Dual three-phase permanent magnet synchronous motor simulation method and system

Abstract

The present invention provides a dual three-phase permanent magnet synchronous motor simulation method and system, the method includes obtaining the voltage output by the inverter, inputting the obtained voltage into the dual three-phase permanent magnet synchronous motor model, obtaining the operating status information output by the dual three-phase permanent magnet synchronous motor model, and sending the operating status information to the motor controller. In this way, the motor controller drives and controls the dual three-phase permanent magnet synchronous motor model as a control object according to the operating status information, thereby realizing the simulation of the dual three-phase permanent magnet synchronous motor. The dual three-phase permanent magnet synchronous motor model controls the voltage output by the inverter according to the motor controller, calculates the operating status information corresponding to the voltage, and provides an operating state close to the actual working condition for the development and verification of torque control and redundant control schemes. The development cycle of torque control and redundant control schemes is shortened, and the development efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of power electronics technology, and more specifically, to a dual three-phase permanent magnet synchronous motor simulation method and system. Background Art

[0002] Compared with ordinary three-phase permanent magnet synchronous motors, the number of phases of dual three-phase permanent magnet synchronous motors has doubled. The increase in the number of phases brings many advantages to the entire motor drive system: (1) The increase in the number of motor phases greatly reduces the output power of each phase while keeping the total output power unchanged, and high power output can be achieved with low-voltage power devices. (2) As the number of motor phases increases, the pulsation frequency of the output electromagnetic torque increases, the torque pulsation decreases, and the vibration and noise of the motor during low-speed operation are reduced. (3) Dual three-phase permanent magnet synchronous motors have more control freedom, which makes the control of dual three-phase permanent magnet synchronous motors more flexible and provides redundancy for the system.

[0003] Before applying torque control and redundant control schemes to dual three-phase permanent magnet synchronous motors, rigorous testing is an essential step. However, if a real dual three-phase permanent magnet synchronous motor is used to test the control performance, it is time-consuming and labor-intensive, and the motor is easily damaged during the test. Summary of the invention

[0004] In view of this, the present invention proposes a dual three-phase permanent magnet synchronous motor simulation method and system, which aims to provide an operating state close to the actual working condition for the development and verification of torque control and redundant control schemes by simulating the dual three-phase permanent magnet synchronous motor.

[0005] In order to achieve the above objectives, the proposed solution is as follows:

[0006] In a first aspect, a dual three-phase permanent magnet synchronous motor simulation method is provided, comprising:

[0007] Get the voltage output by the inverter;

[0008] The voltage is input into a dual three-phase permanent magnet synchronous motor model to obtain operating status information output by the dual three-phase permanent magnet synchronous motor model, and the operating status information is sent to a motor controller. The operating status information includes stator current, rotor angular speed, electrical angular velocity and rotor position angle.

[0009] Optionally, the two sets of windings of the dual three-phase permanent magnet synchronous motor model are of an asymmetric structure, and the neutral points of the two sets of windings are isolated.

[0010] Optionally, the dual three-phase permanent magnet synchronous motor model is:

[0011] The mathematical model of the motor with double dq coordinate transformation or the mathematical model of the motor with vector space decoupling transformation.

[0012] Optionally, the motor mathematical model of the dual dq coordinate transformation specifically includes:

[0013] The first voltage conversion equation, voltage equation, flux equation, electromagnetic torque equation and motion equation of dual three-phase permanent magnet synchronous motor;

[0014] The first voltage conversion equation is:

[0015]

[0016]

[0017]

[0018] Among them, U A , U B , U C , U X , U Y and U Z is the voltage signal output by the inverter, u d1 、u q1 、u d2 and u q2 is the stator voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, θ is the electrical angle between the two sets of windings of the dual three-phase permanent magnet synchronous motor;

[0019] The voltage equation is:

[0020]

[0021] Among them, R is the winding resistance of the dual three-phase permanent magnet synchronous motor, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 、i q1 、i d2 and i q2 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ d1 , q1 , d2 and ψ q2 is the flux linkage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system;

[0022] The magnetic flux equation is:

[0023]

[0024] L dd =1.5L AAd

[0025] L d =L dd +L AA1

[0026] L qq =1.5L AAq

[0027] L q =L qq +L AA1

[0028] Among them, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor;

[0029] The electromagnetic torque equation is:

[0030] T e =1.5p n (i q1 ψ d1 -i d1 ψ q1 +i q2 ψ d2 -i d2 ψ q2 )

[0031] Among them, T e is the electronic torque of the dual three-phase permanent magnet synchronous motor, p n is the number of pole pairs of the dual three-phase permanent magnet synchronous motor;

[0032] The equation of motion is:

[0033]

[0034] Among them, T L is the load torque of the dual three-phase permanent magnet synchronous motor, J is the moment of inertia of the dual three-phase permanent magnet synchronous motor, ω m is the rotor angular velocity of the dual three-phase permanent magnet synchronous motor, B is the damping coefficient of the dual three-phase permanent magnet synchronous motor.

[0035] Optionally, the motor mathematical model of the vector space decoupling transformation specifically includes:

[0036] The second voltage conversion equation, dq subspace voltage equation, xy subspace voltage equation, electromagnetic torque equation and motion equation of the dual three-phase permanent magnet synchronous motor;

[0037] The second voltage conversion equation is:

[0038]

[0039]

[0040]

[0041] Among them, U A , U B , U C , U X , U Y and U Z is the voltage signal output by the inverter, u d and u q is the stator voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace, u x and u y is the stator voltage of the dual three-phase permanent magnet synchronous motor in the xy subspace, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor;

[0042] The dq subspace voltage equation is:

[0043]

[0044] L′ d =3L AAd +L AA1

[0045] L′ q =3L AAq +L AA1

[0046] Among them, R is the winding resistance of the dual three-phase permanent magnet synchronous motor, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d and i q is the stator current of the dual three-phase permanent magnet synchronous motor in the dq subspace, L' d and L' q is the inductance of the dual three-phase permanent magnet synchronous motor in the dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor;

[0047] The xy subspace voltage equation is:

[0048]

[0049] Among them, i x and i y is the stator current of the dual three-phase permanent magnet synchronous motor in the xy subspace, L z =L AA1 ; The electromagnetic torque equation is:

[0050] T e =3p n i q [i d (L' d -L' q )+ψ f ]

[0051] Among them, T e is the electronic torque of the dual three-phase permanent magnet synchronous motor, p n is the number of pole pairs of the dual three-phase permanent magnet synchronous motor;

[0052] The equation of motion is:

[0053]

[0054] Among them, T L is the load torque of the dual three-phase permanent magnet synchronous motor, J is the moment of inertia of the dual three-phase permanent magnet synchronous motor, ω m is the rotor angular velocity of the dual three-phase permanent magnet synchronous motor, B is the damping coefficient of the dual three-phase permanent magnet synchronous motor.

[0055] In a second aspect, a dual three-phase permanent magnet synchronous motor simulation system is provided, comprising:

[0056] A voltage sensor is used to collect the voltage output by the inverter;

[0057] The dual three-phase permanent magnet synchronous motor model is used to receive the voltage output by the voltage sensor, obtain operating status information through analysis and calculation, and send the operating status information to the motor controller. The operating status information includes stator current, rotor angular speed, electrical angular velocity and rotor position angle.

[0058] Optionally, the dual three-phase permanent magnet synchronous motor simulation system further includes: a DC voltage source, a power converter, an impedance network, an induction voltage observer and an induction voltage controller;

[0059] The DC voltage source is connected to the DC side of the power converter, and the power converter is a bidirectional power converter;

[0060] The impedance network is connected between the AC end of the power converter and the output end of the inverter, and the impedance network includes one or more of a resistor, an inductor and a capacitor;

[0061] The induced voltage observer is used to obtain the operating state information output by the dual three-phase permanent magnet synchronous motor model, and calculate the induced voltage of the dual three-phase permanent magnet synchronous motor according to the operating state information;

[0062] The induced voltage controller is used to generate a driving signal for the power converter by using a pulse width modulation technique, so that the power converter outputs a voltage that is the same as the induced voltage.

[0063] Optionally, when the dual three-phase permanent magnet synchronous motor model adopts a motor mathematical model of double dq coordinate transformation, the induced voltage observer is specifically used for:

[0064] The induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system is calculated using the first induced voltage formula, and the first induced voltage formula is:

[0065] e d1 =-ω e L q i q1

[0066] e q1 =ω e L d i d1 +ω e ψ f

[0067] e d2 =-ω e L q i q2

[0068] e q2 =ω e L d i d2 +ω e ψ f

[0069] Among them, e d1 、e q1 、e d2 and e q2 is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 、i q1 、i d2 and i q2is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L d =L dd +L AA1 , L dd =1.5L AAd , L q =L qq +L AA1 , L qq =1.5L AAq , L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor;

[0070] According to the first induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated, and the first induced voltage conversion formula is:

[0071]

[0072]

[0073]

[0074] Among them, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, θ is the electrical angle between the two sets of windings of the dual three-phase permanent magnet synchronous motor, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system.

[0075] Optionally, when the dual three-phase permanent magnet synchronous motor model adopts a motor mathematical model of vector space decoupling transformation, the induced voltage observer is specifically used to:

[0076] The induced voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace and the xy subspace is calculated using the second induced voltage formula, and the second induced voltage formula is:

[0077] e d =-ω e L' q i q

[0078] e q =ωe L' d i d +ω e ψ f

[0079] e x =0

[0080] e y =0

[0081] Among them, e d 、e q 、e x and e y is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace and xy subspace, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 and i q1 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L' d =3L AAd +L AA1 , L' q =3L AAq +L AA1 , L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor;

[0082] According to the second induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated, and the first induced voltage conversion formula is:

[0083]

[0084]

[0085]

[0086] Among them, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system.

[0087] Optionally, the impedance network further includes:

[0088] Switches to simulate a dual three-phase permanent magnet synchronous motor under fault conditions.

[0089] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0090] The above technical solution provides a dual three-phase permanent magnet synchronous motor simulation method and system, the method includes obtaining the voltage output by the inverter, and inputting the obtained voltage into the dual three-phase permanent magnet synchronous motor model, obtaining the operating status information output by the dual three-phase permanent magnet synchronous motor model, and sending the operating status information to the motor controller. In this way, the motor controller drives and controls the dual three-phase permanent magnet synchronous motor model as a control object according to the operating status information, thereby realizing the simulation of the dual three-phase permanent magnet synchronous motor. The dual three-phase permanent magnet synchronous motor model controls the voltage output by the inverter according to the motor controller, calculates the operating status information corresponding to the voltage, and provides an operating state close to the actual working condition for the development and verification of torque control and redundant control schemes. The development cycle of torque control and redundant control schemes is shortened, and the development efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0092] Figure 1 A flowchart of a dual three-phase permanent magnet synchronous motor simulation method provided by an embodiment of the present invention;

[0093] Figure 2 is a schematic diagram of a dual three-phase permanent magnet synchronous motor;

[0094] Figure 3 A schematic diagram of a dual three-phase permanent magnet synchronous motor simulation system provided by an embodiment of the present invention;

[0095] Figure 4 A schematic diagram of a bidirectional power converter provided by an embodiment of the present invention;

[0096] Figure 5 A schematic diagram of another bidirectional power converter provided by an embodiment of the present invention;

[0097] Figure 6 A schematic diagram of an impedance network provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0098] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0099] See also Figure 1 , a dual three-phase permanent magnet synchronous motor simulation method provided by an embodiment of the present invention, the method may include the following steps:

[0100] S11: Obtain the voltage output by the inverter.

[0101] The inverter is used to convert direct current into alternating current and provide it to the dual three-phase permanent magnet synchronous motor. In the present invention, the output end of the inverter is connected to the dual three-phase permanent magnet synchronous motor simulation system. The dual three-phase permanent magnet synchronous motor simulation system uses a voltage sensor to collect the voltage output by the inverter.

[0102] S12: Input the voltage to the dual three-phase permanent magnet synchronous motor model, obtain the operating status information output by the dual three-phase permanent magnet synchronous motor model, and send the operating status information to the motor controller.

[0103] The operating status information includes stator current, rotor angular speed, electrical angular velocity, rotor position angle, etc. In this way, the motor controller drives and controls the dual three-phase permanent magnet synchronous motor model as the control object according to the operating status information, thereby realizing the simulation of the dual three-phase permanent magnet synchronous motor. The dual three-phase permanent magnet synchronous motor model controls the voltage output by the inverter according to the motor controller, and calculates the operating status information corresponding to the voltage, providing an operating status close to the actual working condition for the development and verification of torque control and redundant control schemes.

[0104] The dual three-phase permanent magnet synchronous motor model is used to describe the electrical and mechanical behavior characteristics of the dual three-phase permanent magnet synchronous motor. Specifically, the dual three-phase permanent magnet synchronous motor model obtains the operating status information of the simulated dual three-phase permanent magnet synchronous motor through analysis and calculation based on the voltage output by the voltage sensor (i.e., the voltage applied to the motor port) and the load characteristics, and sends the operating status information to the motor controller.

[0105] In a specific embodiment, the two sets of windings of the dual three-phase permanent magnet synchronous motor simulated by the dual three-phase permanent magnet synchronous motor model are in an asymmetric structure, and the neutral points and isolation of the two sets of windings are as follows: Figure 2 As shown, one set of windings is A, B and C, and the other set of windings is X, Y and Z.

[0106] The dual three-phase permanent magnet synchronous motor model may be a motor mathematical model of dual dq coordinate transformation or a motor mathematical model of vector space decomposition (VSD) transformation.

[0107] When the coordinate transformation adopts the amplitude invariant constraint condition and the dual three-phase permanent magnet synchronous motor model adopts the motor mathematical model of double dq coordinate transformation, the dual three-phase permanent magnet synchronous motor model specifically includes: the first voltage conversion equation, voltage equation, flux equation, electromagnetic torque equation and motion equation of the dual three-phase permanent magnet synchronous motor.

[0108] The first voltage conversion equation of the dual three-phase permanent magnet synchronous motor is:

[0109]

[0110]

[0111]

[0112] Among them, U A , U B , U C , U X , U Y and U Z is the voltage signal output by the inverter, u d1 、u q1 、u d2 and u q2 is the stator voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, θ is the electrical angle between the two sets of windings of the dual three-phase permanent magnet synchronous motor, and θ can be specifically equal to 30°.

[0113] The voltage equation of the dual three-phase permanent magnet synchronous motor is:

[0114]

[0115] Among them, R is the winding resistance of the dual three-phase permanent magnet synchronous motor, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 、i q1 、i d2 and i q2 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ d1 , q1 , d2 and ψ q2 is the flux linkage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system.

[0116] Ignoring the influence of zero-sequence air volume, the flux equation of the dual three-phase permanent magnet synchronous motor is:

[0117]

[0118] L dd =1.5L AAd

[0119] L d =L dd +L AA1

[0120] L qq =1.5L AAq

[0121] L q =L qq +L AA1

[0122] Among them, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor.

[0123] The electromagnetic torque equation of the dual three-phase permanent magnet synchronous motor is:

[0124] T e =1.5p n (i q1 ψ d1 -i d1 ψ q1 +i q2 ψ d2 -i d2 ψ q2 )

[0125] Among them, T e is the electronic torque of the dual three-phase permanent magnet synchronous motor, p n is the number of pole pairs of the dual three-phase permanent magnet synchronous motor.

[0126] The motion equation of the dual three-phase permanent magnet synchronous motor is:

[0127]

[0128] Among them, T L is the load torque of the dual three-phase permanent magnet synchronous motor, J is the moment of inertia of the dual three-phase permanent magnet synchronous motor, ω m is the rotor angular velocity of the dual three-phase permanent magnet synchronous motor, B is the damping coefficient of the dual three-phase permanent magnet synchronous motor.

[0129] When the coordinate transformation adopts the amplitude invariant constraint condition and the dual three-phase permanent magnet synchronous motor model adopts the motor mathematical model of vector space decoupling transformation, the dual three-phase permanent magnet synchronous motor model specifically includes: the second voltage conversion equation of the dual three-phase permanent magnet synchronous motor, the dq subspace voltage equation, the xy subspace voltage equation, the electromagnetic torque equation and the motion equation.

[0130] The second voltage conversion equation of the dual three-phase permanent magnet synchronous motor is:

[0131]

[0132]

[0133]

[0134] Among them, U A , U B , U C , U X , U Y and U Z is the voltage signal output by the inverter, u d and u q is the stator voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace, u x and u y is the stator voltage of the dual three-phase permanent magnet synchronous motor in the xy subspace, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor.

[0135] The dq subspace voltage equation of the dual three-phase permanent magnet synchronous motor is:

[0136]

[0137] L′ d =3L AAd +L AA1

[0138] L′ q =3L AAq +L AA1

[0139] Among them, R is the winding resistance of the dual three-phase permanent magnet synchronous motor, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d and i q is the stator current of the dual three-phase permanent magnet synchronous motor in the dq subspace, L' d and L' q is the inductance of the dual three-phase permanent magnet synchronous motor in the dq coordinate system, ψ fis the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor.

[0140] The xy subspace voltage equation of the dual three-phase permanent magnet synchronous motor is:

[0141]

[0142] Among them, i x and i y is the stator current of the dual three-phase permanent magnet synchronous motor in the xy subspace, L z =L AA1 .

[0143] The electromagnetic torque equation of the dual three-phase permanent magnet synchronous motor is:

[0144] T e =3p n i q [i d (L' d -L' q )+ψ f ]

[0145] Among them, T e is the electronic torque of the dual three-phase permanent magnet synchronous motor, p n is the number of pole pairs of the dual three-phase permanent magnet synchronous motor.

[0146] The motion equation of the dual three-phase permanent magnet synchronous motor is:

[0147]

[0148] Among them, T L is the load torque of the dual three-phase permanent magnet synchronous motor, J is the moment of inertia of the dual three-phase permanent magnet synchronous motor, ω m is the rotor angular velocity of the dual three-phase permanent magnet synchronous motor, B is the damping coefficient of the dual three-phase permanent magnet synchronous motor.

[0149] The dual three-phase permanent magnet synchronous motor model used in the present invention can flexibly set the motor parameters and can simulate different dual three-phase permanent magnet synchronous motor units. At the same time, the mechanical load is input into the dual three-phase permanent magnet synchronous motor model in the form of a load torque signal, which can simulate a load close to the actual working condition. The load setting is flexible and diverse, which overcomes the shortcoming that traditional mechanical loads cannot accurately simulate the load characteristics of actual working conditions, shortens the control algorithm development cycle and improves verification efficiency.

[0150] See also Figure 3 , a dual three-phase permanent magnet synchronous motor simulation system is provided in an embodiment of the present invention, and the dual three-phase permanent magnet synchronous motor simulation system includes a voltage sensor, a dual three-phase permanent magnet synchronous motor model, an induced voltage observer, an induced voltage controller, a DC voltage source, a power converter and an impedance network.

[0151] The DC voltage source is connected to the DC side of the power converter; the DC voltage source provides the power converter with the DC bus voltage required by the power converter. In a specific embodiment, the power converter is a bidirectional power converter. The optional bidirectional power converter can use a six-phase converter or two three-phase converters. Figure 4 shows a schematic diagram of a six-phase converter; Figure 5 The schematic diagram of two three-phase converters is shown. The bidirectional power converter is composed of fully controlled or half-controlled power semiconductor devices and has a bidirectional energy flow function, so most of the energy circulates in the entire drive system, and only the consumption of the device simulating the motor winding and the switching loss of the power converter are consumed. Compared with driving an actual dual three-phase permanent magnet synchronous motor and a mechanical load, the energy loss is greatly reduced.

[0152] The impedance network is connected between the AC end of the power converter and the output end of the inverter, and the impedance network includes one or more of a resistor, an inductor and a capacitor. The impedance network and the power converter work together to generate the input current of the stator winding of the simulated dual three-phase permanent magnet synchronous motor, or reduce the high-order harmonics of the AC load current in the power converter circuit.

[0153] The impedance network can also include switches to simulate the dual three-phase permanent magnet synchronous motor under fault conditions. This can not only simulate the dual three-phase permanent magnet synchronous motor under normal operation, but also simulate the dual three-phase permanent magnet synchronous motor under fault conditions, providing a platform for the development and verification of fault redundancy control strategies for dual three-phase permanent magnet motors.

[0154] Figure 6 A schematic diagram of an impedance network provided by the present invention, R is the simulated single-phase winding resistance of the dual three-phase permanent magnet synchronous motor, and L is the simulated single-phase winding inductance of the dual three-phase permanent magnet synchronous motor. When switches S1 to S6 are closed and switches S7 to S11 are disconnected, it indicates a normal state; when switches S7 to S11 are all disconnected, the combination of the disconnection and closing of switches S1 to S6 can simulate the single-phase or multi-phase circuit breaker of the motor winding; when switches S1 to S6 are all closed, the combination of the disconnection and closing of switches S7 to S11 can simulate the phase-to-phase short circuit of the motor winding.

[0155] The induced voltage observer is used to obtain the operating status information output by the dual three-phase permanent magnet synchronous motor model, and calculate the induced voltage of the dual three-phase permanent magnet synchronous motor according to the operating status information. When the dual three-phase permanent magnet synchronous motor model adopts a motor mathematical model of double dq coordinate transformation, the induced voltage observer calculates the induced voltage of the dual three-phase permanent magnet synchronous motor according to the operating status information as follows:

[0156] The induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system is calculated using the first induced voltage formula. The first induced voltage formula is:

[0157] e d1 =-ω e L q i q1

[0158] e q1 =ω e L d i d1 +ω e ψ f

[0159] e d2 =-ω e L q i q2

[0160] e q2 =ω e L d i d2 +ω e ψ f

[0161] Among them, e d1 、e q1 、e d2 and e q2 is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system.

[0162] According to the first induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated. The first induced voltage conversion formula is:

[0163]

[0164] Among them, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system, P1 -1 is the inverse matrix of P1, P2-1 is the inverse matrix of P2.

[0165] When the dual three-phase permanent magnet synchronous motor model adopts the motor mathematical model of vector space decoupling transformation, the induced voltage observer calculates the induced voltage of the dual three-phase permanent magnet synchronous motor according to the operating state information as follows:

[0166] The induced voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace and the xy subspace is calculated using the second induced voltage formula. The second induced voltage formula is:

[0167] e d =-ω e L' q i q

[0168] e q =ω e L' d i d +ω e ψ f

[0169] e x =0

[0170] e y =0

[0171] Among them, e d 、e q 、e x and e y is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace and xy subspace.

[0172] According to the second induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated. The first induced voltage conversion formula is:

[0173]

[0174] Among them, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system, T αβ -1 T αβ The inverse matrix, T dq -1 T dq The inverse matrix of .

[0175] The induction voltage controller is used to generate a driving signal of the power converter by using a pulse width modulation technology so that the power converter outputs a voltage that is the same as the induction voltage.

[0176] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0177] Each embodiment in this specification focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referenced to each other, and the features recorded in each embodiment in this specification can be replaced or combined with each other.

[0178] The above description of the embodiments disclosed in the present invention enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dual three-phase permanent magnet synchronous motor simulation method, characterized in that: include: Get the voltage output by the inverter; Input the voltage into a dual three-phase permanent magnet synchronous motor model to obtain operating status information output by the dual three-phase permanent magnet synchronous motor model, and send the operating status information to a motor controller, wherein the operating status information includes stator current, rotor angular speed, electrical angular speed and rotor position angle; The method further comprises: Sending the operating state information to an induced voltage observer, so that the induced voltage observer calculates the induced voltage of the dual three-phase permanent magnet synchronous motor according to the operating state information; When the dual three-phase permanent magnet synchronous motor model adopts a motor mathematical model of double dq coordinate transformation, the induced voltage observer is specifically used for: The induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system is calculated using the first induced voltage formula, and the first induced voltage formula is: e d1 =-ω e L q I q1 e q1 =ω e L d I d1 +oh e ψ f e d2 =-ω e L q I q2 e q2 =ω e L d I d2 +oh e ψ f Among them, e d1 、e q1 、e d2 and e q2 is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 、i q1 、i d2 and i q2 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L d =L dd +L AA1 , L dd =1.5L AAd , L q =L qq +L AA1 , L qq =1.5L AAq , L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor; According to the first induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated, and the first induced voltage conversion formula is: Among them, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, θ is the electrical angle between the two sets of windings of the dual three-phase permanent magnet synchronous motor, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system; The method further comprises: Impedance network-based switching to simulate a dual three-phase permanent magnet synchronous motor under fault conditions.

2. The dual three-phase permanent magnet synchronous motor simulation method according to claim 1, characterized in that: The two sets of windings of the dual three-phase permanent magnet synchronous motor model are of an asymmetric structure, and the neutral points of the two sets of windings are isolated.

3. The dual three-phase permanent magnet synchronous motor simulation method according to claim 2 is characterized in that: The dual three-phase permanent magnet synchronous motor model is: The mathematical model of the motor with double dq coordinate transformation or the mathematical model of the motor with vector space decoupling transformation.

4. The dual three-phase permanent magnet synchronous motor simulation method according to claim 3 is characterized in that: The motor mathematical model of the double dq coordinate transformation specifically includes: The first voltage conversion equation, voltage equation, flux equation, electromagnetic torque equation and motion equation of dual three-phase permanent magnet synchronous motor; The first voltage conversion equation is: Among them, U A , U B , U C , U X , U Y and U Z is the voltage signal output by the inverter, u d1 、u q1 、u d2 and u q2 is the stator voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, θ is the electrical angle between the two sets of windings of the dual three-phase permanent magnet synchronous motor; The voltage equation is: Among them, R is the winding resistance of the dual three-phase permanent magnet synchronous motor, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 、i q1 、i d2 and i q2 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ d1 , q1 , d2 and ψ q2 is the flux linkage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system; The magnetic flux equation is: L dd =1.5L AAd L d =L dd +L AA1 L qq =1.5L AAq L q =L qq +L AA1 Among them, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor; The electromagnetic torque equation is: T e =1.5p n (i q1 ψ d1 -i d1 ψ q1 +i q2 ψ d2 -i d2 ψ q2 ) Among them, T e is the electronic torque of the dual three-phase permanent magnet synchronous motor, p n is the number of pole pairs of the dual three-phase permanent magnet synchronous motor; The equation of motion is: Among them, T L is the load torque of the dual three-phase permanent magnet synchronous motor, J is the moment of inertia of the dual three-phase permanent magnet synchronous motor, ω m is the rotor angular velocity of the dual three-phase permanent magnet synchronous motor, B is the damping coefficient of the dual three-phase permanent magnet synchronous motor.

5. The dual three-phase permanent magnet synchronous motor simulation method according to claim 3, characterized in that: The motor mathematical model of the vector space decoupling transformation specifically includes: The second voltage conversion equation, dq subspace voltage equation, xy subspace voltage equation, electromagnetic torque equation and motion equation of the dual three-phase permanent magnet synchronous motor; The second voltage conversion equation is: Among them, U A , U B , U C , U X , U Y and U Z is the voltage signal output by the inverter, u d and u q is the stator voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace, u x and u y is the stator voltage of the dual three-phase permanent magnet synchronous motor in the xy subspace, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor; The dq subspace voltage equation is: <h2 style=";text-align:left;direction:ltr">L'<h2 style=";text-align:left;direction:ltr"> d <h2 style=";text-align:left;direction:ltr"> <3L<h2 style=";text-align:left;direction:ltr"> AAd <h2 style=";text-align:left;direction:ltr"> +L<h2 style=";text-align:left;direction:ltr"> AA1 <h2 style=";text-align:left;direction:ltr">L'<h2 style=";text-align:left;direction:ltr"> q <h2 style=";text-align:left;direction:ltr"> <3L<h2 style=";text-align:left;direction:ltr"> AAq <h2 style=";text-align:left;direction:ltr"> +L<h2 style=";text-align:left;direction:ltr"> AA1 Among them, R is the winding resistance of the dual three-phase permanent magnet synchronous motor, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d and i q is the stator current of the dual three-phase permanent magnet synchronous motor in the dq subspace, L' d and L' q is the inductance of the dual three-phase permanent magnet synchronous motor in the dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor; The xy subspace voltage equation is: Among them, i x and i y is the stator current of the dual three-phase permanent magnet synchronous motor in the xy subspace, L z =L AA1 ; The electromagnetic torque equation is: T e =3p n and q [i d (L' d -L' q )+ψ f ] Among them, T e is the electronic torque of the dual three-phase permanent magnet synchronous motor, p n is the number of pole pairs of the dual three-phase permanent magnet synchronous motor; The equation of motion is: Among them, T L is the load torque of the dual three-phase permanent magnet synchronous motor, J is the moment of inertia of the dual three-phase permanent magnet synchronous motor, ω m is the rotor angular velocity of the dual three-phase permanent magnet synchronous motor, B is the damping coefficient of the dual three-phase permanent magnet synchronous motor.

6. A dual three-phase permanent magnet synchronous motor simulation system, characterized in that: include: A voltage sensor is used to collect the voltage output by the inverter; A dual three-phase permanent magnet synchronous motor model, used to receive the voltage output by the voltage sensor, obtain operating status information by analysis and calculation, and send the operating status information to the motor controller, wherein the operating status information includes stator current, rotor angular speed, electrical angular speed and rotor position angle; The dual three-phase permanent magnet synchronous motor simulation system further includes: an induced voltage observer; The dual three-phase permanent magnet synchronous motor model is also used to send the operating state information to the induced voltage observer, so that the induced voltage observer calculates the induced voltage of the dual three-phase permanent magnet synchronous motor according to the operating state information; When the dual three-phase permanent magnet synchronous motor model adopts a motor mathematical model of double dq coordinate transformation, the induced voltage observer is specifically used for: The induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system is calculated using the first induced voltage formula, and the first induced voltage formula is: e d1 =-ω e L q I q1 e q1 =ω e L d I d1 +oh e ψ f e d2 =-ω e L q I q2 e q2 =ω e L d I d2 +oh e ψ f Among them, e d1 、e q1 、e d2 and e q2 is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 、i q1 、i d2 and i q2 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L d =L dd +L AA1 , L dd =1.5L AAd , L q =L qq +L AA1 , L qq =1.5L AAq , L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor; According to the first induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated, and the first induced voltage conversion formula is: Among them, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, θ is the electrical angle between the two sets of windings of the dual three-phase permanent magnet synchronous motor, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system; It also includes: an impedance network, wherein the impedance network includes: a switch, which is used to simulate a dual three-phase permanent magnet synchronous motor under a fault condition.

7. The dual three-phase permanent magnet synchronous motor simulation system according to claim 6, characterized in that: Also includes: DC voltage sources, power converters, impedance networks and inductive voltage controllers; The DC voltage source is connected to the DC side of the power converter, and the power converter is a bidirectional power converter; The impedance network is connected between the AC end of the power converter and the output end of the inverter, and the impedance network includes one or more of a resistor, an inductor and a capacitor; The induced voltage controller is used to generate a driving signal for the power converter by using a pulse width modulation technique, so that the power converter outputs a voltage that is the same as the induced voltage.

8. The dual three-phase permanent magnet synchronous motor simulation system according to claim 7, characterized in that: When the dual three-phase permanent magnet synchronous motor model adopts a motor mathematical model of vector space decoupling transformation, the induced voltage observer is specifically used for: The induced voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace and the xy subspace is calculated using the second induced voltage formula, and the second induced voltage formula is: e d =-ω e The q I q e q =ω e The d I d +oh e ψ f e x ＝0 e y ＝0 Among them, e d 、e q 、e x and e y is the induced voltage of the dual three-phase permanent magnet synchronous motor in the dq subspace and xy subspace, ω e is the electrical angular velocity of the dual three-phase permanent magnet synchronous motor, i d1 and i q1 is the stator current of the dual three-phase permanent magnet synchronous motor in the dual dq coordinate system, ψ f is the flux amplitude generated by the permanent magnet in each phase winding of the dual three-phase permanent magnet synchronous motor, L' d =3L AAd +L AA1 , L' q =3L AAq +L AA1 , L AAd is the d-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AAq is the q-axis main self-inductance of the winding of the dual three-phase permanent magnet synchronous motor, L AA1 is the leakage self-inductance of the dual three-phase permanent magnet synchronous motor; According to the second induced voltage conversion formula, the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system is calculated, and the first induced voltage conversion formula is: Among them, θ e is the rotor position angle of the dual three-phase permanent magnet synchronous motor, e A 、e B 、e C 、e X 、e Y and e Z is the induced voltage of the dual three-phase permanent magnet synchronous motor in the natural coordinate system.

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