor double-stator synchronous motor (1)_ABC1、i_ABC2The voltage is respectively input into a first three-phase current comparator (14) and a second three-phase current comparator (15).

Technical Field

The invention belongs to the field of motor control, and particularly relates to a torque decoupling vector control method for a hybrid rotor double-stator synchronous motor.

Background

Among a plurality of high-end equipment, some equipment needs to be driven by a low-speed high-torque motor with the rotating speed lower than 500r/min and the torque higher than 500Nm, for example, equipment such as an elevator, a numerical control machine tool, ship propulsion, a coal mine, an oil exploration well, a large industrial conveyor belt and the like need to be driven by the low-speed high-torque motor, and the energy consumption of the electromechanical integrated equipment is extremely high and accounts for about 10 percent of the total industrial quantity. At present, equipment driven by a low-speed large-torque motor in China mostly adopts a driving mode of a constant-speed motor + reduction gear structure, but the driving mode cannot meet the requirement of modern people on the driving of high-end equipment.

Compare with ordinary constant speed PMSM, low-speed big moment direct drive PMSM's diameter is great, leaves great inner chamber space, for further promoting the torque density of motor, practices thrift manufacturing cost as far as simultaneously, and at present, the double stator motor that utilizes its inner chamber space to form novel structure and research and development novel rotor structure must be got to.

A typical double-stator synchronous motor and a control method thereof are designed in a CN109302025 permanent magnet/reluctance hybrid rotor double-stator synchronous motor and a control method thereof which are published in 2019, 2 month and 1 day. The existing control method of the double-stator motor cannot independently control the electromagnetic torque generated by the inner stator winding and the outer stator winding, so that the problems of inflexibility and low response speed of the control method are caused.

Disclosure of Invention

The purpose of the invention is as follows:

the invention provides a torque decoupling vector control method for a hybrid rotor double-stator synchronous motor, which aims to solve the problem that the hybrid rotor double-stator synchronous motor cannot independently control electromagnetic torque.

The technical scheme is as follows:

the control method of the torque decoupling vector of the hybrid rotor double-stator synchronous motor specifically comprises the following steps: the rotation speed signal n of the mixed rotor double-stator synchronous motor is differed with the system given rotation speed signal n, and the difference signal is converted into a torque current reference value i through a rotation speed PI controller_qReference value of torque current i_qRespectively obtaining an outer stator torque decoupling current and an inner stator torque decoupling current through an outer stator torque decoupling module and an inner stator torque decoupling module; the outer stator torque decoupling current obtains an outer stator current reference signal through a first vector control module, and the inner stator torque decoupling current obtains an inner stator current reference signal through a second vector control module; subtracting the outer stator current reference signal from the outer stator current feedback signal to obtain an outer stator driving inverter modulation signal, and subtracting the inner stator current reference signal from the inner stator current feedback signal to obtain an inner stator driving inverter modulation signal; respectively introducing the modulation signal of the outer stator driving inverter and the modulation signal of the inner stator driving inverter into a first three-phase current comparator and a second three-phase current comparator, obtaining the modulation signal of the outer stator driving inverter by the first three-phase current comparator, and obtaining the driving signal of the outer stator inverter according to a hysteresis loop current control principle; and the second three-phase current comparator acquires the modulation signal of the inner stator driving inverter and acquires the driving signal of the inner stator inverter according to the hysteresis loop current control principle.

Furthermore, a hybrid rotor is arranged between an inner stator and an outer stator of the hybrid rotor double-stator synchronous motor, a permanent magnet part outside the hybrid rotor adopts a surface-mounted non-salient pole structure, and a magnetic resistance part inside the hybrid rotor adopts a magnetic barrier type rotor structure, because of the fact that the magnetic resistance part inside the hybrid rotor adopts a magnetic barrier type rotor structure

P_e＝T_e·n (1)

Wherein, P_eAs motor power, T_eIs the electromagnetic torque of the motor, and n is the rotating speed of the motor;

since the ratio of the electromagnetic torque of the outer stator and the electromagnetic torque of the inner stator is x: y, the electromagnetic torque generated by the outer stator is

T_e1＝p₁ψ_fi_q ^*(2)

p₁For the pole pair number of the permanent magnet structure of the hybrid rotor, the magnetic chain generated by the permanent magnet is psi_fThe difference between the given rotation speed n and the rotation speed n generated by the hybrid rotor double-stator synchronous motor is used for generating an inner and outer double-stator current reference value i through a rotation speed PI controller_q*；

The electromagnetic torque generated by the inner stator is

T_e2＝p₂(L_d-L_q)i_q ^*2(3)

Wherein p is₂The number of pole pairs of the magnetic resistance structure; d. q-axis equivalent inductances are respectively L_dAnd L_q；

Introducing an outer stator torque decoupling coefficient K_Te1Decoupling coefficient K of torque of stator and inner stator_Te2To obtain

Due to the decoupling coefficient K of the torque of the outer stator_Te1Decoupling coefficient K of torque of stator and inner stator_Te2The sum is 1, thus obtaining

Further, the first vectorThe control module adopts i_dThe second vector control module adopts a maximum torque current ratio vector control method as 0 vector control method.

Furthermore, the first current controller and the second current controller both adopt a hysteresis comparator principle.

The hybrid rotor double-stator synchronous motor torque decoupling vector control system comprises a hybrid rotor double-stator synchronous motor, wherein the hybrid rotor double-stator synchronous motor is provided with an inner stator and an outer stator, a hybrid rotor is arranged between the inner stator and the outer stator, and the inner stator is connected with an inner stator driving inverter; the outer stator is connected with an outer stator driving inverter, the outer stator driving inverter is controlled by a first current controller, the inner stator driving inverter is controlled by a second current controller, a rotating speed signal passes through an outer stator torque decoupling module and an inner stator torque decoupling module through a rotating speed PI controller respectively, and the outer stator torque decoupling module is connected with a first vector control module, a first three-phase current comparator and a first current controller in sequence; the inner stator torque decoupling module is sequentially connected with the second vector control module, the second three-phase current comparator and the second current controller; current i output by hybrid rotor double-stator synchronous motor_ABC1、i_ABC2Respectively input into the first three-phase current comparator and the second three-phase current comparator.

The advantages and effects are as follows:

the invention has the following advantages and beneficial effects:

in order to improve the performance of the hybrid rotor double-stator synchronous motor torque decoupling vector control system, the traditional synchronous motor vector control system is improved, and an outer stator torque decoupling coefficient K is introduced_Te1Decoupling coefficient K of torque of stator and inner stator_Te2And according to the power design requirements of the inner and outer windings, a mathematical expression of a torque decoupling coefficient is calculated, and the aim of independently controlling the electromagnetic torque generated by the inner and outer stator windings is further achieved.

The torque decoupling vector control method has the advantages of simple structure, flexible control mode and high response speed.

Drawings

FIG. 1 is a block diagram of a hybrid rotor double stator synchronous motor torque decoupling vector control system of the present invention;

FIG. 2 is a schematic diagram of a hybrid rotor dual-stator synchronous motor structure and a driving circuit according to the present invention;

FIG. 3 shows an external stator torque decoupling coefficient K according to the present invention_Te1Decoupling coefficient K of torque of stator and inner stator_Te2Schematic diagram of algorithm principle.

Description of reference numerals:

1. a hybrid rotor dual stator synchronous motor; 2. an outer stator; 3. an inner stator; 4. a mixing rotor; 5. an outer stator drive inverter; 6, driving an inverter by an inner stator; 7. a first current controller; 8. a second current controller; 9. a first vector control module; 10. a second vector control module; 11. an outer stator torque decoupling module; 12. an inner stator torque decoupling module; 13. a rotational speed PI controller; 14. a first three-phase current comparator; 15. a second three-phase current comparator.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a block diagram of a hybrid rotor double stator synchronous motor torque decoupling vector control system of the present invention; the concrete structure of the hybrid rotor double stator synchronous machine 1 in fig. 1 is shown in fig. 2: a mixing rotor 4 is arranged between an inner stator 3 and an outer stator 2 of the mixing rotor double-stator synchronous motor 1. The outer stator 2 and the air gap thereof and the permanent magnet part of the hybrid rotor 4 form an independent electromechanical energy conversion device which is driven by an outer stator driving inverter 5; the inner stator 3 and its air gap and the reluctance part of the hybrid rotor 4 constitute another independent electromechanical energy conversion device, which is driven by an inner stator driving inverter 6.

The rotating speed signal n of the control system mixed rotor double-stator synchronous motor 1 is differed with the system given rotating speed signal n, and the difference signal is converted into a torque current reference value i through a rotating speed PI controller 13_qReference value of torque current i_qAnd respectively obtaining an outer stator torque decoupling current and an inner stator torque decoupling current through the outer stator torque decoupling module 11 and the inner stator torque decoupling module 12. The specific algorithm of the outer stator torque decoupling module 11 and the inner stator torque decoupling module 12The principle is shown in fig. 3: controller measures torque current reference value signal i_qA, will i_qSubstituting the coefficients into equations 5 and 6 to calculate the decoupling coefficient K of the external stator torque_Te1Decoupling coefficient K of torque of stator and inner stator_Te2。

The outer stator torque decoupling current passes through a first vector control module 9 of the permanent magnet synchronous motor to obtain an outer stator current reference signal, and the inner stator torque decoupling current passes through a second vector control module 10 to obtain an inner stator current reference signal; subtracting the outer stator current reference signal from the outer stator current feedback signal to obtain an outer stator driving inverter modulation signal, and subtracting the inner stator current reference signal from the inner stator current feedback signal to obtain an inner stator driving inverter modulation signal; respectively introducing the modulation signal of the outer stator driving inverter and the modulation signal of the inner stator driving inverter into a first three-phase current comparator 14 and a second three-phase current comparator 15, wherein the first three-phase current comparator 14 acquires the modulation signal of the outer stator driving inverter and obtains the driving signal of the outer stator inverter according to a hysteresis loop current control principle; the second three-phase current comparator 15 obtains the modulation signal of the internal stator driving inverter, and obtains the driving signal of the internal stator inverter according to the hysteresis loop current control principle.

As shown in FIG. 1, u_A1、u_B1、u_C1A, B, C phases of input voltage are respectively input to the outer stator of the hybrid rotor double-stator synchronous motor; u. of_A2、u_B2、u_C2The input voltages of the stator A, B, C phases of the hybrid rotor double-stator synchronous motor are respectively. i.e. i_ABC1The method is characterized in that three-phase currents of an outer stator of the hybrid rotor double-stator synchronous motor are provided; i.e. i_ABC2The three-phase current is the three-phase current of the inner stator of the hybrid rotor double-stator synchronous motor.

A mixed rotor 4 is arranged between an inner stator 3 and an outer stator 2 of the mixed rotor double-stator synchronous motor 1, a permanent magnet part outside the mixed rotor 4 adopts a surface-mounted non-salient pole structure, and a magnetic resistance part inside the mixed rotor 4 adopts a magnetic barrier type rotor structure, because of the fact that

P_e＝T_e·n (1)

Wherein, P_eAs motor power, T_eIs the electromagnetic torque of the motor, n is the motor rotationSpeed;

since the ratio of the electromagnetic torque of the outer stator 2 and the inner stator 3 is x: y, the electromagnetic torque generated by the outer stator 2 is

T_e1＝p₁ψ_fi_q ^*(2)

p₁The permanent magnet structure pole pair of the hybrid rotor 4 generates magnetic flux linkage phi_fThe difference between the given rotation speed n and the rotation speed n generated by the hybrid rotor double-stator synchronous motor generates an inner and outer double-stator current reference value i through a rotation speed PI controller 13_q*；

The inner stator 3 generates an electromagnetic torque of

T_e2＝p₂(L_d-L_q)i_q ^*2(3)

Wherein p is₂The number of pole pairs of the magnetic resistance structure; d. q-axis equivalent inductances are respectively L_dAnd L_q；

Introducing an outer stator torque decoupling coefficient K_Te1Decoupling coefficient K of torque of stator and inner stator_Te2To obtain

Due to the decoupling coefficient K of the torque of the outer stator_Te1Decoupling coefficient K of torque of stator and inner stator_Te2The sum is 1, thus obtaining

FIG. 3 shows an external stator torque decoupling coefficient K according to the present invention_Te1Decoupling coefficient K of torque of stator and inner stator_Te2The algorithm principle is as follows: controller measures torque current reference value signal i_qA, will i_qSubstituting the coefficients into equations 5 and 6 to calculate the decoupling coefficient K of the external stator torque_Te1Decoupling coefficient K of torque of stator and inner stator_Te2。

The first vector control module 9 employs i_dThe second vector control module 10 adopts the maximum torque current ratio vector control method, which is 0 vector control method.

The first current controller 7 and the second current controller 8 both use the hysteresis comparator principle.

As shown in fig. 1 and 2, the hybrid rotor double-stator synchronous motor torque decoupling vector control system comprises a hybrid rotor double-stator synchronous motor 1, wherein the hybrid rotor double-stator synchronous motor 1 is provided with an inner stator 3 and an outer stator 2, a hybrid rotor 4 is arranged between the inner stator 3 and the outer stator 2, and the inner stator 3 is connected with an inner stator driving inverter 6; the outer stator 2 is connected with the outer stator driving inverter 5, the outer stator driving inverter 5 is controlled by a first current controller 7, the inner stator driving inverter 6 is controlled by a second current controller 8, a rotating speed signal passes through an outer stator torque decoupling module 11 and an inner stator torque decoupling module 12 through a rotating speed PI controller 13 respectively, and the outer stator torque decoupling module 11 is sequentially connected with a first vector control module 9, a first three-phase current comparator 14 and the first current controller 7; the inner stator torque decoupling module 12 is sequentially connected with the second vector control module 10, the second three-phase current comparator 15 and the second current controller 8; current i output by hybrid rotor double-stator synchronous motor 1_ABC1、i_ABC2The first three-phase current comparator 14 and the second three-phase current comparator 15 are input, respectively.

FIG. 2 is a schematic diagram of a hybrid rotor double-stator synchronous motor structure and a driving circuit of the invention: a mixing rotor 4 is arranged between an inner stator 3 and an outer stator 2 of the mixing rotor double-stator synchronous motor 1. The outer stator 2 and the air gap thereof and the permanent magnet part of the hybrid rotor 4 form an independent electromechanical energy conversion device which is driven by an outer stator driving inverter 5; the inner stator 3 and its air gap and the reluctance part of the hybrid rotor 4 constitute another independent electromechanical energy conversion device, which is driven by an inner stator driving inverter 6.

Due to the structural particularity of the hybrid rotor double-stator synchronous motor, the inner stator winding and the outer stator winding are respectively and independently subjected to vector control, but the torque generated by the inner stator winding and the outer stator winding is output through a mechanical shaft, and a decoupling coefficient is needed to decouple the torque jointly output by the two motors when the current loop feeds back, so that the torque and the power output by the inner stator winding and the outer stator winding of the hybrid rotor double-stator synchronous motor are respectively and accurately controlled.