Control method and system for double-salient permanent magnet motor

Abstract

The application discloses a control method and system of a double-armature flux switching motor. The control method comprises the following steps: obtaining the stator and rotor currents and performing coordinate transformation to obtain the d-axis actual current and the q-axis actual current of the stator and rotor; calculating the d-axis reference voltage of the stator and rotor according to the difference between the d-axis reference current and the d-axis actual current of the stator and rotor respectively, and calculating the q-axis reference voltage of the stator and rotor according to the difference between the q-axis reference current and the q-axis actual current of the stator and rotor respectively; calculating the first control quantity in the synchronous rotating coordinate system of the stator and rotor according to the d-axis and q-axis reference voltages of the stator and rotor, the decoupling matrix and the d-axis and q-axis feedforward voltages of the stator and rotor respectively, and performing coordinate transformation to obtain the second control quantity in the stationary coordinate system of the stator and rotor; and controlling the double-armature flux switching motor according to the second control quantity. The application can realize high-performance current control of the motor by decoupling control of the current vectors of the stator and rotor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motor control, in particular to a control method and system of a dual-bobbin flux-switching motor. BACKGROUND

[0002] The flux-switching motor, also known as the switched flux motor or the switched flux motor, is a kind of permanent magnet excitation motor, which has the advantages of high power density and high efficiency of permanent magnet motor, and is widely used in electric vehicles, aerospace, medical and robot fields. The dual-bobbin flux-switching motor recently proposed in the research is based on the traditional flux-switching motor, and an additional winding is added to the motor rotor, which can improve the torque density, and the stator winding and the rotor winding are redundant and have good fault tolerance performance.

[0003] However, due to the mutual inductance between the stator and rotor windings of the dual-bobbin flux-switching motor, there is coupling between the stator and rotor current vectors, and the coupling of the current vectors will affect the dynamic performance of the traditional vector control, thereby affecting the control effect of the dual-bobbin flux-switching motor. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the defect that the mutual inductance between the stator and rotor windings of the dual-bobbin flux-switching motor in the prior art will affect the dynamic performance of the traditional vector control, and to provide a control method and system of a dual-bobbin flux-switching motor.

[0005] The present application solves the above technical problems by the following technical solutions:

[0006] The first aspect of the present application provides a control method of a dual-bobbin flux-switching motor, the dual-bobbin flux-switching motor comprising a stator winding and a rotor winding, the control method comprising the following steps:

[0007] Obtaining the stator and rotor currents of the dual-bobbin flux-switching motor;

[0008] Respectively performing coordinate transformation on the stator and rotor currents to obtain d-axis actual currents and q-axis actual currents in a synchronous rotating coordinate system;

[0009] Respectively calculating the d-axis reference voltages of the stator and rotor according to the difference between the d-axis reference currents and the d-axis actual currents, and respectively calculating the q-axis reference voltages of the stator and rotor according to the difference between the q-axis reference currents and the q-axis actual currents;

[0010] Respectively calculating the d-axis and q-axis feedforward voltages of the stator and rotor according to the speed of the dual-bobbin flux-switching motor and the d-axis actual currents and q-axis actual currents of the stator and rotor;

[0011] The first control quantity in the synchronous rotating coordinate system of the stator and rotor is calculated based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system.

[0012] The first control quantity in the synchronous rotating coordinate system of the stator and rotor is transformed to obtain the second control quantity in the stationary coordinate system of the stator and rotor.

[0013] The dual armature flux switching motor is controlled according to the second control quantity in the stator and rotor stationary coordinate system.

[0014] Optionally, the step of performing coordinate transformation on the stator and rotor currents to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotation coordinate system specifically includes:

[0015] The stator current is transformed using the first coordinate transformation matrix of the stator synchronous rotating coordinate system to obtain the actual d-axis current and q-axis current in the stator synchronous rotating coordinate system; wherein, the first coordinate transformation matrix is ​​determined by the electrical angle of the stator current.

[0016] The rotor current is transformed using the second coordinate transformation matrix of the rotor synchronous rotation coordinate system to obtain the actual d-axis current and q-axis current in the rotor synchronous rotation coordinate system; wherein, the second coordinate transformation matrix is ​​determined by the electrical angle of the rotor current.

[0017] The electrical angles of the stator current and the rotor current are obtained from the rotor position signal acquired by the position encoder.

[0018] Optionally, the step of performing coordinate transformation on the first control quantity in the stator and rotor synchronous rotating coordinate system to obtain the second control quantity in the stator and rotor stationary coordinate system includes:

[0019] The first control quantity in the stator synchronous rotating coordinate system is transformed by using the inverse matrix of the first coordinate transformation matrix to obtain the second control quantity in the stator stationary coordinate system.

[0020] The inverse of the second coordinate transformation matrix is ​​used to transform the first control quantity in the rotor synchronous rotating coordinate system to obtain the second control quantity in the rotor stationary coordinate system.

[0021] Optionally, the steps of calculating the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current, and calculating the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current, include:

[0022] The proportional-integral algorithm is used to calculate the stator's d-axis reference voltage based on the difference between the stator's d-axis reference current and the actual d-axis current.

[0023] The proportional-integral algorithm is used to calculate the q-axis reference voltage of the stator based on the difference between the q-axis reference current and the actual q-axis current.

[0024] The d-axis reference voltage of the rotor is calculated using a proportional-integral algorithm based on the difference between the rotor's d-axis reference current and the actual d-axis current.

[0025] The proportional-integral algorithm is used to calculate the q-axis reference voltage of the rotor based on the difference between the q-axis reference current and the actual q-axis current.

[0026] Optionally, the step of controlling the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system includes:

[0027] A first pulse width modulation signal is output according to the second control quantity in the stator stationary coordinate system, and the first pulse width modulation signal is input to the first power converter connected to the stator winding;

[0028] The second pulse width modulation signal is output according to the second control quantity in the rotor stationary coordinate system, and the second pulse width modulation signal is input to the second power converter connected to the rotor winding.

[0029] A second aspect of the present invention provides a control system for a dual-armature flux-switching motor, the dual-armature flux-switching motor comprising stator windings and rotor windings, the control system comprising:

[0030] A current acquisition module is used to acquire the stator and rotor currents of the dual armature flux switching motor.

[0031] The first coordinate transformation module is used to perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and the actual q-axis current in the stator and rotor synchronous rotation coordinate system.

[0032] The reference voltage calculation module is used to calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and to calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor.

[0033] The feedforward voltage calculation module is used to calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively.

[0034] The decoupling module is used to calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system.

[0035] The second coordinate transformation module is used to perform coordinate transformation on the first control quantity in the synchronous rotating coordinate system of the stator and rotor to obtain the second control quantity in the stationary coordinate system of the stator and rotor.

[0036] The control module is used to control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

[0037] Optionally, the first coordinate transformation module is specifically used to perform coordinate transformation on the stator current using the first coordinate transformation matrix of the stator synchronous rotating coordinate system to obtain the actual d-axis current and the actual q-axis current in the stator synchronous rotating coordinate system; and to perform coordinate transformation on the rotor current using the second coordinate transformation matrix of the rotor synchronous rotating coordinate system to obtain the actual d-axis current and the actual q-axis current in the rotor synchronous rotating coordinate system.

[0038] The first coordinate transformation matrix is ​​determined by the electrical angle of the stator current, and the second coordinate transformation matrix is ​​determined by the electrical angle of the rotor current; the electrical angles of the stator current and the rotor current are obtained based on the rotor position signal acquired by the position encoder.

[0039] Optionally, the second coordinate transformation module is specifically used to perform coordinate transformation on the first control quantity in the stator synchronous rotating coordinate system using the inverse matrix of the first coordinate transformation matrix to obtain the second control quantity in the stator stationary coordinate system; and to perform coordinate transformation on the first control quantity in the rotor synchronous rotating coordinate system using the inverse matrix of the second coordinate transformation matrix to obtain the second control quantity in the rotor stationary coordinate system.

[0040] Optionally, the reference voltage calculation module is specifically used to calculate the stator's d-axis reference voltage using a proportional-integral (PI) algorithm based on the difference between the stator's d-axis reference current and the actual d-axis current; to calculate the stator's q-axis reference voltage using a PI algorithm based on the difference between the stator's q-axis reference current and the actual q-axis current; to calculate the rotor's d-axis reference voltage using a PI algorithm based on the difference between the rotor's d-axis reference current and the actual d-axis current; and to calculate the rotor's q-axis reference voltage using a PI algorithm based on the difference between the rotor's q-axis reference current and the actual q-axis current.

[0041] Optionally, the control module is configured to output a first pulse width modulation signal according to a second control quantity in the stator stationary coordinate system, and input the first pulse width modulation signal to a first power converter connected to the stator winding; and to output a second pulse width modulation signal according to a second control quantity in the rotor stationary coordinate system, and input the second pulse width modulation signal to a second power converter connected to the rotor winding.

[0042] The positive and progressive effects of this invention are as follows: by determining the decoupling matrix based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system, and by using the decoupling matrix to decouple the stator current vector and the rotor current vector, high-performance current control of the dual armature flux switching motor can be achieved, thereby achieving better static and dynamic performance. Attached Figure Description

[0043] Figure 1 A flowchart of a control method for a dual-armature flux-switching motor provided in an embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of the winding distribution of a dual armature flux switching motor provided in an embodiment of the present invention.

[0045] Figure 3(a) is a schematic diagram of the stator rotation coordinate system provided in an embodiment of the present invention.

[0046] Figure 3(b) is a schematic diagram of the rotor fundamental wave rotating coordinate system provided in an embodiment of the present invention.

[0047] Figure 3(c) is a schematic diagram of the rotor harmonic rotating coordinate system provided in an embodiment of the present invention.

[0048] Figure 4 This is a control block diagram of a dual armature flux switching motor provided in an embodiment of the present invention.

[0049] Figure 5 This is a structural block diagram of a control system for a dual-armature flux-switching motor provided in an embodiment of the present invention. Detailed Implementation

[0050] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0051] Figure 1 This is a flowchart illustrating a control method for a dual-armature flux-switching motor provided in this embodiment. This control method can be executed by the control system of the dual-armature flux-switching motor. The control system can be implemented through software and / or hardware, and can be part or all of an electronic device. The dual-armature flux-switching motor includes stator windings and rotor windings.

[0052] like Figure 1 As shown, the control method for a dual-armature flux-switching motor provided in this embodiment may include the following steps S101 to S107:

[0053] Step S101: Obtain the stator and rotor currents of the dual-armature flux-switching motor. In specific implementation, the stator current and rotor current of the dual-armature flux-switching motor are collected separately.

[0054] Step S102: Perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotation coordinate system.

[0055] In the specific implementation of step S102, the first coordinate transformation matrix T of the stator synchronous rotating coordinate system can be used. s By performing a coordinate transformation on the stator current, the actual d-axis current and q-axis current in the stator synchronous rotating coordinate system are obtained; where the first coordinate transformation matrix T s It is determined by the electrical angle of the stator current.

[0056] In the specific implementation of step S102, the second coordinate transformation matrix T of the rotor synchronous rotating coordinate system can be used. r By performing a coordinate transformation on the rotor current, the actual d-axis current and q-axis current in the rotor synchronous rotation coordinate system are obtained; where the second coordinate transformation matrix T r The angle is determined by the electrical angle of the rotor current.

[0057] The electrical angles of the stator current and the rotor current are obtained based on the rotor position signal acquired by the position encoder. In a specific implementation, the dual-armature flux-switching motor is equipped with a position encoder to acquire the rotor position signal. In a specific implementation, the electrical angle of the stator current can be the angle between the stator a-axis and q-axis, and the electrical angle of the rotor current can be the angle between the rotor a-axis and q-axis.

[0058] Step S103: Calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor.

[0059] In one specific implementation example of step S103, a proportional-integral (PI) algorithm is used to calculate the d-axis reference voltage and the q-axis reference voltage of the stator and rotor. Specifically, the PI algorithm is used to calculate the stator's d-axis reference voltage based on the difference between the stator's d-axis reference current and the actual d-axis current; the PI algorithm is used to calculate the stator's q-axis reference voltage based on the difference between the stator's q-axis reference current and the actual q-axis current; the PI algorithm is used to calculate the rotor's d-axis reference voltage based on the difference between the rotor's d-axis reference current and the actual d-axis current; and the PI algorithm is used to calculate the rotor's q-axis reference voltage based on the difference between the rotor's q-axis reference current and the actual q-axis current.

[0060] In another example of the specific implementation of step S103, the proportional-integral-differential algorithm is used to calculate the d-axis reference voltage and the q-axis reference voltage of the stator and rotor.

[0061] Step S104: Calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the rotational speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively.

[0062] In practical implementation, the feedforward voltage includes back electromotive force and resistance voltage drop. The rotational speed of the dual-armature flux-switching motor can be obtained from the rotor position signal acquired by the position encoder.

[0063] Step S105: Calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor. The decoupling matrix is ​​determined based on the inductance of the dual-armature flux-switching motor in the synchronous rotating coordinate system.

[0064] Step S106: Perform coordinate transformation on the first control quantity in the stator and rotor synchronous rotating coordinate system to obtain the second control quantity in the stator and rotor stationary coordinate system.

[0065] In the specific implementation of step S106, the inverse matrix of the first coordinate transformation matrix can be used to transform the first control quantity in the stator synchronous rotating coordinate system to obtain the second control quantity in the stator stationary coordinate system.

[0066] In the specific implementation of step S106, the inverse matrix of the second coordinate transformation matrix can be used to transform the first control quantity in the rotor synchronous rotation coordinate system to obtain the second control quantity in the rotor stationary coordinate system.

[0067] Step S107: Control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

[0068] In the specific implementation of step S107, a first pulse width modulation signal is output according to the second control quantity in the stator stationary coordinate system, and the first pulse width modulation signal is input to the first power converter connected to the stator winding.

[0069] In the specific implementation of step S107, a second pulse width modulation signal is output according to the second control quantity in the rotor stationary coordinate system, and the second pulse width modulation signal is input to the second power converter connected to the rotor winding.

[0070] The first pulse width modulation signal and the second pulse width modulation signal can be either SPWM (Sinusoidal Pulse Width Modulation) signals or SVPWM (Space Vector Pulse Width Modulation) signals. The first power converter and the second power converter can also be referred to as inverters.

[0071] The above control method will be described in detail below using a dual armature flux switching motor, which includes three-phase stator windings and five-phase stator windings, as an example.

[0072] like Figure 2 As shown, the dual-armature flux-switching motor has a three-phase stator winding and a five-phase rotor winding. The mathematical model of the flux linkage of the dual-armature flux-switching motor is as follows:

[0073]

[0074] Among them, L ss Let L be the stator self-inductance matrix. rr M is the rotor self-inductance matrix. sr M is the mutual inductance matrix between the stator and rotor. rs Let ψ be the mutual inductance matrix between the stator and rotor. ms For the stator permanent magnet flux linkage, ψ mr It is the rotor permanent magnet flux linkage.

[0075] The voltage mathematical model for a dual-armature flux-switched motor is as follows:

[0076]

[0077] Among them, R s R is the stator resistance. r This represents the rotor resistance.

[0078] Based on the stator synchronous rotating coordinate system shown in Figure 3(a), the first coordinate transformation matrix T of the three-phase stator winding is obtained. s as follows:

[0079]

[0080] Where, θ se For stator a-axis and q s The included angle of the axis.

[0081] Based on the rotor synchronous rotation coordinate system shown in Figures 3(b) and 3(c), the second coordinate transformation matrix T of the five-phase rotor winding is obtained. r as follows:

[0082]

[0083] Among them, rotor a-axis and q r1 The included angle of the axes is θ re Rotor a-axis and q r3 The included angle of the axes is 3θ re .

[0084] According to the first coordinate transformation matrix T mentioned above s Second coordinate transformation matrix T r Ignoring the zero-axis vector, the mathematical models of flux linkage and voltage for a dual-armature flux-switching motor in the synchronous rotating coordinate system are as follows:

[0085] ψ=L·I+ψ m

[0086] U=pψ+W·ψ+R·I

[0087] in,

[0088] ψ=[ψ sd ψ sq ψ rd1 ψ rq1 ψ rd3 ψ rq3 ] T

[0089] I = [i sd i sq i rd1 i rq1 i rd3 i rq3 ] T

[0090] ψ m =[ψ ms 0 ψ mr1 0 ψ mr3 0] T

[0091]

[0092] U = [u sd u sq urd1 u rq1 u rd3 u rq3 ] T

[0093]

[0094]

[0095] Wherein, the subscript sd represents the stator d-axis component, sq represents the stator q-axis component, rd1 represents the rotor d-axis fundamental component, rq1 represents the rotor q-axis fundamental component, rd3 represents the rotor d-axis third harmonic component, rq3 represents the rotor q-axis third harmonic component, L represents self-inductance, M represents mutual inductance, R represents resistance, and p s p is the number of pole pairs of the stator. r ω is the number of pole pairs of the rotor. m is the mechanical speed of the rotor.

[0096] Substituting the mathematical model of magnetic flux linkage in the synchronous rotating coordinate system into the mathematical model of voltage, we can obtain the mathematical relationship between voltage and current in the synchronous rotating coordinate system:

[0097] U=L·dI+W·L·I+W·ψ m +R·I

[0098] Figure 4 In response to Figure 2 The diagram shown is a control block diagram of a dual-armature flux-switching motor. Figure 4 As shown, the stator current i of the dual armature flux switching motor is obtained. sa i sb i sc and rotor current i ra i rb i rc i rd i re Using the first coordinate transformation matrix T s For stator current i sa i sb i sc By performing a coordinate transformation, the actual d-axis current i in the stator synchronous rotating coordinate system is obtained. sd and the actual q-axis current i sq Using the second coordinate transformation matrix T r For rotor current i ra i rb i rc i rd i re Perform a coordinate transformation to obtain the actual d-axis current i in the rotor synchronous rotation coordinate system. rd ird3 and the actual q-axis current i rq i rq3 .

[0099] The proportional-integral algorithm is used based on the stator's d-axis reference current i. * sd With the actual current i along the d-axis sd The difference between the values ​​is used to calculate the d-axis reference voltage of the stator. A proportional-integral algorithm is then used based on the q-axis reference current i of the stator. * sq With the actual q-axis current i sq The difference between the values ​​is used to calculate the stator's q-axis reference voltage. A proportional-integral (PI) algorithm is employed based on the rotor's d-axis reference current i. * rd With the actual current i along the d-axis rd The difference between the values ​​is used to calculate the rotor's d-axis fundamental reference voltage. A proportional-integral algorithm is employed based on the rotor's q-axis reference current i. * rq With the actual q-axis current i rq The difference between the values ​​is used to calculate the rotor's q-axis fundamental reference voltage. A proportional-integral algorithm is employed based on the rotor's d-axis reference current i. * rd3 With the actual current i along the d-axis rd3 The difference between the values ​​is used to calculate the rotor's d-axis harmonic reference voltage. A proportional-integral algorithm is employed based on the rotor's q-axis reference current i. * rq3 With the actual q-axis current i rq3 The difference between them is used to calculate the q-axis harmonic reference voltage of the rotor.

[0100] The specific reference voltages for the stator and rotor along the d-axis and q-axis, calculated using the proportional-integral algorithm, are as follows:

[0101]

[0102] Among them, K Pm K is the proportionality coefficient. Im The integral coefficient is... For reference current, including i * sd i * sq i * rd i * rq i * rd3 i * rq3 I n For actual current, including i sd i sq ird i rd3 i rq i rq3 Among them, in such Figure 4 In the example shown, i is used * sd =0 and i * rd =0 vector control mode controls dual armature flux switching motor.

[0103] Since the inductance matrix L is not a diagonal matrix, coupling exists between the currents of each axis. The d-axis and q-axis reference voltages of the stator and rotor need to be decoupled through matrix transformation. Based on the voltage equations and the inductance matrix L, the decoupling matrix T is determined as follows:

[0104]

[0105] In this example, the decoupling matrix T is the same as the inductance matrix L of the dual-armature flux-switched motor. For the mathematical relationship between voltage and current in a synchronous rotating coordinate system, both sides of the formula are multiplied by the inverse of the decoupling matrix, i.e., T. -1 The decoupling relationship is obtained as follows:

[0106] T -1 U=dI+T -1 (W·L·I+W·ψ m +R·I)

[0107] Among them, let U feedforward =W·L·I+W·ψ m +R·I, we can obtain the decoupling control equation: T -1 UT - 1 U feedforward =dI. From this governing equation, it can be seen that the currents are decoupled and there is no coupling relationship.

[0108] Based on the derivation of the above decoupling process, and according to the rotational speed ω of the dual-armature flux switching motor... m And the actual d-axis current i of the stator and rotor sd i rd i rd3 and the actual q-axis current i sq i rq i rq3 Calculate the d-axis and q-axis feedforward voltages of the stator and rotor using the following formulas:

[0109] U feedforward =W·L·I+W·ψ m +R·I

[0110] Among them, U feedforward =[Esd E sq E rd E rq E rd3 E rq3 ] T E sd E is the d-axis feedforward voltage of the stator. sq E is the q-axis feedforward voltage of the stator. rd E is the feedforward voltage of the rotor's d-axis fundamental wave. rq E is the q-axis fundamental wave feedforward voltage of the rotor. rd3 E is the d-axis harmonic feedforward voltage of the rotor. rq3 This is the q-axis harmonic feedforward voltage of the rotor.

[0111] Based on the d-axis and q-axis reference voltages of the stator and rotor The decoupling matrix T and the d-axis and q-axis feedforward voltages U of the stator and rotor feedforward Calculate the first control variable in the synchronous rotation coordinate system of stator and rotor: Using the inverse matrix T of the first coordinate transformation matrix respectively s -1 The inverse matrix T of the second coordinate transformation matrix r -1 The first control variable U in the synchronous rotating coordinate system of stator and rotor * By performing coordinate transformation, the second control quantity u in the stator and rotor stationary coordinate system is obtained. sa u sb u sc u ra u rb u rc u rd u re According to the second control quantity u sa u sb u sc u ra u rb u rc u rd u re Three-phase SPWM is output to the first power converter connected to the stator winding, and five-phase SPWM is output to the second power converter connected to the rotor winding, thereby realizing current control of the dual armature flux switching motor.

[0112] This embodiment determines the decoupling matrix based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system, and uses the decoupling matrix to decouple the stator current vector and rotor current vector for control. This enables high-performance current control of the dual armature flux switching motor, thereby achieving better static and dynamic performance.

[0113] This embodiment also provides a control system 50 for a dual-armature flux-switching motor, such as... Figure 5 As shown, it includes a current acquisition module 51, a first coordinate transformation module 52, a reference voltage calculation module 53, a feedforward voltage calculation module 54, a decoupling module 55, a second coordinate transformation module 56, and a control module 57.

[0114] The current acquisition module 51 is used to acquire the stator and rotor currents of the dual armature flux switching motor.

[0115] The first coordinate transformation module 52 is used to perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and the actual q-axis current in the stator and rotor synchronous rotation coordinate system.

[0116] In specific implementation, the first coordinate transformation module 52 is specifically used to perform coordinate transformation on the stator current using the first coordinate transformation matrix of the stator synchronous rotating coordinate system to obtain the actual d-axis current and the actual q-axis current in the stator synchronous rotating coordinate system; and to perform coordinate transformation on the rotor current using the second coordinate transformation matrix of the rotor synchronous rotating coordinate system to obtain the actual d-axis current and the actual q-axis current in the rotor synchronous rotating coordinate system.

[0117] The first coordinate transformation matrix is ​​determined by the electrical angle of the stator current, and the second coordinate transformation matrix is ​​determined by the electrical angle of the rotor current; the electrical angles of the stator current and the rotor current are obtained based on the rotor position signal acquired by the position encoder.

[0118] The reference voltage calculation module 53 is used to calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and to calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor.

[0119] In specific implementation, the reference voltage calculation module 53 is specifically used to calculate the stator's d-axis reference voltage based on the difference between the stator's d-axis reference current and the actual d-axis current using a proportional-integral algorithm; to calculate the stator's q-axis reference voltage based on the difference between the stator's q-axis reference current and the actual q-axis current using a proportional-integral algorithm; to calculate the rotor's d-axis reference voltage based on the difference between the rotor's d-axis reference current and the actual d-axis current using a proportional-integral algorithm; and to calculate the rotor's q-axis reference voltage based on the difference between the rotor's q-axis reference current and the actual q-axis current using a proportional-integral algorithm.

[0120] The feedforward voltage calculation module 54 is used to calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively.

[0121] The decoupling module 55 is used to calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor, respectively. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system.

[0122] The second coordinate transformation module 56 is used to perform coordinate transformation on the first control quantity in the stator and rotor synchronous rotating coordinate system to obtain the second control quantity in the stator and rotor stationary coordinate system.

[0123] In a specific implementation, the second coordinate transformation module is specifically used to perform coordinate transformation on the first control quantity in the stator synchronous rotating coordinate system using the inverse matrix of the first coordinate transformation matrix to obtain the second control quantity in the stator stationary coordinate system; and to perform coordinate transformation on the first control quantity in the rotor synchronous rotating coordinate system using the inverse matrix of the second coordinate transformation matrix to obtain the second control quantity in the rotor stationary coordinate system.

[0124] Control module 57 is used to control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system.

[0125] In a specific implementation, the control module 57 is used to output a first pulse width modulation signal according to a second control quantity in the stator stationary coordinate system, and input the first pulse width modulation signal to a first power converter connected to the stator winding; and to output a second pulse width modulation signal according to a second control quantity in the rotor stationary coordinate system, and input the second pulse width modulation signal to a second power converter connected to the rotor winding.

[0126] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A control method for a dual-armature flux-switching motor, characterized in that, The dual armature flux-switching motor includes stator windings and rotor windings, and the control method includes the following steps: Obtain the stator and rotor currents of the dual armature flux switching motor; The stator and rotor currents are transformed by coordinate transformation to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotation coordinate system. The d-axis reference voltage of the stator and rotor is calculated based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, respectively; and the q-axis reference voltage of the stator and rotor is calculated based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor, respectively. The feedforward voltages of the stator and rotor along the d-axis and q-axis are calculated based on the rotational speed of the dual armature flux switching motor and the actual currents of the stator and rotor along the d-axis and q-axis, respectively. The first control quantity in the synchronous rotating coordinate system of the stator and rotor is calculated based on the reference voltages of the d-axis and q-axis of the stator and rotor, the decoupling matrix, and the feedforward voltages of the d-axis and q-axis of the stator and rotor. Specifically, the result of multiplying the reference voltages of the d-axis and q-axis of the stator and rotor by the decoupling matrix is ​​superimposed on the feedforward voltages of the d-axis and q-axis of the stator and rotor to obtain the first control quantity in the synchronous rotating coordinate system of the stator and rotor. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system. The first control quantity in the synchronous rotating coordinate system of the stator and rotor is transformed to obtain the second control quantity in the stationary coordinate system of the stator and rotor. The dual armature flux switching motor is controlled according to the second control quantity in the stator and rotor stationary coordinate system; The stator synchronous rotating coordinate system is the fundamental frequency synchronous rotating coordinate system, and the rotor synchronous rotating coordinate system includes the fundamental frequency synchronous rotating coordinate system and the third harmonic synchronous rotating coordinate system.

2. The control method as described in claim 1, characterized in that, The step of performing coordinate transformations on the stator and rotor currents to obtain the actual d-axis current and q-axis current in the stator and rotor synchronous rotating coordinate system specifically includes: The stator current is transformed using the first coordinate transformation matrix of the stator synchronous rotating coordinate system to obtain the actual d-axis current and q-axis current in the stator synchronous rotating coordinate system; wherein, the first coordinate transformation matrix is ​​determined by the electrical angle of the stator current. The rotor current is transformed using the second coordinate transformation matrix of the rotor synchronous rotation coordinate system to obtain the actual d-axis current and q-axis current in the rotor synchronous rotation coordinate system; wherein, the second coordinate transformation matrix is ​​determined by the electrical angle of the rotor current. The electrical angles of the stator current and the rotor current are obtained from the rotor position signal acquired by the position encoder.

3. The control method as described in claim 2, characterized in that, The step of performing coordinate transformation on the first control quantity in the stator and rotor synchronous rotating coordinate system to obtain the second control quantity in the stator and rotor stationary coordinate system includes: The first control quantity in the stator synchronous rotating coordinate system is transformed by using the inverse matrix of the first coordinate transformation matrix to obtain the second control quantity in the stator stationary coordinate system. The inverse of the second coordinate transformation matrix is ​​used to transform the first control quantity in the rotor synchronous rotating coordinate system to obtain the second control quantity in the rotor stationary coordinate system.

4. The control method as described in claim 1, characterized in that, The steps of calculating the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current, and calculating the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current, include: The proportional-integral algorithm is used to calculate the stator's d-axis reference voltage based on the difference between the stator's d-axis reference current and the actual d-axis current. The proportional-integral algorithm is used to calculate the q-axis reference voltage of the stator based on the difference between the q-axis reference current and the actual q-axis current. The d-axis reference voltage of the rotor is calculated using a proportional-integral algorithm based on the difference between the rotor's d-axis reference current and the actual d-axis current. The proportional-integral algorithm is used to calculate the q-axis reference voltage of the rotor based on the difference between the q-axis reference current and the actual q-axis current.

5. The control method according to any one of claims 1-4, characterized in that, The step of controlling the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system includes: A first pulse width modulation signal is output according to the second control quantity in the stator stationary coordinate system, and the first pulse width modulation signal is input to the first power converter connected to the stator winding; The second pulse width modulation signal is output according to the second control quantity in the rotor stationary coordinate system, and the second pulse width modulation signal is input to the second power converter connected to the rotor winding.

6. A control system for a dual-armature flux-switching motor, characterized in that, The dual-armature flux-switching motor includes stator windings and rotor windings, and the control system includes: A current acquisition module is used to acquire the stator and rotor currents of the dual armature flux switching motor. The first coordinate transformation module is used to perform coordinate transformation on the stator and rotor currents respectively to obtain the actual d-axis current and the actual q-axis current in the stator and rotor synchronous rotation coordinate system. The reference voltage calculation module is used to calculate the d-axis reference voltage of the stator and rotor based on the difference between the d-axis reference current and the actual d-axis current of the stator and rotor, and to calculate the q-axis reference voltage of the stator and rotor based on the difference between the q-axis reference current and the actual q-axis current of the stator and rotor. The feedforward voltage calculation module is used to calculate the d-axis and q-axis feedforward voltages of the stator and rotor based on the speed of the dual armature flux switching motor and the actual d-axis and q-axis currents of the stator and rotor, respectively. The decoupling module is used to calculate the first control quantity in the synchronous rotating coordinate system of the stator and rotor based on the d-axis and q-axis reference voltages of the stator and rotor, the decoupling matrix, and the d-axis and q-axis feedforward voltages of the stator and rotor. Specifically, the decoupling module is used to superimpose the result of multiplying the d-axis and q-axis reference voltages of the stator and rotor with the decoupling matrix and the d-axis and q-axis feedforward voltages of the stator and rotor to obtain the first control quantity in the synchronous rotating coordinate system of the stator and rotor. The decoupling matrix is ​​determined based on the inductance of the dual armature flux switching motor in the synchronous rotating coordinate system. The second coordinate transformation module is used to perform coordinate transformation on the first control quantity in the synchronous rotating coordinate system of the stator and rotor to obtain the second control quantity in the stationary coordinate system of the stator and rotor. The control module is used to control the dual armature flux switching motor according to the second control quantity in the stator and rotor stationary coordinate system; The stator synchronous rotating coordinate system is the fundamental frequency synchronous rotating coordinate system, and the rotor synchronous rotating coordinate system includes the fundamental frequency synchronous rotating coordinate system and the third harmonic synchronous rotating coordinate system.

7. The control system as described in claim 6, characterized in that, The first coordinate transformation module is specifically used to perform coordinate transformation on the stator current using the first coordinate transformation matrix of the stator synchronous rotating coordinate system to obtain the actual d-axis current and the actual q-axis current in the stator synchronous rotating coordinate system; and to perform coordinate transformation on the rotor current using the second coordinate transformation matrix of the rotor synchronous rotating coordinate system to obtain the actual d-axis current and the actual q-axis current in the rotor synchronous rotating coordinate system. The first coordinate transformation matrix is ​​determined by the electrical angle of the stator current, and the second coordinate transformation matrix is ​​determined by the electrical angle of the rotor current; the electrical angles of the stator current and the rotor current are obtained based on the rotor position signal acquired by the position encoder.

8. The control system as described in claim 7, characterized in that, The second coordinate transformation module is specifically used to perform coordinate transformation on the first control quantity in the stator synchronous rotating coordinate system using the inverse matrix of the first coordinate transformation matrix to obtain the second control quantity in the stator stationary coordinate system; and to perform coordinate transformation on the first control quantity in the rotor synchronous rotating coordinate system using the inverse matrix of the second coordinate transformation matrix to obtain the second control quantity in the rotor stationary coordinate system.

9. The control system as described in claim 6, characterized in that, The reference voltage calculation module is specifically used to calculate the stator's d-axis reference voltage using a proportional-integral (PI) algorithm based on the difference between the stator's d-axis reference current and the actual d-axis current; to calculate the stator's q-axis reference voltage using a PI algorithm based on the difference between the stator's q-axis reference current and the actual q-axis current; to calculate the rotor's d-axis reference voltage using a PI algorithm based on the difference between the rotor's d-axis reference current and the actual d-axis current; and to calculate the rotor's q-axis reference voltage using a PI algorithm based on the difference between the rotor's q-axis reference current and the actual q-axis current.

10. The control system according to any one of claims 6-9, characterized in that, The control module is configured to output a first pulse width modulation signal according to a second control quantity in the stator stationary coordinate system, and input the first pulse width modulation signal to a first power converter connected to the stator winding; and to output a second pulse width modulation signal according to a second control quantity in the rotor stationary coordinate system, and input the second pulse width modulation signal to a second power converter connected to the rotor winding.

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