阅读说明：本技术 三相直线感应电机分段供电切换过程的实时仿真建模方法 (Real-time simulation modeling method for three-phase linear induction motor subsection power supply switching process ) 是由 徐飞 李耀华 史黎明 李子欣 于 2021-07-05 设计创作，主要内容包括：本发明属于实时仿真建模领域,具体涉及了一种三相直线感应电机分段供电切换过程的实时仿真建模方法,旨在解决现有分段供电三相直线感应电机的仿真建模未考虑分段供电特性或未对分段供电切换开关进行建模的问题。本发明包括：基于三相直线感应电机的三相晶闸管通断信号获取三相晶闸管开关状态；结合变流器输出对地相电压值计算三相直线感应电机输入可变电压源和虚拟定子电阻值；构建定子和转子的磁链及电流状态方程；结合三相直线感应电机输入可变电压源和虚拟定子电阻值获取三相直线感应电机切换过程的电流,实现三相直线感应电机分段供电切换过程的实时仿真建模。本发明实现了基于晶闸管开关分段供电的三相直线感应电机切换过程的实时仿真建模。(The invention belongs to the field of real-time simulation modeling, and particularly relates to a real-time simulation modeling method for a three-phase linear induction motor sectional power supply switching process, aiming at solving the problem that the sectional power supply characteristic is not considered or the sectional power supply switching switch is not modeled in the conventional simulation modeling of the three-phase linear induction motor with sectional power supply. The invention comprises the following steps: acquiring the on-off state of a three-phase thyristor based on the on-off signal of the three-phase thyristor of the three-phase linear induction motor; calculating the input variable voltage source and the virtual stator resistance value of the three-phase linear induction motor by combining the output phase voltage value of the converter to the ground; constructing a flux linkage and a current state equation of the stator and the rotor; the current of the three-phase linear induction motor in the switching process is obtained by combining the input variable voltage source of the three-phase linear induction motor and the resistance value of the virtual stator, and the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process is realized. The invention realizes the real-time simulation modeling of the switching process of the three-phase linear induction motor based on the thyristor switch sectional power supply.)

1. A real-time simulation modeling method for a three-phase linear induction motor subsection power supply switching process is characterized by comprising the following steps:

step S10, three-phase thyristor on-off signal (k) based on three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c) (ii) a Others

Step S20, based on the three-phase thyristor switch state (f)_a,f_b,f_c) Combined three phasesConverter output phase-to-ground voltage value (u) in linear induction motor_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x；

Step S30, constructing a flux linkage state equation and a current state equation of a stator and a rotor based on the stator segment coverage proportion a of the three-phase linear induction motor;

current state equation of stator and rotor

Step S40, inputting variable voltage source (u) to the three-phase linear induction motor based on the flux linkage state equation and the current state equation of the stator and the rotor_an,u_bn,u_cn) And a virtual stator resistance value R_xAnd obtaining the current of the three-phase linear induction motor in the switching process, and realizing the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

2. The method according to claim 1, wherein the three-phase thyristor switch state (f) is a three-phase thyristor switch state_a,f_b,f_c) Comprises the following steps:

wherein i_p(k)、i_p(k +1) represents the p-phase current of the motor obtained by the k-th and k + 1-th calculation in the simulation calculation, respectively, k_p0 represents p-phase thyristor as turn-off signal, k_p1 represents p-phase thyristor as on signal, f_p0 represents that the p-phase thyristor is in an off state, f_p1 represents that the p-phase thyristor is in an on state.

3. The method according to claim 2, characterized in that the three-phase linear induction motor inputs a variable voltage source (u)_an,u_bn,u_cn) And a virtual stator resistance value R_xComprises the following steps:

when f is_a＝1，f_b＝1，f_cWhen 1, u_an＝u_a，u_bn＝u_b，u_cn＝u_c，R_x＝R_s；

When f is_a＝0，f_b＝1，f_cWhen 1, u_an＝0，R_x＝R_s；

When f is_a＝1，f_b＝0，f_cWhen the number is equal to 1, the alloy is put into a container,u_bn＝0，R_x＝R_s；

when f is_a＝1，f_b＝1，f_cWhen the content is equal to 0, the content,u_cn＝0，R_x＝R_s；

when f is_a＝0，f_b＝0，f_c1, or f_a＝0，f_b＝1，f_c0, or f_a＝1，f_b＝0，f_c0, or f_a＝0，f_b＝0，f_cWhen equal to 0, u_an＝0，u_bn＝0，u_cn＝0，R_x＝∞；

Wherein R is_sRepresenting the actual stator resistance of a three-phase linear induction motor.

4. The real-time simulation modeling method for the segmented power supply switching process of the three-phase linear induction motor according to claim 1, wherein the flux linkage state equation is as follows:

therein, Ψ_ds、Ψ_qs、Ψ_dr、Ψ_qrRespectively representing three-phase linear induction electronic stator and rotor flux linkage, omega_rRepresents the electrical angular velocity, R_s、R_rRespectively representing the stator and rotor resistances, L, of a three-phase linear induction motor_m、aL_mRespectively representing mover mutual inductance and stator mutual inductance of a three-phase linear induction motor, L_s、L_rRespectively represent the stator inductance and the rotor inductance of the three-phase linear induction motor, and sigma is the leakage inductance coefficient of the three-phase linear induction motor.

5. The real-time simulation modeling method for the segmented power supply switching process of the three-phase linear induction motor according to claim 4, wherein the current state equation is as follows:

6. the method of claim 5, wherein the stator inductance and the rotor inductance L of the three-phase linear induction motor are L_s、L_rComprises the following steps:

wherein L is_ls、L_lrRespectively representing the leakage inductance of the stator and the rotor of the three-phase linear induction motor.

7. The real-time simulation modeling method for the three-phase linear induction motor subsection power supply switching process according to claim 5, wherein a leakage inductance coefficient σ of the three-phase linear induction motor is:

8. the real-time simulation modeling system for the segmented power supply switching process of the three-phase linear induction motor is characterized by comprising the following modules:

a switch state judgment module configured to turn on/off signals (k) of the three-phase thyristor based on the three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c)；

An input voltage and stator resistance value calculation module configured to calculate a stator resistance value based on the three-phase thyristor switch state (f)_a,f_b,f_c) Combining the output of a current transformer in a three-phase linear induction motor with the phase voltage value (u) to ground_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x；

The flux linkage and current state equation building module is configured to build flux linkage state equations and current state equations of a stator and a rotor based on a stator section coverage proportion a of the three-phase linear induction motor;

a real-time modeling module configured to input a variable voltage source (u) to the three-phase linear induction motor based on a flux linkage state equation and a current state equation of the stator and the rotor_an,u_bn,u_cn) And a virtual stator resistance value R_xObtained byAnd (3) taking the current of the three-phase linear induction motor in the switching process, and realizing real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

9. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,

the memory stores instructions executable by the processor for implementing a method of real-time simulation modeling of a three-phase linear induction motor segment power switching process as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium storing computer instructions for execution by the computer to implement the method of modeling the three-phase linear induction motor segment power supply switching process in real time simulation according to any one of claims 1 to 7.

Technical Field

The invention belongs to the field of real-time simulation modeling, and particularly relates to a real-time simulation modeling method for a three-phase linear induction motor subsection power supply switching process.

Background

The high-speed linear electromagnetic propulsion technology can directly convert electric energy into mechanical energy and can be applied to the fields of industry, traffic and national defense. The long primary linear induction motor rotor has a simple structure and is suitable for short-time, high-thrust and high-speed systems. In order to reduce the voltage level of the power supply converter, a segmented power supply mode is generally adopted, and a plurality of short stator segments are supplied in a time-sharing mode through a change-over switch. With the increasing demand of the speed of the propelled object, the mechanical switch with the switching time of hundred milliseconds can not meet the switching time demand, and the solid-state switch based on the power electronic equipment is adopted, so that the switching process of microsecond can be realized at the fastest speed. At present, a solid-state switch usually adopts a fully-controlled IGBT or a semi-controlled thyristor, the fully-controlled IGBT has better current turn-off capability, but the current and series voltage-resisting capability of the fully-controlled IGBT are usually not high, and the manufacturing cost is higher; the turn-off process of the semi-controlled thyristor depends on the natural zero crossing point of the current of the thyristor, but the through-current, series voltage resistance and the manufacturing cost of the thyristor are all superior to those of an IGBT. For the sectional power supply occasions of 10kV and above 10kA, the sectional power supply based on the thyristor switch has certain advantages.

The high-speed linear electromagnetic propulsion system is composed of subsystems such as a long stator linear motor, a sectional power supply switch, a variable-frequency power supply and the like. The number of stator segments, thyristor switches and converters in the system is large, the structure is complex, and in order to reduce the development and debugging risks of the system, sufficient hardware-in-loop test experiments are required before the equipment is delivered to the field. The hardware-in-the-loop can realize all-around simulation and test of information parts of the high-speed linear electromagnetic propulsion system, including control strategies, protection actions, logic, time sequences, communication reliability, hardware equipment performance and various operating conditions, and the information system tested by the hardware-in-the-loop can be directly applied to engineering sites, so that the risk of system development and test is greatly reduced. The key of the hardware-in-the-loop test equipment is that real-time simulation mathematical modeling is carried out on the simulated equipment, the modeling method is different from the traditional circuit simulation modeling, and the actual calculation time of the real-time simulation mathematical model is required to be less than the simulation step length. The real-time simulation is realized by the technologies of splitting a state equation calculation matrix, avoiding the iterative operation of a nonlinear device, adopting distributed parallel operation and the like.

The switching process of the three-phase linear induction motor based on the thyristor switch sectional power supply is a difficult point for the real-time simulation modeling of the high-speed linear electromagnetic propulsion system. The alternating current change-over switch based on the bidirectional thyristor can realize the quick switching of the sectional power supply, however, the thyristor is a semi-controlled current source device, the switching-on condition of the bidirectional thyristor is a gate-level trigger signal, the switching-off condition of the bidirectional thyristor is a gate-level trigger-free signal, and the forward current between the main terminals is smaller than the holding current. Therefore, the turn-off process of the thyristor needs to be determined by an external circuit, including a linear induction motor and a converter, when a circuit matrix simulation method is adopted, iterative operation needs to be carried out on the nonlinear characteristics of the thyristor, each switching action can change a circuit admittance matrix system, and the simulation calculation amount is increased, so that real-time simulation is difficult to realize. The converter usually adopts a voltage source type converter, the input of a state equation of the motor is voltage, however, the thyristor is a current source type switch, and great difficulty is brought to real-time simulation. Some documents propose a modeling and analyzing method [1] for the force characteristics of a unilateral composite secondary linear induction motor, which mainly performs modeling and analyzing on the thrust force and the normal force of the linear induction motor, but the power supply of the unilateral composite secondary linear induction motor is an ideal current source and does not consider the sectional power supply characteristics of the linear induction motor. Other documents propose an electromechanical integration modeling method [2] of a linear motor feeding system, which mainly analyzes nonlinear characteristics of a driving system and a motor body and establishes a system electromechanical integration model, but the method does not model a segmented power supply change-over switch.

The following documents are background information related to the present invention:

[1] the method is used for modeling and analyzing the force characteristics of a unilateral composite secondary linear induction motor, and comprises the following steps of 2019-03-27 and CN109992874A.

[2] Yangxiaojun, Zhao Wanhua, Liuhui and the like, a linear motor feeding system electromechanical integrated modeling method, 2017-12-23, CN108021039A.

Disclosure of Invention

In order to solve the problems in the prior art, namely the problem that the sectional power supply characteristic is not considered or the sectional power supply change-over switch is not modeled in the simulation modeling of the conventional sectional power supply three-phase linear induction motor, the invention provides a real-time simulation modeling method for the sectional power supply change-over process of the three-phase linear induction motor, wherein the three-phase linear induction motor and the thyristor switch are uniformly modeled in a voltage source mode, the variable voltage source is obtained by calculating the phase voltage between the input variable voltage source of the three-phase linear induction motor, namely the output of the thyristor and the midpoint of the three-phase linear induction motor, the virtual stator resistor adjusts the resistance value of the stator resistor according to the switching state of the thyristor, the simulation of the thyristor switching process is realized by the variable voltage source, the influence of the rotor motion back electromotive force on the stator current after the thyristor is turned off is avoided by the virtual stator resistor, and the real-time simulation modeling method comprises the following steps:

step S10, three-phase thyristor on-off signal (k) based on three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c)；

Step S20, based on the three-phase thyristor switch state (f)_a,f_b,f_c) Combining the output of a current transformer in a three-phase linear induction motor with the phase voltage value (u) to ground_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x；

Step S30, constructing a flux linkage state equation and a current state equation of a stator and a rotor based on the stator segment coverage proportion a of the three-phase linear induction motor;

step S40, inputting variable voltage source (u) to the three-phase linear induction motor based on the flux linkage state equation and the current state equation of the stator and the rotor_an,u_bn,u_cn) And a virtual stator resistance value R_xObtaining three phases ofThe current of the linear induction motor in the switching process realizes the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

In some preferred embodiments, the three-phase thyristor switch state (f)_a,f_b,f_c) Comprises the following steps:

wherein i_p(k)、i_p(k +1) represents the p-phase current of the motor obtained by the k-th and k + 1-th calculation in the simulation calculation, respectively, k_p0 represents p-phase thyristor as turn-off signal, k_p1 represents p-phase thyristor as on signal, f_p0 represents that the p-phase thyristor is in an off state, f_p1 represents that the p-phase thyristor is in an on state.

In some preferred embodiments, the three-phase linear induction motor is input with a variable voltage source (u)_an,u_bn,u_cn) And a virtual stator resistance value R_xComprises the following steps:

when f is_a＝1，f_b＝1，f_cWhen 1, u_an＝u_a，u_bn＝u_b，u_cn＝u_c，R_x＝R_s；

When f is_a＝0，f_b＝1，f_cWhen 1, u_an＝0，R_x＝R_s；

When f is_a＝1，f_b＝0，f_cWhen the number is equal to 1, the alloy is put into a container,u_bn＝0，R_x＝R_s；

when f is_a＝1，f_b＝1，f_cWhen the content is equal to 0, the content,u_cn＝0，R_x＝R_s；

when f is_a＝0，f_b＝0，f_c1, or f_a＝0，f_b＝1，f_c0, or f_a＝1，f_b＝0，f_c0, or f_a＝0，f_b＝0，f_cWhen equal to 0, u_an＝0，u_bn＝0，u_cn＝0，R_x＝∞；

Wherein R is_sRepresenting the actual stator resistance of a three-phase linear induction motor.

In some preferred embodiments, the flux linkage state equation is:

therein, Ψ_ds、Ψ_qs、Ψ_dr、Ψ_qrRespectively representing three-phase linear induction electronic stator and rotor flux linkage, omega_rRepresents the electrical angular velocity, R_s、R_rRespectively representing the stator and rotor resistances, L, of a three-phase linear induction motor_m、aL_mRespectively representing mover mutual inductance and stator mutual inductance of a three-phase linear induction motor, L_s、L_rRespectively represent the stator inductance and the rotor inductance of the three-phase linear induction motor,and sigma is the leakage inductance coefficient of the three-phase linear induction motor.

In some preferred embodiments, the current state equation is:

in some preferred embodiments, theStator inductor and rotor inductor L of three-phase linear induction motor_s、L_rComprises the following steps:

wherein L is_ls、L_lrRespectively representing the leakage inductance of the stator and the rotor of the three-phase linear induction motor.

In some preferred embodiments, the leakage inductance σ of the three-phase linear induction motor is:

in another aspect of the present invention, a real-time simulation modeling system for a three-phase linear induction motor segment power supply switching process is provided, which includes the following modules:

a switch state judgment module configured to turn on/off signals (k) of the three-phase thyristor based on the three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c)；

An input voltage and stator resistance value calculation module configured to calculate a stator resistance value based on the three-phase thyristor switch state (f)_a,f_b,f_c) Combining the output of a current transformer in a three-phase linear induction motor with the phase voltage value (u) to ground_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x；

The flux linkage and current state equation building module is configured to build flux linkage state equations and current state equations of a stator and a rotor based on a stator section coverage proportion a of the three-phase linear induction motor;

a real-time modeling module configured to model the three-phase linear induction motor based on a flux linkage state equation and a current state equation of the stator and the rotorInput variable voltage source (u)_an,u_bn,u_cn) And a virtual stator resistance value R_xAnd obtaining the current of the three-phase linear induction motor in the switching process, and realizing the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

In a third aspect of the present invention, an electronic device is provided, including:

at least one processor; and

a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,

the memory stores instructions executable by the processor for implementing the above-described real-time simulation modeling method for the three-phase linear induction motor segment power supply switching process.

In a fourth aspect of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer instructions for being executed by the computer to implement the above-mentioned real-time simulation modeling method for the three-phase linear induction motor segment power supply switching process.

The invention has the beneficial effects that:

the real-time simulation modeling method for the three-phase linear induction motor subsection power supply switching process fully considers the subsection power supply characteristic of the linear induction motor, realizes the real-time simulation modeling of the three-phase linear induction motor switching process based on the thyristor switch subsection power supply, and further promotes the hardware in-loop test of the high-speed linear electromagnetic propulsion system.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic flow chart of a real-time simulation modeling method for a three-phase linear induction motor sectional power supply switching process according to the present invention;

FIG. 2 is a block diagram of a sectional power supply linear induction motor driving system of the real-time simulation modeling method for the sectional power supply switching process of the three-phase linear induction motor of the present invention;

FIG. 3 is a physical model of a single stator segment of a three-phase linear induction motor with a thyristor switch according to the real-time simulation modeling method for the segmented power supply switching process of the three-phase linear induction motor;

FIG. 4 is an equivalent circuit of a three-phase linear induction motor with sectional power supply according to the real-time simulation modeling method for the switching process of the three-phase linear induction motor with sectional power supply;

FIG. 5 is waveforms of output voltage and current of a converter in the switching process of the real-time simulation modeling method for the three-phase linear induction motor in the segmented power supply switching process of the invention;

FIG. 6 shows the voltage and current waveforms of the turn-off process of the stator segment 1_1 according to the real-time simulation modeling method for the three-phase linear induction motor segment power supply switching process of the present invention;

FIG. 7 shows voltage and current waveforms of the stator segment 2_1 during the switching process of the three-phase linear induction motor in the real-time simulation modeling method for the segmented power supply switching process.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The invention discloses a real-time simulation modeling method for a three-phase linear induction motor subsection power supply switching process, which comprises the following steps:

step S10, three-phase thyristor on-off signal (k) based on three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c)；

Step S20, based on the three phasesThyristor switch state (f)_a,f_b,f_c) Combining the output of a current transformer in a three-phase linear induction motor with the phase voltage value (u) to ground_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x；

Step S30, constructing a flux linkage state equation and a current state equation of a stator and a rotor based on the stator segment coverage proportion a of the three-phase linear induction motor;

step S40, inputting variable voltage source (u) to the three-phase linear induction motor based on the flux linkage state equation and the current state equation of the stator and the rotor_an,u_bn,u_cn) And a virtual stator resistance value R_xAnd obtaining the current of the three-phase linear induction motor in the switching process, and realizing the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

In order to more clearly describe the real-time simulation modeling method for the three-phase linear induction motor section power supply switching process of the present invention, details of each step in the embodiment of the present invention are expanded with reference to fig. 1.

The real-time simulation modeling method for the three-phase linear induction motor subsection power supply switching process in the first embodiment of the invention comprises the following steps of S10-S40, wherein the following steps are described in detail:

as shown in FIG. 2, a first power u is a structure diagram of a sectional power supply linear induction motor driving system of the real-time simulation modeling method for the sectional power supply switching process of the three-phase linear induction motor according to the invention₁For the first converter output voltage source, as stator segment S_{1_1}，……，S_{n_1}Supplying power by controlling the bidirectional thyristor switch k_{1_1}，……，k_{n_1}On and off to realize stator segment S_{1_1}，……，S_{n_1}And (5) supplying power in a segmented mode. Second power supply u₂For the output voltage source of the second converter, as stator segment S_{1_2}，……，S_{n_2}Supplying power by controlling the bidirectional thyristor switch k_{1_2}，……，k_{n_2}On and off to realize stator segment S_{1_2}，……，S_{n_2}And (5) supplying power in a segmented mode. Third power supply u₃For the output voltage source of the third converter, as stator segment S_{1_3}，……，S_{n_3}Supplying power by controlling the bidirectional thyristor switch k_{1_3}，……，k_{n_3}On and off to realize stator segment S_{1_3}，……，S_{n_3}And (5) supplying power in a segmented mode. Fourth power supply u₄For the output voltage source of the third converter, as stator segment S_{1_4}，……，S_{n_4}Supplying power by controlling the bidirectional thyristor switch k_{1_4}，……，k_{n_4}On and off to realize stator segment S_{1_4}，……，S_{n_4}And (5) supplying power in a segmented mode. The mover is divided into four parts, wherein a₁For covering stator sections S with rotors_{x_1}X is 1 to n, a₁The value range is 0-1, when the coverage is not available, the value range is 0, and when the coverage is full, the value range is 1. a is₂For covering stator sections S with rotors_{x_2}X is 1 to n, a₂The value range is 0-1, when the coverage is not available, the value range is 0, and when the coverage is full, the value range is 1. a is₃For covering stator sections S with rotors_{x_3}X is 1 to n, a₃The value range is 0-1, when the coverage is not available, the value range is 0, and when the coverage is full, the value range is 1. a is₄For covering stator sections S with rotors_{x_4}X is 1 to n, a₄The value range is 0-1, when the coverage is not available, the value range is 0, and when the coverage is full, the value range is 1. When the rotor moves, the rotor covers the proportion a of the stator₁、a₂、a₃And a₄Is constantly changing.

Step S10, three-phase thyristor on-off signal (k) based on three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c)。

First, the three-phase thyristor is turned on/off_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Zero crossing point judging three-phase thyristor switch state (f)_a,f_b,f_c) Three-phase thyristor switch state (f)_a,f_b,f_c) As shown in formula (1):

wherein i_p(k)、i_p(k +1) represents the p-phase current of the motor obtained by the k-th and k + 1-th calculation in the simulation calculation, respectively, k_p0 represents p-phase thyristor as turn-off signal, k_p1 represents p-phase thyristor as on signal, f_p0 represents that the p-phase thyristor is in an off state, f_p1 represents that the p-phase thyristor is in an on state.

Step S20, based on the three-phase thyristor switch state (f)_a,f_b,f_c) Combining the output of a current transformer in a three-phase linear induction motor with the phase voltage value (u) to ground_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x。

Three-phase linear induction motor input variable voltage source (u)_an,u_bn,u_cn) And a virtual stator resistance value R_xComprises the following steps:

when f is_a＝1，f_b＝1，f_cWhen 1, u_an＝u_a，u_bn＝u_b，u_cn＝u_c，R_x＝R_s；

When f is_a＝0，f_b＝1，f_cWhen 1, u_an＝0，R_x＝R_s；

When f is_a＝1，f_b＝0，f_cWhen the number is equal to 1, the alloy is put into a container,u_bn＝0，R_x＝R_s；

when f is_a＝1，f_b＝1，f_cWhen the content is equal to 0, the content,u_cn＝0，R_x＝R_s；

when f is_a＝0，f_b＝0，f_c1, or f_a＝0，f_b＝1，f_c0, or f_a＝1，f_b＝0，f_c0, or f_a＝0，f_b＝0，f_cWhen equal to 0, u_an＝0，u_bn＝0，u_cn＝0，R_x＝∞；

Wherein R is_sRepresenting the actual stator resistance of a three-phase linear induction motor.

For a switched-off three-phase linear induction motor, when the rotor passes through the stator segment, a counter electromotive force is generated, so that when the thyristor is switched off, the virtual stator resistor R is switched off_xThe numerical change is infinity, and the generation of current by back electromotive force can be avoided.

As shown in FIG. 3, a single stator segment physical model of a three-phase linear induction motor with thyristor switches is provided for the real-time simulation modeling method of the three-phase linear induction motor segment power supply switching process of the invention, wherein u is_a,u_b,u_cThe three phase voltages output by the converter are voltages relative to the ground of the converter. u. of_nThe neutral point of a single stator segment of the three-phase linear induction motor is connected to the ground voltage. k is a radical of_a,k_b,k_cBidirectional thyristor change-over switch for single stator section of three-phase linear induction motor, R_sStator resistance, L, for a single stator segment of a three-phase linear induction motor_lsFor stator leakage inductance of a single stator segment of a three-phase linear induction motor, L_msThe three-phase mutual inductance is the mutual inductance among three windings in a single stator section of the three-phase linear induction motor, and the physical space difference between the three-phase mutual inductances is 120 degrees. i.e. i_a,i_b,i_cIs the current of each phase of a single stator segment of a three-phase linear induction motor.

And step S30, constructing a flux linkage state equation and a current state equation of the stator and the rotor based on the stator segment coverage proportion a of the three-phase linear induction motor.

As shown in fig. 4, a is an equivalent circuit of the three-phase linear induction motor with sectional power supply, in which a stator section coverage proportion of the three-phase linear induction motor is changed from a three-phase stationary coordinate to a two-phase stationary coordinate by clarke transformation, and u is a three-phase stationary coordinate by a real-time simulation modeling method in the switching process of the three-phase linear induction motor with sectional power supply_ds、u_qsObtaining by equation (2):

thus, the flux linkage state equation of the stator and rotor of the three-phase linear induction motor is shown in equation (3):

therein, Ψ_ds、Ψ_qs、Ψ_dr、Ψ_qrRespectively representing three-phase linear induction electronic stator and rotor flux linkage, omega_rRepresents the electrical angular velocity, R_s、R_rRespectively representing the stator and rotor resistances, L, of a three-phase linear induction motor_m、aL_mRespectively representing mover mutual inductance and stator mutual inductance of a three-phase linear induction motor, L_s、L_rThe inductance of the stator and the inductance of the rotor of the three-phase linear induction motor are respectively represented, and sigma is the leakage inductance coefficient of the three-phase linear induction motor.

For the stator, the proportion of the stator covered by the rotor influences the magnitude of the mutual inductance of the stator. For the mover, the ratio of stator coverage of the mover is always 1.

Thus, the current state equation of the stator and rotor of the three-phase linear induction motor is shown in equation (4):

stator inductor and rotor inductor L of three-phase linear induction motor_s、L_rAs shown in formula (5):

wherein L is_ls、L_lrRespectively representing the leakage inductance of the stator and the rotor of the three-phase linear induction motor.

The leakage inductance coefficient sigma of the three-phase linear induction motor is as shown in formula (6):

step S40, inputting variable voltage source (u) to the three-phase linear induction motor based on the flux linkage state equation and the current state equation of the stator and the rotor_an,u_bn,u_cn) And a virtual stator resistance value R_xAnd obtaining the current of the three-phase linear induction motor in the switching process, and realizing the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

The invention adopts an example to carry out real-time simulation verification on a simulation model, the real-time simulation model runs on a V7 series FPGA chip of Xilinx company, and the simulation step length is 0.5 microsecond. The controller is a PowerPC chip P2020, the control period is 100 microseconds, an indirect magnetic field orientation control strategy is adopted, and the current and the slip of the motor are controlled to be constant values. In order to ensure the continuity of the converter output current, the stator segment S_{2_1}Is turned on first at 2.3328 seconds, and stator segment S_{1_1}Closed after 2.3338 seconds, stator segment S_{2_1}And stator segment S_{1_1}With a 1ms simultaneous on-time in between.

As shown in fig. 5, it can be known from the graph that the output voltage of the inverter first decreases and then increases in the switching process of the two stator segments, and the current also becomes unbalanced, for the waveforms of the output voltage and the current of the inverter in the switching process of the real-time simulation modeling method for the segmented power supply switching process of the three-phase linear induction motor of the present invention.

As shown in FIG. 6, isAccording to the voltage and current waveforms of the stator segment 1_1 switching-off process of the real-time simulation modeling method for the segmented power supply switching process of the three-phase linear induction motor, i & lt/EN & gt_cThe current is 0 after passing through zero point, and the three-phase thyristor is in a switching state f_a/f_b/f_cAt 1/1/0, the equation for u is calculated from the motor input variable voltage source and the virtual stator resistance_cn＝0，R_x＝R_s，i_a＝-i_b(ii) a When i is_aWhen zero crossing occurs, three-phase thyristor switch state f_a/f_b/f_cAt 0/0/0, the equation for u is calculated from the motor input variable voltage source and the virtual stator resistance_an＝0，u_bn＝0，u_cn＝0，R_x＝∞。R_xThe change of (2) can avoid the current phenomenon generated by the induced electromotive force of the motor.

As shown in FIG. 7, for the voltage and current waveforms of the stator segment 2_1 switching-on process of the real-time simulation modeling method for the three-phase linear induction motor segment power supply switching process, when a switching-on signal is available, the three-phase circuit is simultaneously switched on, and u is_an＝u_a，u_bn＝u_b，u_cn＝u_c，R_x＝R_s。

The real-time simulation result in the FPGA verifies that the three-phase linear induction motor switching process real-time simulation model based on the thyristor switch subsection power supply meets the thyristor switching-on and switching-off characteristics, the generation falling process of the nonlinear device simulation process is avoided, and the hardware in-loop test of the high-speed linear electromagnetic propulsion system can be realized.

Although the foregoing embodiments describe the steps in the above sequential order, those skilled in the art will understand that, in order to achieve the effect of the present embodiments, the steps may not be executed in such an order, and may be executed simultaneously (in parallel) or in an inverse order, and these simple variations are within the scope of the present invention.

The real-time simulation modeling system for the three-phase linear induction motor subsection power supply switching process of the second embodiment of the invention comprises the following modules:

a switch state judgment module configured to turn on/off signals (k) of the three-phase thyristor based on the three-phase linear induction motor_a,k_b,k_c) And three phase current (i)_a,i_b,i_c) Obtaining the switching state (f) of the three-phase thyristor_a,f_b,f_c)；

An input voltage and stator resistance value calculation module configured to calculate a stator resistance value based on the three-phase thyristor switch state (f)_a,f_b,f_c) Combining the output of a current transformer in a three-phase linear induction motor with the phase voltage value (u) to ground_a,u_b,u_c) Calculating the input variable voltage source (u) of the three-phase linear induction motor_an,u_bn,u_cn) And a virtual stator resistance value R_x；

The flux linkage and current state equation building module is configured to build flux linkage state equations and current state equations of a stator and a rotor based on a stator section coverage proportion a of the three-phase linear induction motor;

a real-time modeling module configured to input a variable voltage source (u) to the three-phase linear induction motor based on a flux linkage state equation and a current state equation of the stator and the rotor_an,u_bn,u_cn) And a virtual stator resistance value R_xAnd obtaining the current of the three-phase linear induction motor in the switching process, and realizing the real-time simulation modeling of the three-phase linear induction motor in the segmented power supply switching process.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and related description of the system described above may refer to the corresponding process in the foregoing method embodiments, and will not be described herein again.

It should be noted that, the real-time simulation modeling system for the three-phase linear induction motor segmented power supply switching process provided in the foregoing embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be allocated to different functional modules according to needs, that is, the modules or steps in the embodiment of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further split into a plurality of sub-modules, so as to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not to be construed as unduly limiting the present invention.

An electronic apparatus according to a third embodiment of the present invention includes:

at least one processor; and

a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,

the memory stores instructions executable by the processor for implementing the above-described real-time simulation modeling method for the three-phase linear induction motor segment power supply switching process.

A computer readable storage medium of a fourth embodiment of the present invention stores computer instructions for being executed by the computer to implement the above-mentioned real-time simulation modeling method for a three-phase linear induction motor segment power supply switching process.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Those of skill in the art would appreciate that the various illustrative modules, method steps, and modules described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing or implying a particular order or sequence.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.