Dual three-phase linear motor thyristor switching modeling method based on reduced dimension behavior model

Abstract

The application belongs to the field of linear motor segmented power supply switching modeling, and particularly relates to a double three-phase linear motor thyristor switching modeling method based on dimension reduction behavior model, aiming to solve the problem that when the linear motor segmented power supply uses parallel power supply topology structure in order to match the multiplied voltage capacity converter and reduce the switching switch economy, and uses the thyristor as the switching switch of each segmented stator segment, the real-time modeling of the double three-phase linear motor thyristor switching cannot be realized. The application comprises the following steps: based on the nonlinear characteristics of the thyristor switch, the double three-phase linear motor circuit topology variation law is induced, and eight kinds of dimension reduction behavior models are obtained; according to the thyristor turn-off characteristics and the current constraint condition of the motor neutral point, the dimension reduction state equation of each working condition is obtained; the eight kinds of dimension reduction behavior models are smoothly switched, and the motor real-time simulation modeling without iteration is realized. The application simplifies the state type of the pre-computation of the switching preprocessing technology, improves the simulation efficiency, and can be applied to the hardware-in-the-loop real-time test.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of modeling of linear motor segmented power supply switching, and particularly relates to a double three-phase linear motor thyristor switching modeling method based on dimension reduction behavior modeling. BACKGROUND

[0002] Long-stator linear motor segmented power supply is widely used in rapid acceleration and large thrust occasions due to its high power factor and small required inverter capacity. Considering the large current and short switching time, two anti-parallel thyristors are selected as the switching switch of segmented power supply. Thyristor is a semi-controlled device with nonlinear characteristics of current zero-crossing turn-off. If the segmented power supply switching is not properly controlled, it will produce an impact current, making the inverter capacity not fully utilized.

[0003] At present, segmented power supply according to different wiring modes of the stator is mainly divided into series power supply and parallel power supply. For series structure, the air gap magnetic field and electromagnetic parameters remain unchanged during segmented power supply switching, the control circuit is simple, and the stator parallel will not produce a large impact current. The disadvantage is that a variable frequency drive with double voltage capacity is required. A segmented power supply strategy for linear motor considering current zero-crossing[1] connects three stators in series, and proposes a method of switching according to the mover position information and current zero-crossing. The switching process is divided into normal mode, parallel mode and misalignment mode, and different motor parameters are used for control. This method makes the stator parallel only occur in one of the series stators, which has less impact on the system, but requires an inverter with 3 times voltage capacity and an additional power supply bus. Parallel power supply can improve the voltage utilization rate of the inverter, but the motor parameters change during segmented power supply switching, and the stator parallel will cause a large impact current. A modeling method of segmented power supply linear induction motor based on virtual mover[2] uses different motor parameters to control according to the coupling degree of the stator and the mover when the mover switches between different stators, which solves the problem of thrust fluctuation during switching, but this method focuses on the change of motor parameters during switching rather than the switching of stator windings.

[0004] The following documents are related technical background materials of the present application:

[0005] [1] Zhang, M., Ma, W., Xu, X., et al. A segmented power supply strategy for linear motor considering current zero-crossing[J]. Journal of Naval University of Engineering, 2019, 31(4): 6.

[0006] [2] Xu, F., Kong, G., Zhang, M., et al. Modeling method of segmented power supply linear induction motor based on virtual mover. CN112380670A, 2020-10-13. SUMMARY

[0007] In order to solve the problem of the prior art, that is, the use of parallel power supply topology for the purpose of matching the voltage capacity of the converter and reducing the switching switch economy of the segmented power supply of the linear motor, and the use of thyristor as the switching switch of each segmented stator segment, the problem of realizing real-time modeling of the double three-phase linear motor thyristor switching cannot be solved, the application provides a double three-phase linear motor thyristor switching modeling method based on a reduced dimension behavior model, the modeling method comprises:

[0008] Based on the nonlinear characteristics of the thyristor switching off process, the circuit topology variation law of the double three-phase linear motor is obtained, the behavior model is reduced from 64 to 8, and 8 reduced dimension behavior models are obtained.

[0009] According to the current constraint condition of the neutral point of the double three-phase linear motor thyristor and the current constraint condition of the motor, the dimension of the behavior model of the double three-phase linear motor is reduced, and the reduced dimension state equation of each working condition is obtained.

[0010] According to the 6-phase thyristor current zero point and the thyristor trigger signal, combined with the reduced dimension state equation of each working condition, the 8 reduced dimension behavior models are smoothly switched, and the real-time simulation modeling of the thyristor switching off process of the double three-phase linear motor is realized without iteration.

[0011] In some preferred embodiments, the nonlinear characteristics of the thyristor switching off process cause the circuit topology variation law of the double three-phase linear motor to be divided into five working conditions: full conduction working condition, single related break working condition, two related break working condition, four related break working condition and full break working condition.

[0012] Combined with the characteristics that the two sets of stator windings of the double three-phase motor are 30° apart and have unbalanced mutual inductance, the single related break, two related break and four related break are divided into two types of models, including:

[0013] The first type of single related break working condition is u phase or w phase or v related break; the first type of two related break working condition is ux two phases or wz two phases or vy two related breaks; and the first type of four related break working condition is uxwv four phases or wzvu four phases or vyuw four related breaks.

[0014] The second type of single related break working condition is x phase or z phase or y related break; the second type of two related break working condition is xw two phases or zv two phases or yu two related breaks; and the second type of four related break working condition is xwzy four phases or zvyx four phases or yuxz four related breaks.

[0015] The 8 reduced dimension behavior models include the first type of single related break working condition model, the first type of two related break working condition model, the first type of four related break working condition model, the second type of single related break working condition model, the second type of two related break working condition model, the second type of four related break working condition model, the full conduction working condition model and the full break working condition model.

[0016] In some preferred embodiments, the six-dimensional state equation of the dual three-phase linear motor in the stationary coordinate system is:

[0017] M L6 pI s6 +M R6 I s6 =U s6

[0018] wherein, L s =(L ls +L m ), L m is the excitation inductance of the dual three-phase linear motor, L m2 =-L m / 2, L ls is the stator leakage inductance of the dual three-phase linear motor, R s is the stator resistance of the dual three-phase linear motor, I s6 =[i u i x i w i z i v i y ] T , i u , i v , i w , i x , i y , i z represent the u, v, w, x, y, z phase winding currents of the motor, respectively, U s6 =[u u -u1 u x -u2 u w -u1u z -u2 u v -u1 u y -u2] T , u u , u x , u w , u z , u v , u y represent the u, x, w, z, v, y input phase voltages of the motor, respectively, u1 and u2 represent the neutral point voltages of the two sets of stator windings of the motor, respectively, T represents transposition, and p represents a differential operator.

[0019] In some preferred embodiments, the irrelevant breaking working condition, the corresponding six-dimensional state equation of the dual three-phase linear motor is according to the current constraint condition i u +i v +i w= 0 and i x + i y + i z = 0 reduces to a 4-dimensional state equation:

[0020] M L4 pI s4 + M R4 I s4 = -U s4

[0021] wherein, L m3 = (2L ls + 3L m ) / 2, I s4 = [i u i x i v i y ] T , U s4 = [u uv u xy u vw u yz ] T , u uv , u xy , u vw , u yz represent the uv, xy, vw, yz input line voltages of the dual three-phase linear motor, respectively.

[0022] In some preferred embodiments, the first type of single-related-off working condition, whose 4-dimensional state equation of the dual three-phase linear motor reduces to a 3-dimensional state equation according to the current constraint condition i u = 0 or i v = 0 or i w = 0 is as follows:

[0023] M L1_3 pI s3 + M R1_3 I s3 = -U s3

[0024] wherein, If the single-related-off working condition turns off the u phase, I s3 = [i x i w i z ] T , U s3 = [u xz u vw u yz ] T , i u = 0, iv = -i w , i y = -i x , i z ; if the single-correlation-breakage working condition turns off the w phase, I s3 = [i z , i v , i y ] T , U s3 = [u zy , u vu , u yx ] T , i w = 0, i u = -i v , i x = -i z , i y ; if the single-correlation-breakage working condition turns off the v phase, I s3 = [i y , i u , i x ] T , U s3 = [u yx , u uw , u xz ] T , i v = 0, i w = -i u , i z = -i y , i x ;

[0025] The second single-correlation-breakage working condition corresponds to a 4-dimensional state equation of the double three-phase linear motor, which is reduced to a 3-dimensional state equation according to the current constraint condition i x = 0 or i z = 0 or i y = 0:

[0026] M L2_3 pI s3 + M R2_3 I s3 = -U s3

[0027] wherein, If the single-correlation-breakage working condition turns off the x phase, I s3 = [i w , i z , i v ] T , U s3 = [u vw , u yz , uuv ] T , i x = 0, i y = -i z , i u = -i w -i v ; if single related break condition turns off z phase, I s3 = [i v i y i u ] T , U s3 = [u vu u yx u uw ] T , i z = 0, i x = -i y , i w = -i v -i u ; if single related break condition turns off y phase, I s3 = [i u i x i w ] T , U s3 = [u uw u xz u wv ] T , i y = 0, i z = -i x , i v = -i u -i w .

[0028] In some preferred embodiments, the first type of two related break conditions, when one phase current is 0 in the 3-dimensional state equation of the corresponding dual three-phase linear motor, is reduced to a 2-dimensional state equation:

[0029] M L1_2 pI s2 + M R1_2 I s2 = -U s2

[0030] wherein, if two related break conditions turn off ux phase, I s2 = [i w i z ] T , U s2 = [u vw u yz ] T , iu = 0, i x = 0, i v = -i w , i y = -i z ; if two related broken conditions turn off wz phase, I s2 = [i v i y ] T , U s2 = [u vu u yx ] T , i w = 0, i z = 0, i u = -i v , i x = -i y ; if two related broken conditions turn off vy phase, I s2 = [i u i x ] T , U s2 = [u uw u xz ] T , i v = 0, i y = 0, i w = -i u , i z = -i x ;

[0031] The second type of two related broken conditions, when one phase current of the corresponding three-phase linear motor is 0, the 3D state equation is reduced to a 2D state equation:

[0032] M L2_2 pI s2 + M R2_2 I s2 = -U s2

[0033] wherein, if two related broken conditions turn off xw phase, I s2 = [i z i v ] T , U s2 = [u yz u uv ] T , i x = 0, i w = 0, i y = -i z , i u = -i v; if two relevant break conditions turn off the zv phase, I s2 = [i y i u ] Y , U s2 = [u yx u uw ] T , i z = 0, i v = 0, i x = -i y , i w = -i u ; if two relevant break conditions turn off the yu phase, I s2 = [i x i w ] T , U s2 = [u xz u xz ] T , i y = 0, i u = 0, i z = -i x , i v = -i w .

[0034] In some preferred embodiments, the first type of four relevant break conditions, corresponding to two-phase zero-crossing break in the 2D state equation of the dual three-phase linear motor, the voltage equation of the stator section of the dual three-phase linear motor is:

[0035] M L1_1 pI s1 + M R1_1 I s1 = -U s1

[0036] where M L1_1 = 2L m3 , M R1_1 = R s , if the four relevant break conditions turn off the uxvw phase, I s1 = i z , U s1 = u zy , i u = 0, i x = 0, i w = 0, i v = 0, i y = -i z ; if the four relevant break conditions turn off the wzvu phase, I s1 = i y , U s1 = u yx , iw = 0, i z = 0, i v = 0, i u = 0, i x = -i y ; if the four related breaking conditions turn off the phase vyuw, I s1 = i x , U s1 = u xz , i v = 0, i y = 0, i u = 0, i w = 0, i z = -i x ;

[0037] The two-phase zero-point turning-off voltage equation of the two three-phase linear motor stator section in the 2D state equation of the corresponding double three-phase linear motor of the second type of four related breaking conditions is:

[0038] M L2_1 pI s1 + M R2_1 I s1 = -U s1

[0039] Wherein, M L2_1 = 2L m3 , M R2_1 = R s , if the four related breaking conditions turn off the xwzy phase, I s1 = i v , U s1 = u vu , i x = 0, i w = 0, i z = 0, i y = 0, i u = -i v ; if the four related breaking conditions turn off the zvyx phase, I s1 = i u , U s1 = u uw , i z = 0, i v = 0, i y = 0, i x = 0, i w = -i u ; if the four related breaking conditions turn off the yuxz phase, I s1 = i w , U s1 = u wv , i y = 0, i u= 0, i x = 0, i z = 0, i v = -i w .

[0040] In some preferred embodiments, the full-off working condition, the stator current i u = 0, i x = 0, i w = 0, i z = 0, i v = 0, i y = 0.

[0041] In some preferred embodiments, the thyristor turn-off process of the dual three-phase linear motor is iteratively real-time simulation modeling, and the method is:

[0042] The 6-phase stator winding turn-on and turn-off of the dual three-phase linear motor is judged to obtain the working condition of the current dual three-phase linear motor;

[0043] The dual three-phase stator current is calculated through the dimension reduction state equation / stator segment voltage equation corresponding to the working condition of the current dual three-phase linear motor to perform simulation modeling of the current dual three-phase linear motor;

[0044] In combination with the real-time working condition of the dual three-phase linear motor, the dual three-phase stator current is calculated through the dimension reduction state equation of the real-time working condition to complete the thyristor turn-off process of the dual three-phase linear motor without iteration real-time simulation modeling.

[0045] In some preferred embodiments, the judgment of the 6-phase stator winding turn-on and turn-off of the dual three-phase linear motor is as follows:

[0046]

[0047] Wherein, q = u, v, w, x, y, z respectively represent the 6-phase thyristor switch of the dual three-phase linear motor, i q (k) i q (k-1) respectively represent the current of the current sampling point k and the previous sampling point k-1 of the dual three-phase linear motor, S qw is the thyristor switch trigger signal instruction of the dual three-phase linear motor, S qw = 0 represents canceling the thyristor trigger signal, S qw = 1 represents that the thyristor has a trigger signal, f q is the state of the q-phase thyristor switch, f q = 0 represents that the q-phase thyristor switch is in the off state, f q = 1 represents that the q-phase thyristor switch is in the on state.

[0048] The beneficial effects of the present application are:

[0049] The application discloses a thyristor switching modeling method of a double three-phase linear motor based on a reduced-dimension behavior model. BRIEF DESCRIPTION OF DRAWINGS

[0050] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-restrictive embodiments made with reference to the accompanying drawings:

[0051] Figure 1 Fig. 1 is a schematic diagram of a driving system structure of a double three-phase linear motor of the application;

[0052] Figure 2 Fig. 2 is a full-conduction equivalent circuit of a stator section of the double three-phase linear motor of the application;

[0053] Figure 3 Fig. 3 is a one-phase disconnection equivalent circuit of the stator section of the double three-phase linear motor of the application;

[0054] Figure 4 Fig. 4 is a two-phase disconnection equivalent circuit of the stator section of the double three-phase linear motor of the application;

[0055] Figure 5 Fig. 5 is a four-phase disconnection equivalent circuit of the stator section of the double three-phase linear motor of the application;

[0056] Figure 6 Fig. 6 is a schematic diagram of a modeling operation flow of the double three-phase linear motor based on the reduced-dimension behavior model of the application;

[0057] Figure 7 Fig. 7 is a one-phase disconnection simulation current diagram of the double three-phase linear motor of the application;

[0058] Figure 8 Fig. 8 is a two-phase disconnection simulation current diagram of the double three-phase linear motor of the application;

[0059] Figure 9 Fig. 9 is a four-phase disconnection simulation current diagram of the double three-phase linear motor of the application;

[0060] Figure 10 Fig. 10 is a full-disconnection simulation current diagram of the double three-phase linear motor of the application;

[0061] Figure 11 Fig. 11 is a close-up view of a turn-off current of the double three-phase linear motor of the application. DETAILED DESCRIPTION

[0062] The application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, and not to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for ease of description.

[0063] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0064] The modeling method of the application is based on a reduced dimension behavior model of a double three-phase linear motor thyristor switching, and the modeling method comprises:

[0065] Based on the nonlinear characteristics of the thyristor switching-off process, the circuit topology variation rule of the double three-phase linear motor is obtained, the behavior model is reduced from 64 to 8, and 8 reduced dimension behavior models are obtained;

[0066] According to the thyristor turn-off characteristics of the double three-phase linear motor and the current constraint condition of the motor neutral point, the dimension of the behavior model of the double three-phase linear motor is reduced, and the reduced dimension state equation of each working condition is obtained;

[0067] According to the 6-phase thyristor current zero point and the thyristor trigger signal, combined with the reduced dimension state equation of each working condition, the 8 reduced dimension behavior models are smoothly switched, and the real-time simulation modeling of the thyristor turn-off process of the double three-phase linear motor is realized without iteration.

[0068] In order to more clearly describe the modeling method of the double three-phase linear motor thyristor switching based on the reduced dimension behavior model of the application, the steps in the embodiments of the application will be described in detail below with reference to the accompanying drawings.

[0069] The modeling method of the double three-phase linear motor thyristor switching based on the reduced dimension behavior model of the first embodiment of the application is described in detail as follows:

[0070] As shown in Figure 1 The segmented power supply linear motor drive system is composed of a power supply, a power supply bus, a switching switch, a linear motor stator and a mover. The segmented power supply architecture can reduce the power level of the system power supply, for example, when the mover moves to the stator section 2, the power supply 1 is switched to supply power to the two stator sections by opening the switch 1 and closing the switch 3. Unlike rotary motors, linear motors have edge effects, resulting in inconsistent parameters, parameter imbalance and large harmonic conditions. In order to ensure the continuity of the stator current, the mover is in the stator section at the switching time of the stator 1 and the stator 3, so the influence of the mover can not be considered when establishing the stator section model at the switching time of the mover. The modeling method can be applied to synchronous motors and asynchronous motors.

[0071] Based on the nonlinear characteristics of the thyristor switch-off process, the circuit topology variation law of the double three-phase linear motor is triggered, the behavior model is reduced from 64 to 8, and 8 reduced dimension behavior models are obtained.

[0072] The nonlinear characteristics of the thyristor switch-off process trigger the circuit topology variation law of the double three-phase linear motor, which is divided into five working conditions: full conduction condition, single related break condition, two related break condition, four related break condition and full break condition.

[0073] Combined with the characteristics that the two sets of stator windings of the double three-phase motor are 30 degrees apart and have unbalanced mutual inductance, the single related break, two related break and four related break are divided into two types of models, including:

[0074] The first type of single related break condition is u phase or w phase or v related break; the first type of two related break condition is ux two phases or wz two phases or vy two related breaks; the first type of four related break condition is uxwv four phases or wzvu four phases or vyuw four related breaks;

[0075] The second type of single related break condition is x phase or z phase or y related break; the second type of two related break condition is xw two phases or zv two phases or yu two related breaks; the second type of four related break condition is xwzy four phases or zvyx four phases or yuxz four related breaks;

[0076] Wherein, u, v, w, x, y, z represent the 6 phases of the double three-phase linear motor.

[0077] On this basis, the 8 reduced dimension behavior models include the first type of single related break condition model, the first type of two related break condition model, the first type of four related break condition model, the second type of single related break condition model, the second type of two related break condition model, the second type of four related break condition model, the full conduction condition model and the full break condition model.

[0078] As shown in Figure 2 , it is the full conduction equivalent circuit of the stator section of the double three-phase linear motor (based on the thyristor switch double Y phase shift 30° stator winding no break physical model), in order to illustrate the asymmetry of mutual inductance, it is described in a circular manner, as shown in the figure, mutual inductance exists between the 6 phases and is asymmetric, and each two phases are coupled with each other, and there are two neutral points. For three-phase impedance balanced rotating motor, dq model can be used to simplify system analysis, for parameter imbalance model, phase voltage equation can be established in stationary coordinate system, as shown in formula (1):

[0079] M L6 pI s6 +M R6 I s6 =U s6 (1)

[0080] Wherein, L s = (L ls + L m ), L m is the excitation inductance of the dual three-phase linear motor, L m2 = -L m / 2, L ls is the stator leakage inductance of the dual three-phase linear motor, R s is the stator resistance of the dual three-phase linear motor, I s6 = [i u i x i w i z i v i y ] T , i u , i v , i w , i x , i y , i z represent the u, v, w, x, y, z phase winding currents of the motor, respectively, U s6 = [u u - u1 u x - u2 u w - u1 u z - u2 u v - u1 u y - u2] T , u u , u x , u w , u z , u v , u y represent the u, x, w, z, v, y input phase voltages of the motor, respectively, u1, u2 represent the neutral point voltages of the two sets of stator windings of the motor, respectively, T represents transposition, and p represents a differential operator.

[0081] According to the thyristor turn-off characteristics of the dual three-phase linear motor and the current constraint conditions of the motor neutral point, the dimension of the behavior model of the dual three-phase linear motor is reduced, and the reduced dimension state equation of each working condition is obtained.

[0082] For the non-turn-off working condition, the corresponding 6-dimensional state equation of the dual three-phase linear motor is reduced to a 4-dimensional state equation according to the current constraint conditions i u + i v + i w = 0 and i x + i y + i z = 0, as shown in equation (2):

[0083] M L4 pI s4 +M R4 I s4 =U s4 (2)

[0084] where, L m3 =(2L ls +3L m ) / 2, I s4 =[i u i x i v i y ] T , U s4 =[u uv u xy u vw u yz ] T , u uv , u xy , u vw , u yz represent the uv, xy, vw, yz input line voltages of the dual three-phase linear motor respectively.

[0085] Take the inverse matrix of M L4 , convert formula (2) to formula (3):

[0086] pI s4 =(M L4 ) -1 U s4 -(M L4 ) -1 M R4 I s4 (3)

[0087] where,

[0088] Discretize formula (3) to obtain formula (4):

[0089] I s4 (k+1)=M U U s4 (k)+M I I s4 (k) (4)

[0090] where, M U =T s ((M L4 ) -1 ), M I =eye(4)-T s ((ML4 ) -1 M R4 T s This is the simulated step size.

[0091] At this point, the current equations for the other two phases are as shown in equation (5):

[0092]

[0093] like Figure 3 The diagram shows the equivalent circuit for single-phase disconnection of the stator section of the dual three-phase linear motor of this invention. Since the two sets of three-phase stator windings differ in phase by 30°, single-phase disconnection can be divided into two types; among them, Figure 3 The left figure shows the T-type equivalent circuit of a phase disconnection in uvw (taking phase u disconnection as an example), which is called the first type of single-phase disconnection. The right figure shows the T-type equivalent circuit of a phase disconnection in xyz (taking phase x disconnection as an example), which is called the second type of single-phase disconnection.

[0094] The first type of single-phase disconnection condition corresponds to the 4D state equation of the dual three-phase linear motor based on the current constraint condition i. u =0 or i v =0 or i w =0 reduces to a 3-dimensional state equation, as shown in equation (6):

[0095] M L1_3 pI s3 +M R1_3 I s3 =-U s3 (6)

[0096] in, If phase u is turned off under single-phase disconnection operation, I s3 =[i x i w i z ] T U s3 =[u xz u vw u yz ] T i u =0, i v =-i w i y =-i x -i z If phase W is switched off under single-phase disconnection operation, I s3 =[i z i v i y ] T U s3 =[u zyu vu u yx ] T i w =0, i u =-i v i x =-i z -i y If phase V is turned off under single-phase disconnection operation, I s3 =[i y i u i x ] T U s3 =[u yx u uw u xz ] T i v =0, i w =-i u i z =-i y -i x .

[0097] The second type of single-phase disconnection condition corresponds to the 4-dimensional state equation of the dual three-phase linear motor based on the current constraint condition i. x =0 or i z =0 or i y =0 reduces to a 3-dimensional state equation, as shown in equation (7):

[0098] M L2_3 pI s3 +M R2_3 I s3 =-U s3 (7)

[0099] in, If phase x is turned off under single-phase disconnection operation, I s3 =[i w i z i v ] T U s3 =[u vw u yz u uv ] T i x =0, i y =-i z i u =-i w -i v If the z-phase is turned off under single-phase disconnection operation, I s3 =[i v i y iu ] T U s3 =[u vu u yx u uw ] T i z =0, i x =-i y i w =-i v -i u If the y-phase is turned off under single-phase disconnection operation, I s3 =[i u i x i w ] T U s3 =[u uw u xz u wv ] T i y =0, i z =-i x i v =-i u -i w .

[0100] By changing the position of the input line voltage and current, the turn-off effect of each different phase can be achieved without changing the matrix equation.

[0101] like Figure 4 The diagram shows the equivalent circuit of the stator section two-phase winding disconnection of the double three-phase linear motor of the present invention, which is also divided into two types; the left figure is the first type of two-phase disconnection, which has three working conditions: ux, vy, or wz disconnection (ux two-phase disconnection as an example); the right figure is the second type of two-phase disconnection, which has three working conditions: xw, zv, or yu disconnection (xw two-phase disconnection as an example).

[0102] For the first type of two-phase disconnection condition, when the current in one phase of the corresponding three-phase linear motor is 0, the state equation is reduced to a two-dimensional state equation, as shown in equation (8):

[0103] M L1_2 pI s2 +M R1_2 I s2 =-U s2 (8)

[0104] in, If the two related disconnection conditions shut down phase ux, I s2 =[i w i z ] T U s2 =[u vwu yz ] T i u =0, i x =0, i v =-i w i y =-i z If the two related disconnection conditions shut down phase wz, I s2 =[i v i y ] T U s2 =[u vu u yx ] T i w =0, i z =0, i u =-i v i x =-i y If two related disconnection conditions shut down phase vy, I s2 =[i u i x ] T U s2 =[u uw u xz ] T i v =0, i y =0, i w =-i u i z =-i x .

[0105] For the second type of two-phase disconnection condition, when one phase current is 0 in the 3D state equation of the corresponding dual three-phase linear motor, it is reduced to a 2D state equation, as shown in equation (9):

[0106] M L2_2 pI s2 +M R2_2 I s2 =-U s2 (9)

[0107] in, If the two related disconnection conditions shut down phase xw, I s2 =[i z i v ] T U s2 =[u yz u uv ] T i x =0, i w =0, i y =-iz i u =-i v If two related disconnection conditions shut down phase zv, I s2 =[i y i u ] T U s2 =[u yx u uw ] T i z =0, i v =0, i x =-i y i w =-i u If two related disconnection conditions are switched off, I s2 =[i x i w ] T U s2 =[u xz u xz ] T i y =0, i u =0, i z =-i x i v =-i w .

[0108] like Figure 5 The diagram shows the equivalent circuit of the stator section of the dual three-phase linear motor of the present invention with four-phase disconnection. The left diagram shows the first type of four-phase disconnection, which includes three operating conditions: uxvw four-phase disconnection, vyuw four-phase disconnection, or wzvu four-phase disconnection (uxvw four-phase disconnection as an example). The right diagram shows the second type of four-phase disconnection, which includes three operating conditions: xwzy four-phase disconnection, zvyx four-phase disconnection, or yuxz four-phase disconnection (xwzy four-phase disconnection as an example).

[0109] For the first type of four-phase disconnection condition, when two phases are turned off at the zero-crossing point in the two-dimensional state equation of the corresponding double three-phase linear motor, the stator voltage equation of the double three-phase linear motor is as shown in equation (10):

[0110] M L1_1 pI s1 +M R1_1 I s1 =-U s1 (10)

[0111] Among them, M L1_1 =2L m3 M R1_1 =R s If the four related disconnection conditions are interrupted, I s1 =iz , U s1 = u zy , i u = 0, i x = 0, i w = 0, i v = 0, i y = -i z ; if the four relevant break conditions are turned off in the wzvu phase, I s1 = i y , U s1 = u yx , i w = 0, i z = 0, i v = 0, i u = 0, i x = -i y ; if the four relevant break conditions are turned off in the vyuw phase, I s1 = i x , U s1 = u xz , i v = 0, i y = 0, i u = 0, i w = 0, i z = -i x .

[0112] The second type of four relevant break conditions, when the two-phase zero-crossing point of the 2D state equation of the dual three-phase linear motor is turned off, the stator segment voltage equation of the dual three-phase linear motor is as shown in equation (11):

[0113] M L2_1 pI s1 + M R2_1 I s1 = -U s1 (11)

[0114] Wherein, M L2_1 = 2L m3 , M R2_1 = R s , if the four relevant break conditions are turned off in the xwzy phase, I s1 = i v , U s1 = u vu , i x = 0, i w = 0, i z = 0, i y = 0, i u = -i v ; if the four relevant break conditions are turned off in the zvyx phase, I s1 = i u , Us1 = u uw , i z = 0, i v = 0, i y = 0, i x = 0, i w = -i u ; if the four correlation break condition off yuxz phase, I s1 = i w , U s1 = u wv , i y = 0, i u = 0, i x = 0, i z = 0, i v = -i w .

[0115] Full off condition is to make the remaining two-phase current zero point off in the above two types of four correlation break model, and the corresponding double three-phase linear motor stator current is all zero, that is: i u = 0, i x = 0, i w = 0, i z = 0, i v = 0, i y = 0.

[0116] As shown in Figure 6 , it is a double three-phase linear motor thyristor switching modeling operation process diagram based on the dimension reduction behavior model of the application, which combines the dimension reduction state equation of each condition, smoothly switches eight dimension reduction behavior models, and realizes the non-iterative real-time simulation modeling of the thyristor off process of the double three-phase linear motor:

[0117] The opening and closing of the 6-phase stator winding of the double three-phase linear motor is judged, and the current condition of the double three-phase linear motor is obtained;

[0118] The double three-phase stator current is calculated through the dimension reduction state equation / stator segment voltage equation corresponding to the current condition of the double three-phase linear motor, and the simulation modeling of the current double three-phase linear motor is carried out;

[0119] Combined with the real-time condition of the double three-phase linear motor, the dimension reduction state equation of the real-time condition is used to calculate the double three-phase stator current, and the non-iterative real-time simulation modeling of the thyristor off process of the double three-phase linear motor is completed.

[0120] The judgment of the opening and closing of the 6-phase stator winding of the double three-phase linear motor is shown in formula (12):

[0121]

[0122] ​​Wherein, q = u, v, w, x, y, z respectively represent six-phase thyristor switches of the double three-phase linear motor, i q (k) i q (k-1) respectively represent currents of the double three-phase linear motor at the current sampling point k and the previous sampling point k-1, the product less than zero indicates that the phase current is zero-crossing, S qw is a thyristor switch trigger signal instruction of the double three-phase linear motor, S qw = 0 represents canceling the thyristor trigger signal, S qw = 1 represents that the thyristor has a trigger signal, f q is a state of the q-phase thyristor switch, f q = 0 represents that the q-phase thyristor switch is in an off state, f q = 1 represents that the q-phase thyristor switch is in an on state. The thyristor current zero-crossing and the trigger signal being 0 can determine that the phase thyristor is in the off state, that is, f q = 0, and the on only needs S qw = 1 (f q = 1).

[0123] The specific implementation process is as follows: formula (2) is used to calculate the six-phase current in the off state; formula (6) and formula (7) are used to calculate the stator winding current in the single related off state by judging q = u or v or w and q = x or y or z in formula (12); formula (8) and formula (9) are used to calculate the stator winding current in the two related off state by judging q = ux or wz or vy and q = xw or zv or u; formula (10) and formula (11) are used to calculate the stator winding current in the four related off state by judging q = uxwv or wzvu or vyuw and q = xwzy or zvyx or yuxz; and the six-phase stator winding is completely off in q = uxwzvy, and the system current is zero.

[0124] As Figure 7 shown, it is a single-phase off simulation current diagram of the double three-phase linear motor (one-phase off simulation current diagram of two types of models of the double three-phase motor based on the thyristor switch built and programmed in SIMULINK and MATLAB function), in Figure 7 (a), the double three-phase thyristor trigger signal is canceled at 0.092s, and thereafter Figure 7 (c), the u-phase current first crosses zero and is off, and the system switches to the u-related off state of formula (6) to calculate the current, which is directly off from the u-phase current i uvwxyz in the error range, as Figure 7 (c) and Figure 7 (e); and in Figure 7 (b), the trigger signal is canceled at 0.094s, and thereafter Figure 7The x-phase current in (f) first crosses zero to turn off, and the system switches to the x-related open state calculation current of formula (6), which is equal to the directly turned-off x-phase current of the module within the error range, as shown in Figure 7 (d) and Figure 8 (f).

[0125] As shown in Figure 8 , it is the two-phase open simulation current diagram of the double three-phase linear motor of the application, taking the ux and xw open of the two types of turn-off models as examples, Figure 8 (a) and Figure 8 (c) are the uvw and xyz phase currents after the ux open, Figure 8 (b) and Figure 8 (d) are the uvw and xyz phase currents after the xw open. The x-phase current of the first type of model is subsequently turned off at zero crossing, as shown in Figure 8 (c), the system switches to the ux-related open state calculation current of formula (7), which is equal to the directly turned-off ux two-phase current of the module within the error range, as shown in Figure 8 (a) and Figure 8 (c); and the w-phase of the second type of model is subsequently turned off, as shown in Figure 8 (b), the system switches to the xw-related open state calculation current of formula (7), which is equal to the directly turned-off xw two-phase current of the module within the error range, as shown in Figure 9 (b) and Figure 9 (d).

[0126] As shown in Figure 9 , it is the four-phase open simulation current diagram of the double three-phase linear motor of the application, taking the uxvw and xwzy two types of open as examples, Figure 9 (a) and Figure 9 (c) are the uvw and xyz phase currents after the uxvw open, Figure 9 (b) and Figure 9 (d) are the uvw and xyz phase currents after the xwzy open. The vw two-phase current of the first type of model is subsequently turned off at zero crossing, as shown in Figure 9 (c), the system switches to the uxvw-related open state calculation current of formula (8), which is equal to the directly turned-off uxvw two-phase current of the module within the error range, as shown in Figure 9 (a) and Figure 9 (c); and the zy two-phase of the second type of xwzy open model is subsequently turned off, as shown in Figure 9 (b), the system switches to the xwzy-related open state calculation current of formula (8), which is equal to the directly turned-off xwzy two-phase current of the module within the error range, as shown in Figure 10 (b) and Figure 10 (d).

[0127] AsFigure 10 As shown in the figure, it is the full-off simulation current diagram of the double three-phase linear motor of the application, Figure 10 (a) and Figure 10 (c) are the full-process current waveform diagrams written and built for the off in the order of u-x-w-v-zy, Figure 10 (b) and Figure 10 (d) are the full-process current waveform diagrams written and built for the off in the order of x-w-zy-vu. On the basis of the off of the four-phase, the remaining two-phase current of the first type of model is zero, and the system current is equal to the direct full-off current of the module within the error range, as shown in Figure 10 (c), the system current is zero, and the direct full-off current of the module is equal within the error range, as shown in Figure 10 (a) and Figure 10 (c); and the remaining two-phase of the second type of model is off, as shown in Figure 10 (b), the system current is zero, and the direct full-off current of the module is equal within the error range, as shown in Figure 11 (b) and ​ (d).

[0128] As shown in the figure, it is the off current amplification diagram of the double three-phase linear motor of the application, the reduced dimension state of the switch function is used to simplify the switch pre-processing model for each off, and the direct off after the current zero-crossing point. The transient characteristics of the small step switch model equivalent to the off of the capacitor and resistor in the Simulink module library are quite different from those of the ideal switch model and the ideal switch. The capacitor is equivalent to a short circuit at the closing moment, and gradually decays to zero through the resistor. The reduced dimension state of the switch function can avoid the switch loss of the small step switch model in the transient state. ​ In the above embodiment, although each step is described in the above order, those skilled in the art can understand that, in order to achieve the effect of the embodiment, the different steps do not have to be executed in such an order, and they can be executed simultaneously (in parallel) or in a reversed order, and these simple changes are within the protection scope of the application.

[0129] The double three-phase linear motor thyristor switching modeling system based on the reduced dimension behavior model of the second embodiment of the application comprises:

[0130] The reduced dimension module is configured to reduce the behavior model from 64 to 8 based on the nonlinear characteristics of the thyristor switch off process to obtain 8 reduced dimension behavior models.

[0131] The state equation establishing module is configured to reduce the dimension of the behavior model of the double three-phase linear motor according to the thyristor off characteristics of the double three-phase linear motor and the current constraint condition of the neutral point of the motor to obtain the reduced dimension state equation of each working condition.

[0132] ​

[0133] The modeling module is configured to realize real-time simulation modeling without iteration of the thyristor turn-off process of the dual three-phase linear motor according to the 6-phase thyristor current zero-crossing point and the thyristor trigger signal, combined with the dimension reduction state equation of each working condition, and smoothly switching 8 kinds of dimension reduction behavior models.

[0134] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related description of the above-described system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0135] It should be noted that the dual three-phase linear motor thyristor switching modeling system based on the dimension reduction behavior model provided in the above embodiments is only exemplified by the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the modules or steps in the embodiments of the present application are further decomposed or combined, for example, the modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present application are only for distinguishing each module or step, and should not be considered as an improper limitation of the present application.

[0136] The third embodiment of the electronic device comprises:

[0137] At least one processor; and

[0138] The memory is in communication connection with the at least one processor; wherein

[0139] The memory stores instructions executable by the processor, and the instructions are used to be executed by the processor to realize the above-mentioned dual three-phase linear motor thyristor switching modeling method based on the dimension reduction behavior model.

[0140] The fourth embodiment of the present application is a computer readable storage medium, and the computer readable storage medium stores computer instructions, and the computer instructions are used to be executed by the computer to realize the above-mentioned dual three-phase linear motor thyristor switching modeling method based on the dimension reduction behavior model.

[0141] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related description of the above-described storage device and processing device can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0142] Those skilled in the art should clearly understand that the modules and method steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. The programs corresponding to the software modules and method steps can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In order to clearly illustrate the interchangeability of electronic hardware and software, the components and steps of each example have been described in the above description in general terms. Whether the functions are performed by electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0143] The terms "first", "second", and the like are used to distinguish similar objects, rather than to describe or indicate a particular order or sequence.

[0144] The term "comprising" or any other similar term is intended to encompass non-exclusive inclusion, so that a process, method, article or device / apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or inherent to the process, method, article or device / apparatus.

[0145] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after such changes or replacements will fall within the protection scope of the present application.

Claims

1. A modeling method for thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model, characterized in that, The modeling method includes: Based on the nonlinear characteristics of the thyristor switching turn-off process, which cause the circuit topology change law of the dual three-phase linear motor, the behavior model is reduced from 64 types to 8 types, resulting in 8 dimensionality-reduced behavior models. Based on the thyristor turn-off characteristics of the dual three-phase linear motor and the current constraint condition of the motor neutral point, the dimensionality of the behavioral model of the dual three-phase linear motor is reduced, and the dimensionality-reduced state equations for each working condition are obtained. Based on the zero-crossing point of the 6-phase thyristor current and the thyristor trigger signal, combined with the dimensionality reduction state equations for each operating condition, eight dimensionality reduction behavior models are smoothly switched to achieve real-time simulation modeling of the thyristor turn-off process of the dual three-phase linear motor without iteration. The nonlinear characteristics of the thyristor switch turn-off process cause the topology change law of the dual three-phase linear motor circuit to be divided into five operating conditions: full conduction condition, single-correlation turn-off condition, two-correlation turn-off condition, four-correlation turn-off condition and full turn-off condition. Considering the 30° phase difference between the two stator windings of a dual-phase three-phase motor and its unbalanced mutual inductance, single-phase disconnection, two-phase disconnection, and four-phase disconnection models are divided into two categories: The first type of single-correlated disconnection conditions are u-phase, w-phase, or v-correlated disconnection; the first type of two-correlated disconnection conditions are ux-phase, wz-phase, or vy-phase; the first type of four-correlated disconnection conditions are ux-wv-phase, wz-vu-phase, or v-yu-w-phase. The second type of single-correlated fault condition is the fault of x phase, z phase, or y phase; the second type of two-correlated fault condition is the fault of xw phase, zv phase, or yu phase; the second type of four-correlated fault condition is the fault of xwzy phase, zvyx phase, or yuxz phase. The eight dimensionality reduction behavior models include the first type of single-correlation disconnection condition model, the first type of two-correlation disconnection condition model, the first type of four-correlation disconnection condition model, the second type of single-correlation disconnection condition model, the second type of two-correlation disconnection condition model, the second type of four-correlation disconnection condition model, the full conduction condition model, and the full shutdown condition model. The state equation of the dual three-phase linear motor in the stationary coordinate system is as follows: ； in, , , The magnetizing inductance is for a dual three-phase linear motor. , , The stator leakage inductance of a dual three-phase linear motor. , The stator resistance of a dual three-phase linear motor. , These represent the currents of the motor's u, v, w, x, y, and z phase windings, respectively. , These represent the u, x, w, z, v, and y input phase voltages of the motor, respectively. These represent the neutral point voltages of the two sets of stator windings of the motor. Represents transpose. Represents the differential operator.

2. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model according to claim 1, characterized in that, Without interruption conditions, the corresponding 6-dimensional state equation of the dual three-phase linear motor is based on the current constraint conditions. and Reduced to a 4-dimensional state equation: ； in, , , , , , , These represent the uv, xy, vw, and yz input line voltages of the dual three-phase linear motor, respectively.

3. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model according to claim 2, characterized in that, The first type of single-phase disconnection condition corresponds to the 4D state equation of the dual three-phase linear motor based on the current constraint condition. or or Reduced to a 3D state equation: ； in, , If the single-phase disconnection condition shuts off phase U, , , , , If the single-phase disconnection condition shuts off phase W, , , , , If phase V is turned off under single-phase disconnection operation, , , , , ; The second type of single-phase disconnection condition corresponds to the 4D state equation of the dual three-phase linear motor based on the current constraint condition. or or Reduced to a 3D state equation: ； in, , If phase x is turned off under single-phase disconnection operation, , , , , If the z-phase is turned off under single-phase disconnection operation, , , , , If the y-phase is turned off under single-phase disconnection operation, , , , , .

4. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality reduction behavior model according to claim 3, characterized in that, For the first type of two-phase disconnection condition, when one phase current is 0 in the 3D state equation of the corresponding dual three-phase linear motor, it is reduced to a 2D state equation: ； in, , If the two related disconnection conditions are interrupted, phase ux is turned off. , , , , , If the two related disconnection conditions are interrupted, phase WZ is turned off. , , , , , If the two related disconnection conditions are switched off, , , , , , ; For the second type of two-phase disconnection condition, when one phase current is 0 in the 3D state equation of the corresponding dual three-phase linear motor, it is reduced to a 2D state equation: ； in, , If the two related disconnection conditions are interrupted, phase xw is turned off. , , , , , If the two related disconnection conditions disconnect phase zv, , , , , , If two related disconnection conditions are switched off, , , , , , .

5. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model according to claim 4, characterized in that, For the first type of four-phase disconnection condition, when two phases are turned off at their zero-crossing points in the 2D state equation of the corresponding dual-three-phase linear motor, the stator voltage equation of the dual-three-phase linear motor is as follows: ； in, , If the four related disconnection conditions are met, the uxvw phase is shut down. , , , , , , If the four related disconnection conditions are interrupted, the wzvu phase is shut off. , , , , , , If the four related disconnection conditions are interrupted, the vyuw phase is shut off. , , , , , , ; For the second type of four-phase disconnection condition, when two phases are turned off at their zero-crossing points in the 2D state equation of the corresponding dual-three-phase linear motor, the stator voltage equation of the dual-three-phase linear motor is as follows: ； in, , If the four related disconnection conditions are interrupted, the xwzy phase is shut off. , , , , , , If the four related disconnection conditions are met, then the zvyx phase is shut off. , , , , , , If the four related disconnection conditions are met, the yuxz phase is shut off. , , , , , , .

6. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model according to claim 5, characterized in that, The stator current of the corresponding dual three-phase linear motor under the full shutdown condition is... , , , , 0, .

7. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model according to claim 1, characterized in that, The method for non-iterative real-time simulation modeling of the thyristor turn-off process of the dual three-phase linear motor is as follows: Determine the on / off state of the 6-phase stator windings of the dual three-phase linear motor to obtain the current operating condition of the dual three-phase linear motor. The stator current of the current dual three-phase linear motor is calculated by using the reduced state equation / stator segment voltage equation corresponding to the current operating condition of the dual three-phase linear motor, and the simulation model of the current dual three-phase linear motor is performed. By combining the real-time operating conditions of the dual three-phase linear motor with the reduced-dimensional state equations of the real-time operating conditions, the stator current of the dual three-phase linear motor is calculated, and the thyristor turn-off process of the dual three-phase linear motor is simulated and modeled in real time without iteration.

8. The method for modeling thyristor switching of a dual three-phase linear motor based on a dimensionality-reduced behavioral model according to claim 7, characterized in that, The method for determining the on / off state of the 6-phase stator windings of the aforementioned dual three-phase linear motor is as follows: ； in, These represent the 6-phase thyristor switches for a dual three-phase linear motor. These represent the current sampling points of the dual three-phase linear motors. Compared with the previous sampling point The current, This is a thyristor switch trigger signal command for a dual three-phase linear motor. This indicates that the thyristor trigger signal has been cancelled. This indicates that the thyristor has a trigger signal. for The state of the phase thyristor switch. represent The phase thyristor switch is in the off state. represent The phase thyristor switch is in the ON state.

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