阅读说明：本技术 一种双凸极电机提前角自寻优控制方法及系统 (Method and system for controlling advance angle self-optimization of doubly salient motor ) 是由 廖带莲 余莉 沈喆磊 于 2021-09-10 设计创作，主要内容包括：本发明公开了一种双凸极电机提前角自寻优控制方法,采用固定步长依次对双凸极电机驱动系统的提前角进行扰动,在每一次扰动后,通过三相电枢电流反馈值以及位置角度计算电枢电流包围的面积。由于双凸极电机输出转矩正比于电枢电流包围面积的关系,包围的面积越大,则代表该提前角下双凸极电机的输出转矩越大；反之,包围的面积越小,则代表该提前角下双凸极电机的输出转矩越小。然后对不同提前角下的输出转矩进行比较和排序,自动寻优得到最大输出转矩对应的提前角。将该提前角作为双凸极电机驱动系统的最终提前角。本发明还公开了一种双凸极电机提前角自寻优控制系统,本发明全局范围内自动寻优获得使双凸极电机工作在最大输出转矩的提前角。(The invention discloses a double salient pole motor advance angle self-optimization control method, which comprises the steps of adopting a fixed step length to sequentially disturb the advance angle of a double salient pole motor driving system, and calculating the area enclosed by armature current through a three-phase armature current feedback value and a position angle after each disturbance. Because the output torque of the doubly salient motor is in direct proportion to the surrounding area of the armature current, the larger the surrounding area is, the larger the output torque of the doubly salient motor under the advance angle is; conversely, the smaller the enclosed area, the smaller the output torque of the doubly salient motor at the advance angle. And then comparing and sequencing the output torques under different advance angles, and automatically optimizing to obtain the advance angle corresponding to the maximum output torque. And taking the advance angle as a final advance angle of the double-salient-pole motor driving system. The invention also discloses a double salient pole motor advance angle self-optimizing control system, which automatically optimizes in the global range to obtain the advance angle which enables the double salient pole motor to work at the maximum output torque.)

1. A double salient pole motor advance angle self-optimizing control method based on disturbance observation method is characterized in that,

firstly, disturbing an advance angle of a double-salient motor driving system in sequence by adopting a fixed step length, and calculating the area enclosed by armature current through three-phase armature current and a position angle after each disturbance;

according to the relation that the output torque of the doubly salient motor is in direct proportion to the surrounding area of the armature current; then comparing and sequencing the output torques under different advance angles, and automatically optimizing to obtain the advance angle corresponding to the maximum output torque;

finally, the advance angle is used as the final advance angle of the double-salient-pole motor driving system; therefore, automatic optimization in a global range is realized, and an advance angle enabling the doubly salient motor to work at the maximum output torque is obtained.

2. The double salient pole motor advance angle self-optimizing control method based on the disturbance observation method as claimed in claim 1,

the relationship that the output torque of the double-salient-pole motor is proportional to the surrounding area of the armature current is as follows:

wherein, T_eIs the torque output by the doubly salient motor, oc is proportional to₁，k₂The change rates, k, of the A-phase armature current and the B-phase armature current in the non-advanced angle region in a commutation period₃，k₄Respectively the change rate of C-phase armature current in different intervals of an advance angle region in a phase change period, I₀For the current value at the initial moment of the commutation period, I_refIs the armature current reference value of the double salient pole motor driving system.

3. The doubly salient motor advance angle self-optimization control method based on the disturbance observation method as claimed in claim 2, is characterized by comprising the following specific steps:

step S1, setting initial values of advance angles alpha and beta of a double salient pole motor driving system; alpha is the advanced angle of a power tube on the DC/AC inverter relative to a standard phase conversion point when the power tube is switched on or switched off; beta is an advanced angle relative to the upper power tube when the lower power tube of the DC/AC inverter is switched on or switched off;

step S2, disturbing the advance angle alpha + beta of the double salient pole motor driving system by a fixed step length;

step S3, detecting the current value I at the initial time of the commutation period₀；

Step S4, detecting three-phase armature current and calculating rotor position angle theta to obtain k₁、k₂、k₃、k₄(ii) a According to the formula (1)Calculating the area enclosed by the armature current;

step S5, judging whether the advance angle in the step S2 is in a preset disturbance range [0 (alpha + beta) ]_max]，(α+β)_maxTo be liftedIf the upper limit value of the front angle is positive, continuing to disturb and repeatedly executing the steps S2-S4, otherwise stopping disturbing;

step S6, comparing and sequencing the areas enclosed by the armature currents under different advance angles in the step S4, and automatically optimizing to obtain the advance angle corresponding to the maximum output torque according to the relation that the output torque of the doubly salient motor is in direct proportion to the enclosed area of the armature currents; and finally, taking the advance angle as a final advance angle of the double-salient-pole motor driving system.

4. The doubly salient motor advance angle self-optimization control method based on the perturbation observation method is characterized in that the relationship between advance angles is α ═ β ═ (α + β)/2.

5. The doubly salient motor advance angle self-optimizing control method based on the disturbance observation method as claimed in claim 2, wherein enough sampling points are ensured to collect the value of the armature current in a commutation period by setting the sampling points of the digital controller; the gradient k of the armature current is then calculated from the armature current sample values and the corresponding sample time intervals₁、k₂、k₃、k₄。

6. The system of the doubly salient motor advance angle self-optimizing control method based on the disturbance observation method is characterized by comprising a rotation speed regulator, a current regulator, an inverter driver, a direct current power supply, a DC/AC inverter, a doubly salient motor DSEM, a rotary transformer, a position decoder, an output torque estimator, an advance angle disturbance controller and a feedback current calculation module, wherein the rotation speed regulator is connected with the current regulator; wherein the content of the first and second substances,

a rotation speed regulator for outputting an armature current reference value;

the current regulator is used for obtaining a current chopping signal according to the deviation of the feedback current and the armature current reference value and outputting the current chopping signal to the inverter driver;

the inverter driver is used for obtaining an on-off control signal according to the commutation logic of the advance angle and angle control strategy and the current chopping signal, and the on-off control signal drives a power tube of the DC/AC inverter;

the direct current power supply is DC/AC inverter input direct current voltage;

a resolver for detecting rotor position information and outputting it to a position decoder;

the position decoder is used for obtaining the rotating speed of the rotor according to the position information of the rotor detected by the rotary transformer and taking the deviation value of the measured rotating speed of the rotor and the expected rotating speed as the input of the rotating speed regulator;

the feedback current calculating module is used for calculating the current feedback current according to the three-phase armature current value of the double-salient motor DSEM;

the output torque estimator is used for calculating the area surrounded by the armature current according to the three-phase armature current value, the rotor position information and the armature current reference value under the current advance angle and outputting the current advance angle to the advance angle disturbance controller; the advance angle disturbance controller is used for judging whether the received advance angle is in a preset disturbance range, if so, continuing to disturb, and if not, stopping disturbing; changing the advance angle once every time of disturbance, when the disturbance is stopped, comparing and sequencing the areas surrounded by the armature currents under different advance angles by an output torque estimator, automatically optimizing according to the relation that the output torque of the doubly salient motor is in direct proportion to the area surrounded by the armature currents to obtain the advance angle corresponding to the maximum output torque, and taking the advance angle as the final advance angle of the doubly salient motor driving system;

and the advance angle disturbance controller is used for outputting an advance angle of fixed step disturbance to the inverter driver, and automatically optimizing to obtain a corresponding advance angle when the output torque is maximum as a final advance angle of the double salient pole motor driving system.

Technical Field

The invention relates to the field of doubly salient motor drive control, in particular to a doubly salient motor advance angle self-optimizing control method and system based on a disturbance observation method.

Background

The double salient pole motor (DSEM) has the advantages of simple and firm structure, low cost, adjustable excitation, high reliability and the like, and can adapt to severe environments such as high temperature and the like, so the DSEM is suitable for being applied to the fields of aviation power supplies, industrial driving and the like, and has unique potential advantages and wide application prospects in high-speed development. When the doubly salient motor runs at medium and high speed, an advance angle control method is generally adopted, and the effective value of armature current is increased by turning on and off a power tube in a DC/AC inverter in advance, so that the output torque of the motor is improved. The value of the advance angle has important influence on the output torque of the motor, and the output torque is reduced when the advance angle is too small or too large. However, a convenient and fast advance angle selection method is lacking at present, and is usually selected according to a large number of finite element simulation analysis results, the method is large in workload and long in time consumption, and once the working conditions change, the selected advance angle is not suitable any more. In addition, the simulation is different from the actual test, and the selected advance angle may not enable the motor to work at the maximum output torque.

In Order to solve the above problems, the IEEE Transactions on Power Electronics journal, in 35, volume 9, paper "Multidomain Analysis and nth-Order Synchronous Reference Vector Adaptive Control of the double Salient Motor" in 2020 establishes a double Salient Motor torque frequency domain expression based on a fourier Analysis method, and then selects an advance angle based on a torque current ratio. However, the method adopts a harmonic detection algorithm to circularly detect the amplitude and the phase of the fundamental wave and each subharmonic of each phase of armature current. The whole advance angle optimization process needs a large amount of trigonometric function calculation, so that a large amount of memory is needed, and the calculation time is long. The invention has the following patent: authorization number: CN 10803984B proposes an advance angle adaptive control method and system for a double salient pole drive system, which adaptively adjusts the advance angle of the next electrical cycle according to the deviation between the maximum feedback current and the current reference value in the advance angle interval. The method cannot optimize the corresponding advance angle when the output torque of the doubly salient motor is maximum. In addition, the change gain of the advance angle is determined by the change speed of the armature current, and the gain can risk excessive modulation in the case of system disturbance.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a double salient pole motor advance angle self-optimizing control method and system based on a disturbance observation method.

The invention adopts the following technical scheme for solving the technical problems:

according to the double-salient-pole motor advance angle self-optimizing control method based on the disturbance observation method provided by the invention,

firstly, disturbing an advance angle of a double-salient motor driving system in sequence by adopting a fixed step length, and calculating the area enclosed by armature current through three-phase armature current and a position angle after each disturbance;

according to the relation that the output torque of the doubly salient motor is in direct proportion to the surrounding area of the armature current; then comparing and sequencing the output torques under different advance angles, and automatically optimizing to obtain the advance angle corresponding to the maximum output torque;

finally, the advance angle is used as the final advance angle of the double-salient-pole motor driving system; therefore, automatic optimization in a global range is realized, and an advance angle enabling the doubly salient motor to work at the maximum output torque is obtained.

As a further optimization scheme of the double-salient-pole motor advance angle self-optimizing control method based on the disturbance observation method,

the relationship that the output torque of the double-salient-pole motor is proportional to the surrounding area of the armature current is as follows:

wherein, T_eA double salient pole motor outputs a torque, and aIs proportional to k₁，k₂The change rates, k, of the A-phase armature current and the B-phase armature current in the non-advanced angle region in a commutation period₃，k₄Respectively the change rate of C-phase armature current in different intervals of an advance angle region in a phase change period, I₀For the current value at the initial moment of the commutation period, I_refIs the armature current reference value of the double salient pole motor driving system.

The double-salient-pole motor advance angle self-optimizing control method based on the disturbance observation method further comprises the following specific steps:

step S1, setting initial values of advance angles alpha and beta of a double salient pole motor driving system; alpha is the advanced angle of a power tube on the DC/AC inverter relative to a standard phase conversion point when the power tube is switched on or switched off; beta is an advanced angle relative to the upper power tube when the lower power tube of the DC/AC inverter is switched on or switched off;

step S2, disturbing the advance angle alpha + beta of the double salient pole motor driving system by a fixed step length;

step S3, detecting the current value I at the initial time of the commutation period₀；

Step S4, detecting three-phase armature current and calculating rotor position angle theta to obtain k₁、k₂、k₃、k₄(ii) a According to the formula (1)Calculating the area enclosed by the armature current;

step S5, judging whether the advance angle in the step S2 is in a preset disturbance range [0 (alpha + beta) ]_max]，(α+β)_maxIf the upper limit value of the advance angle is the advance angle, continuing to disturb and repeatedly executing the steps S2-S4, otherwise, stopping disturbing;

step S6, comparing and sequencing the areas enclosed by the armature currents under different advance angles in the step S4, and automatically optimizing to obtain the advance angle corresponding to the maximum output torque according to the relation that the output torque of the doubly salient motor is in direct proportion to the enclosed area of the armature currents; and finally, taking the advance angle as a final advance angle of the double-salient-pole motor driving system.

The double-salient-pole motor advanced angle self-optimization control method based on the disturbance observation method is further optimized, and the relation between the advanced angles is alpha-beta-alpha (alpha + beta)/2.

As a further optimization scheme of the doubly salient motor advance angle self-optimizing control method based on the disturbance observation method, the sampling points of the digital controller are set, and enough sampling points are ensured to collect the numerical value of the armature current in a commutation period; the gradient k of the armature current is then calculated from the armature current sample values and the corresponding sample time intervals₁、k₂、k₃、k₄.

A double salient pole motor advance angle self-optimizing control method system based on a disturbance observation method comprises a rotating speed regulator, a current regulator, an inverter driver, a direct current power supply, a DC/AC inverter, a double salient pole motor DSEM, a rotary transformer, a position decoder, an output torque estimator, an advance angle disturbance controller and a feedback current calculation module; wherein the content of the first and second substances,

a rotation speed regulator for outputting an armature current reference value;

the current regulator is used for obtaining a current chopping signal according to the deviation of the feedback current and the armature current reference value and outputting the current chopping signal to the inverter driver;

the inverter driver is used for obtaining an on-off control signal according to the commutation logic of the advance angle and angle control strategy and the current chopping signal, and the on-off control signal drives a power tube of the DC/AC inverter;

the direct current power supply is DC/AC inverter input direct current voltage;

a resolver for detecting rotor position information and outputting it to a position decoder;

the position decoder is used for obtaining the rotating speed of the rotor according to the position information of the rotor detected by the rotary transformer and taking the deviation value of the measured rotating speed of the rotor and the expected rotating speed as the input of the rotating speed regulator;

the feedback current calculating module is used for calculating the current feedback current according to the three-phase armature current value of the double-salient motor DSEM;

the output torque estimator is used for calculating the area surrounded by the armature current according to the three-phase armature current value, the rotor position information and the armature current reference value under the current advance angle and outputting the current advance angle to the advance angle disturbance controller; the advance angle disturbance controller is used for judging whether the received advance angle is in a preset disturbance range, if so, continuing to disturb, and if not, stopping disturbing; changing the advance angle once every time of disturbance, when the disturbance is stopped, comparing and sequencing the areas surrounded by the armature currents under different advance angles by an output torque estimator, automatically optimizing according to the relation that the output torque of the doubly salient motor is in direct proportion to the area surrounded by the armature currents to obtain the advance angle corresponding to the maximum output torque, and taking the advance angle as the final advance angle of the doubly salient motor driving system;

and the advance angle disturbance controller is used for outputting an advance angle of fixed step disturbance to the inverter driver, and automatically optimizing to obtain a corresponding advance angle when the output torque is maximum as a final advance angle of the double salient pole motor driving system.

Compared with the prior art, the invention adopting the technical scheme has the following technical effects:

(1) in the invention, the optimal advance angle can be automatically searched according to the working conditions of the doubly salient motor to realize the maximum output torque, the advance angle does not need to be selected through a large number of finite element simulation results, and the advance angle is globally optimal;

(2) in the invention, the output torque is indirectly estimated through the armature current surrounding area, the whole operation process only has simple calculation such as addition, subtraction, multiplication, division and the like, and no trigonometric function calculation is carried out, so that a large amount of calculation memory is not needed;

(3) in the present invention, the control of the advance angle aims at increasing the output torque, and the motor output torque is large.

Drawings

Fig. 1 is a circuit topology diagram of a double salient pole motor driving system DC/AC inverter.

Fig. 2 is a driving logic diagram of a power tube when the doubly salient motor adopts advance angle control according to the invention.

Fig. 3 is a graph of the armature current envelope area according to the present invention.

Fig. 4 is a block diagram of the doubly salient motor advance angle self-optimization control based on the disturbance observation method according to the present invention.

Fig. 5 is a flowchart of the doubly salient motor advance angle self-optimization control based on the disturbance observation method according to the present invention.

Fig. 6 is a graph of output torque comparison simulation results of the doubly salient motor advanced angle self-optimization control technology based on the disturbance observation method and the conventional fixed advanced angle control technology.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a circuit topology diagram of a double salient pole motor driving system DC/AC inverter. S₁～S₆The power tube is mainly used for chopping and phase commutation of a doubly salient motor.

Fig. 2 is a driving logic diagram of a power tube when a double-salient-pole motor adopts advance angle control. The basic idea of advance angle control is as follows: at any moment, the power tube of the DC/AC inverter is switched on and off at a certain angle in advance relative to a standard commutation point. In the figure, the abscissa is the electric angle corresponding to the rotor position in the range of [0, 360 °]The rotor position with the electrical angle of 0 degrees, 120 degrees and 240 degrees is called as a standard commutation point position; l is_af，L_bf，L_cfSimplified waveforms of mutual inductance between the three-phase armature winding and the excitation winding are respectively; v_S1～V_S6Power tubes S of a DC/AC inverter, respectively₁～S₆Drive logic waveform of (1).

Fig. 3 is a graph of the armature current envelope area to which the double-salient-pole motor output torque is proportional, and the following relationship can be established from fig. 3:

wherein, T_eFor double salient pole machine output torque, k₁，k₂The change rates, k, of the A-phase armature current and the B-phase armature current in the non-advanced angle region in a commutation period₃，k₄Respectively the change rate of C-phase armature current in different intervals of an advance angle region in a phase change period, I₀For the current value at the initial moment of the commutation period, I_refIs the armature current reference value of the double salient pole motor driving system.

Fig. 4 is a diagram of a double salient pole motor advance angle self-optimizing control system based on a disturbance observation method, which comprises a rotating speed regulator, a current regulator, an inverter driver, a direct current power supply, a DC/AC inverter, a double salient pole motor DSEM, a rotary transformer, a position decoder, an output torque estimator, an advance angle disturbance controller and a feedback current calculation module;

wherein, the output of the rotating speed regulator is used as an armature current reference value; the current regulator obtains a current chopping signal according to the deviation of the feedback current and the armature current reference value; the inverter driver obtains an on-off control signal according to the advance angle value, the commutation logic of the angle control strategy and the current chopping signal, and the on-off control signal drives a power tube of the DC/AC inverter; the direct current power supply is DC/AC inverter input direct current voltage; the rotary transformer detects the position information of the rotor, the position decoder obtains the rotating speed of the rotor according to the position information of the rotor detected by the rotary transformer, and the deviation value of the measured rotating speed of the rotor and the expected rotating speed is used as the input of the rotating speed regulator; the output torque estimator calculates the area enclosed by the armature current according to the three-phase armature current value, the rotor position information and the armature current reference value, and further compares and sequences the output torque under different advance angles according to the relation that the output torque of the double-salient motor is in direct proportion to the area enclosed by the armature current; the feedback current calculation module calculates the current feedback current according to the three-phase armature current value; and the advance angle disturbance controller outputs an advance angle of fixed step disturbance to the inverter driver, automatically optimizes the advance angle to obtain a corresponding advance angle when the output torque is maximum, and uses the advance angle as a final advance angle of the double-salient motor driving system.

Fig. 5 is a flow chart of the doubly salient motor advance angle self-optimization control based on the disturbance observation method according to the present invention, and it can be seen that the doubly salient motor advance angle self-optimization control based on the disturbance observation method according to the present invention specifically includes the following steps:

s1: setting initial values of advance angles alpha and beta of a double salient pole motor driving system;

s2: disturbing the advance angle alpha + beta of the double salient pole motor driving system by a fixed step length;

s3: detecting the current value I at the initial moment of the commutation period₀；

S4: detecting three-phase armature current and rotor position angle theta to obtain k through calculation₁、k₂、k₃、k₄. According to the formula (1)The area encompassed by the armature current is calculated.

S5: judging whether the advance angle in the step S2 is in the preset disturbance range [0 (alpha + beta)_max]If yes, continuing to disturb and repeatedly executing the steps S2-S4, changing the advance angle once every time of disturbing, and if not, stopping disturbing;

s6: comparing and sequencing the sizes of the armature current surrounding areas under different advance angles in the step S4, and automatically optimizing to obtain the advance angle corresponding to the maximum output torque according to the relation that the output torque of the doubly salient motor is in direct proportion to the armature current surrounding areas; and finally, taking the advance angle as a final advance angle of the double-salient-pole motor driving system.

By reasonably setting the sampling points of the digital controller, enough sampling points are ensured to collect the numerical value of the armature current in a commutation period. The gradient k of the armature current is then calculated from the armature current sample values and the corresponding sample time intervals₁、k₂、k₃、k₄。

In order to control the advance angle alpha + beta within a reasonable range, the disturbance range of the advance angle is preset with an upper limit value (alpha + beta)_max；

In order to improve the output torque of the double salient poles, the relationship between the advance angles is alpha-beta-alpha (alpha + beta)/2;

fig. 6 is a simulation result diagram of output torque comparison between the doubly salient motor advance angle self-optimization control technology and the conventional fixed advance angle control technology by using the disturbance observation method according to the present invention. The simulation conditions were as follows: the voltage of a direct current bus is 100V, the rotating speed of the motor is 10000rpm, and the current reference value is 40A, so that the output torque of the double salient pole motor driving system is larger than that of a traditional method and the torque pulsation is small under the double salient pole motor advance angle self-optimizing control technology of the disturbance observation method.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.