A segmented LPDSLIM control method and device based on primary magnetic field orientation

Abstract

This invention discloses a segmented LPDSLIM control method and device based on primary field-oriented magnetic field, belonging to the field of motor control technology. The method includes: estimating the primary flux linkage and calculating its amplitude and phase angle; then performing closed-loop control on the primary total flux linkage to obtain the d-axis component reference value of the primary total current; finally, performing closed-loop control on the d-axis component of the primary total current to obtain the d-axis reference value of the primary voltage. For the electromagnetic thrust control loop, firstly, closed-loop control is performed on the speed to obtain the electromagnetic thrust reference value; then, the thrust compensation value is calculated, thereby obtaining the q-axis component reference value of the primary total current, realizing control decoupling between the d-axis and q-axis; finally, closed-loop control is performed on the q-axis component of the primary total current to obtain the q-axis reference value of the primary voltage. Coordinate transformation of the d-axis and q-axis reference values ​​of the primary voltage yields the α-axis and β-axis reference values ​​of the primary voltage, and the segmented LPDSLIM is controlled using the SVPWM control method.

Description

Technical Field

[0001] This invention belongs to the field of motor control technology, and more specifically, relates to a control method and device for a segmented long primary double side linear induction motor (LPDSLIM) based on primary magnetic field orientation. Background Technology

[0002] Linear induction motors, as a special type of motor, can directly convert electrical energy into the linear motion mechanical energy of a load. They are simple in structure, easy to maintain, and reliable in operation, thus finding wide application in industrial manufacturing, transportation, and defense industries. Compared to traditional rotary induction motors, linear induction motor drive systems do not require additional mechanical transmission devices and can directly drive the load, thereby reducing noise generated by transmission components such as belts and gears and improving the system's mechanical energy conversion efficiency. Currently, high-power linear induction motors mainly fall into two categories: short-primary single-sided linear induction motors and LPDSLIMs, with the latter being the focus of this patent research.

[0003] Traditional LPDSLIMs exhibit high primary leakage flux and low power factor during operation, posing challenges to converter design in high-power propulsion applications. To address this issue, a common approach is to segment the LPDSLIM power supply, powering only the primary section containing the secondary winding. These segmented primary modules can be connected in series or parallel; this patent focuses on the parallel connection method.

[0004] Currently, control strategies for segmented LPDSLIMs are mostly based on secondary field orientation. However, existing research has not explored the secondary mathematical model of segmented LPDSLIMs in sufficient depth, failing to fully consider factors such as edge effects, resulting in low accuracy of secondary field orientation and consequently affecting control performance. Therefore, there is an urgent need to propose a new vector control method for segmented LPDSLIMs. Since the parameters in the primary mathematical model of a segmented long primary double-sided linear induction motor are not affected by edge effects and are easy to measure, it is very suitable as an alternative to secondary field orientation control. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a segmented LPDSLIM control method and apparatus based on primary magnetic field orientation. The purpose is to construct a segmented LPDSLIM control system based on primary magnetic field orientation, thereby achieving decoupled control of the primary total flux linkage and electromagnetic thrust, and overcoming the shortcomings of traditional secondary magnetic field orientation-based control methods in terms of low control performance.

[0006] To achieve the above objectives, according to one aspect of the present invention, a segmented LPDSLIM control method based on primary magnetic field orientation is provided, comprising:

[0007] S1. Based on primary magnetic field orientation, a primary total flux linkage amplitude control loop and an electromagnetic thrust control loop were constructed. For the primary total flux linkage amplitude control loop, the primary total flux linkage was estimated based on the primary voltage and primary total current, and its amplitude was calculated; closed-loop control of the secondary velocity was performed to obtain the electromagnetic thrust reference value.

[0008] S2. Perform closed-loop control on the amplitude of the primary total flux linkage to obtain the reference value of the d-axis component of the primary total current; calculate the electromagnetic thrust compensation value to achieve decoupling of the d-axis and q-axis control, and then combine the electromagnetic thrust reference value to obtain the reference value of the q-axis component of the primary total current.

[0009] S3. Perform closed-loop control on the d-axis and q-axis components of the primary total current to obtain reference values ​​for the d-axis and q-axis components of the primary voltage;

[0010] S4. Perform coordinate transformation on the d-axis and q-axis components of the primary voltage to obtain reference values ​​for the α-axis and β-axis components of the primary voltage, and use the SVPWM method to control the motor.

[0011] In one embodiment, S1 includes:

[0012] S11. Based on the primary voltage u pα u pβ Number of primary power supply segments m, primary resistance R p and primary total current i pα i pβ Calculate the primary total flux linkage ψ pα ψ pβ The calculation formula is:

[0013]

[0014] S12. Based on the primary total magnetic flux ψ pα ψ pβ Calculate the amplitude ψ pm and phase angle The calculation formula is:

[0015]

[0016] S13. Regarding the acceleration reference value a * The speed reference value v is obtained by integration. * Then, the speed difference is proportional to k. p and points The electromagnetic thrust reference value F is obtained through calculation. e * The calculation formula is:

[0017]

[0018] In one embodiment, S2 includes:

[0019] S21. Difference in amplitude of primary total flux linkage Perform proportion k p and points Calculate the reference value of the d-axis component of the primary total current. The calculation formula is:

[0020]

[0021] S22. Based on the electromagnetic thrust compensation value ΔF e Electromagnetic thrust reference value F e * Primary total flux linkage amplitude ψ pm Calculate the reference value of the q-axis component of the primary total current. The calculation formula is:

[0022]

[0023] Where τ is the polar distance.

[0024] In one embodiment, S22 includes:

[0025] S221. Current i in the abc stationary coordinate system obtained from primary sampling of segments 1 to N. pa1 ~i paN i pb1 ~i pbN Perform a coordinate transformation to obtain the primary current i in the αβ stationary coordinate system. pα1 ~i paN i pβ1 ~i pβN ;

[0026] S222. For the primary current i in the primary αβ stationary coordinate system segment 1 to N. pα1 ~i pαN i pβ1 ~i pβN Perform a coordinate transformation to obtain the primary current i in the dq rotating coordinate system. pd1 ~i pdN i pq1 ~i pqN ;

[0027] S223. Utilizing the primary current i in the primary αβ stationary coordinate system from segment 1 to N. pα1 ~i pαN i pβ1 ~i pβNTo calculate the primary flux linkages of segments 1 to N in the αβ stationary coordinate system, taking the k-th segment as an example, the calculation formula is as follows:

[0028]

[0029] S224. For the primary magnetic flux ψ in the primary αβ stationary coordinate system of segments 1 to N. pα1 ~ψ pαN ψ pβ1 ~ψ pβN Perform a coordinate transformation to obtain the primary flux linkage ψ in the dq rotated coordinate system. pd1 ~ψ pqN ψ pq1 ~ψ pqN ;

[0030] S225. Calculate the primary flux linkage ψ in the primary dq rotating coordinate system segments 1 to N. pd1 ~ψ pqN ψ pq1 ~ψ pqN With primary total magnetic flux ψ pm The difference Δψ pd1 ~Δψ pqN , Δψ pq1 ~Δψ pqN Taking the k-th segment as an example, the calculation formula is:

[0031]

[0032] S226. Based on the primary current i in the dq rotating coordinate system. pd1 ~i pdN i pq1 ~i pqN and flux linkage difference Δψ pd1 ~Δψ pqN , Δψ pq1 ~Δψ pqN The thrust compensation value is calculated using the following formula:

[0033]

[0034] Where j is the starting number of the primary power supply section, and m is the number of primary power supply sections.

[0035] S227. Calculate the reference value of the q-axis component of the primary total current. The calculation formula is:

[0036]

[0037] In one embodiment, S3 includes:

[0038] S31. Difference between d-axis components of primary total current Perform proportion kp and points The primary voltage d-axis component reference value is obtained through calculation. The calculation formula is:

[0039]

[0040] S32. Difference between the q-axis components of the primary total current Perform proportion k p and points The primary voltage q-axis component reference value is obtained through calculation. The calculation formula is:

[0041]

[0042] According to another aspect of the present invention, a segmented LPDSLIM control device based on primary magnetic field orientation is provided, comprising:

[0043] The primary total flux linkage amplitude and phase angle calculation module is used to estimate the primary total flux linkage based on the primary voltage and primary total current, and to calculate its amplitude.

[0044] The secondary speed control module is used to perform closed-loop control of the secondary speed to obtain the electromagnetic thrust reference value;

[0045] The primary total current d-axis component calculation module is used to control the primary total flux amplitude in order to obtain the primary total current d-axis component reference value;

[0046] The primary total current q-axis component calculation module is used to calculate the electromagnetic thrust compensation value, realize the decoupling of d-axis and q-axis control, and then combine the electromagnetic thrust reference value to obtain the primary total current q-axis component reference value;

[0047] The primary total current control module is used for closed-loop control of the d-axis and q-axis components of the primary total current to obtain reference values ​​for the d-axis and q-axis components of the primary voltage.

[0048] The SVPWM generator performs coordinate transformation on the d-axis and q-axis components of the primary voltage to obtain reference values ​​for the α-axis and β-axis components of the primary voltage, and uses the SVPWM method to control the motor.

[0049] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0050] (1) The present invention adopts the primary magnetic field orientation method, which obtains the amplitude and phase of the primary magnetic flux more accurately, improves the accuracy and robustness of magnetic field orientation, and lays the foundation for realizing high-performance control of segmented LPDSLIM.

[0051] (2) Based on the primary magnetic field orientation method, this invention uses primary total flux closed-loop control to obtain the reference value of the primary total current d-axis component and electromagnetic thrust compensation to obtain the reference value of the primary total current q-axis component, thereby realizing the decoupling control of primary total flux and electromagnetic thrust, improving the dynamic and steady-state performance of the control system, and realizing high-performance control of segmented LPDSLIM. Attached Figure Description

[0052] Figure 1 This is a flowchart of the segmented LPDSLIM control method based on primary magnetic field orientation provided in an embodiment of the present invention.

[0053] Figure 2 This is a control block diagram of the segmented LPDSLIM control method based on primary magnetic field orientation provided in an embodiment of the present invention.

[0054] Figure 3 This is a schematic diagram of the primary total flux linkage amplitude and phase angle calculation module provided in an embodiment of the present invention.

[0055] Figure 4 This is a schematic diagram of the secondary speed control module provided in an embodiment of the present invention.

[0056] Figure 5 This is a schematic diagram of the primary total flux linkage control module provided in an embodiment of the present invention.

[0057] Figure 6 This is a schematic diagram of the primary total current q-axis component calculation module provided in an embodiment of the present invention.

[0058] Figure 7 This is a schematic diagram of the structure of the primary segment flux linkage calculation and current coordinate transformation module provided in the embodiment of the present invention.

[0059] Figure 8 This is a schematic diagram of the thrust compensation value calculation module provided in an embodiment of the present invention.

[0060] Figure 9 This is a schematic diagram of the primary total current control module provided in an embodiment of the present invention. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0062] Example 1

[0063] like Figure 1 As shown, this embodiment provides a segmented LPDSLIM control method based on primary magnetic field orientation, including:

[0064] S1. Estimate the primary total flux linkage based on the primary voltage and primary total current, and calculate its amplitude; perform closed-loop control on the secondary velocity to obtain the electromagnetic thrust reference value.

[0065] S2. Perform closed-loop control on the amplitude of the primary total flux linkage to obtain the reference value of the d-axis component of the primary total current; calculate the electromagnetic thrust compensation value to achieve decoupling of the d-axis and q-axis control, and then combine the electromagnetic thrust reference value to obtain the reference value of the q-axis component of the primary total current.

[0066] S3. Perform closed-loop control on the d-axis and q-axis components of the primary total current to obtain reference values ​​for the d-axis and q-axis components of the primary voltage.

[0067] S4. Perform coordinate transformation on the d-axis and q-axis components of the primary voltage to obtain reference values ​​for the α-axis and β-axis components of the primary voltage, and use the SVPWM method to control the motor.

[0068] In this embodiment, S1 includes:

[0069] S11. Based on the primary voltage u pα u pβ Number of primary power supply segments m, primary resistance R p and primary total current i pα i pβ Calculate the primary total flux linkage ψ pα ψ pβ The calculation formula is:

[0070]

[0071] S12. Based on the primary total magnetic flux ψ pα ψ pβ Calculate the amplitude ψ pm and phase angle The calculation formula is:

[0072]

[0073] S13. Regarding the acceleration reference value a * The speed reference value v is obtained by integration. * Then, the speed difference is proportional to k. p and points The electromagnetic thrust reference value F is obtained through calculation. e * The calculation formula is:

[0074]

[0075] In this embodiment, S2 includes:

[0076] S21. Difference in amplitude of primary total flux linkage Perform proportion k p and points Calculate the reference value of the d-axis component of the primary total current. The calculation formula is:

[0077]

[0078] S22. Based on the electromagnetic thrust compensation value ΔF e Electromagnetic thrust reference value F e * Primary total flux linkage amplitude ψ pm Calculate the reference value of the q-axis component of the primary total current. The calculation formula is:

[0079]

[0080] Where τ is the polar distance.

[0081] In this embodiment, S22 includes:

[0082] S221. Current i in the abc stationary coordinate system obtained from primary sampling of segments 1 to N. pa1 ~i paN i pb1 ~i pbN Perform a coordinate transformation to obtain the primary current i in the αβ stationary coordinate system. pα1 ~i paN i pβ1 ~i pβN ;

[0083] S222. For the primary current i in the primary αβ stationary coordinate system segment 1 to N. pα1 ~i pαN i pβ1 ~i pβN Perform a coordinate transformation to obtain the primary current i in the dq rotating coordinate system. pd1 ~i pdN i pq1 ~i pqN ;

[0084] S223. Utilizing the primary current i in the primary αβ stationary coordinate system from segment 1 to N. pα1 ~i pαN i pβ1 ~i pβN To calculate the primary flux linkages of segments 1 to N in the αβ stationary coordinate system, taking the k-th segment as an example, the calculation formula is as follows:

[0085]

[0086] S224. For the primary magnetic flux ψ in the primary αβ stationary coordinate system of segments 1 to N. pα1 ~ψ pαN ψ pβ1 ~ψ pβN Perform a coordinate transformation to obtain the primary flux linkage ψ in the dq rotated coordinate system. pd1 ~ψ pqN ψ pq1 ~ψ pqN ;

[0087] S225. Calculate the primary flux linkage ψ in the primary dq rotating coordinate system segments 1 to N. pd1 ~ψ pqN ψ pq1 ~ψ pqN With primary total magnetic flux ψ pm The difference Δψ pd1 ~Δψ pqN , Δψ pq1 ~Δψ pqN Taking the k-th segment as an example, the calculation formula is:

[0088]

[0089] S226. Based on the primary current i in the dq rotating coordinate system. pd1 ~i pdN i pq1 ~i pqN and flux linkage difference Δψ pd1 ~Δψ pqN , Δψ pq1 ~Δψ pqN The thrust compensation value is calculated using the following formula:

[0090]

[0091] Where j is the starting number of the primary power supply section, and m is the number of primary power supply sections.

[0092] S227. Calculate the reference value of the q-axis component of the primary total current. The calculation formula is:

[0093]

[0094] In this embodiment, S3 includes:

[0095] S31. Difference between d-axis components of primary total current Perform proportion k p and points The primary voltage d-axis component reference value is obtained through calculation. The calculation formula is:

[0096]

[0097] S32. Difference between the q-axis components of the primary total current Perform proportion k p and points The primary voltage q-axis component reference value is obtained through calculation. The calculation formula is:

[0098]

[0099] Example 2

[0100] like Figure 2 As shown, this embodiment provides a segmented LPDSLIM control device based on primary magnetic field orientation, including: a primary total flux linkage amplitude and phase angle calculation module, a secondary speed control module, a primary total flux linkage control module, a primary total current q-axis component calculation module, coordinate transformation modules for the 1st to (N+3rd)th primary segments, flux linkage calculation and current coordinate transformation modules for the 1st to Nth primary segments, an electromagnetic thrust compensation value calculation module, a primary total current control module, and an SVPWM generator. The primary total flux linkage amplitude and phase angle calculation module is used to estimate the primary total flux linkage and calculate its amplitude and phase angle. The secondary speed control module is used for speed closed-loop control to achieve precise control of the secondary speed. The primary total flux linkage control module is used to control the primary total flux linkage amplitude to maintain good motor characteristics. The primary total current q-axis component calculation module is used for electromagnetic thrust compensation and calculates the reference value of the primary total current q-axis component. The coordinate transformation modules for the 1st to (N+3rd)th primary segments are used to perform coordinate transformations on physical quantities such as current and voltage. The primary segment flux linkage calculation and current coordinate transformation module (modules 1-N) calculates the flux linkage of primary segments 1-N and performs coordinate transformation on the currents of these segments. The electromagnetic thrust compensation calculation module calculates the thrust compensation value, enabling decoupling of d-axis and q-axis control. The primary total current control module controls the primary total current to obtain the primary voltage reference value. The SVPWM generator generates the inverter drive signal based on the primary voltage reference value, enabling motor control.

[0101] Specifically, the primary total flux linkage amplitude and phase angle calculation module is used to calculate based on the primary voltage. Number of primary power supply segments m, primary resistance R p and primary total current i pα i pβ Calculate the primary total flux linkage ψ pα ψ pβ And calculate its amplitude ψ pm and phase angle θ ψp The secondary speed control module is used to control the acceleration based on the acceleration reference value a. *And the secondary velocity v obtained from the ranging sensor, to calculate the electromagnetic thrust reference value F. e * The primary total flux linkage control module is used to reference the primary total flux linkage amplitude. and actual value ψ pm By subtracting the values ​​and performing proportional-integral calculations, reference values ​​for the d-axis components of the primary total current are obtained. The primary total current q-axis component calculation module is used to calculate the electromagnetic thrust reference value F. e * Electromagnetic thrust compensation value ΔF e Primary total flux linkage amplitude ψ pm Calculate the reference value of the q-axis component of the primary total current. The coordinate transformation modules 1 through (N+3) are used to perform coordinate transformations on physical quantities such as voltage and current in the control system. The primary segment flux linkage calculation and current coordinate transformation modules 1 through N are used to calculate the primary segment current i in the αβ static coordinate system. pα1 ~i paN i pβ1 ~i pβN Calculate the current i in the first to Nth primary segments in the dq rotating coordinate system. pd1 ~i pdN i pq1 ~i pqN and magnetic flux ψ pd1 ~ψ pqN ψ pq1 ~ψ pqN The electromagnetic thrust compensation value calculation module is used to calculate the current i in the first to Nth primary segments under the dq rotating coordinate system. pd1 ~i pdN i pq1 ~i pqN and magnetic flux ψ pd1 ~ψ pqN ψ pq1 ~ψ pqN Calculate the electromagnetic thrust compensation value ΔF e The primary total current control module is used to perform proportional-integral control on the d-axis and q-axis components of the primary total current to obtain the primary voltage reference value in the dq rotating coordinate system. and The SVPWM generator is used to generate the primary voltage reference value in the αβ stationary coordinate system. and Six IGBT drive signals are generated to control the motor.

[0102] Specifically, such as Figure 3 and Figure 4As shown, the primary total flux linkage amplitude and phase angle calculation module includes: first, second, third, and fourth proportional controllers; first, second, and third adders; first and second integrators; first and second square operators; an open circuit; a first multiplier; and an inverse cosine operator. The secondary speed control module includes: a third integrator; a fourth adder; and a first PI controller.

[0103] The first proportional controller will input the α-axis component of the primary voltage. Multiply by the number of primary power supply segments m to obtain the α-axis component of the total primary voltage mu. pα The second proportional controller will input the α-axis component i of the primary total current. pα Multiplied by the primary resistance R p The primary total internal resistance voltage drop α-axis component is obtained. The input of the first adder is connected to the first proportional controller and the second proportional controller to calculate the total back EMF α-axis component. The input of the first integrator is connected to the first adder to integrate the total back EMF α-axis component to obtain the primary total flux linkage α-axis component ψ. pα The third proportional controller will input the β-axis component of the primary voltage. Multiply by the number of primary power supply segments m to obtain the β-axis component of the total primary voltage mu. pβ The fourth proportional controller will input the β-axis component of the primary total current i. pβ Multiplied by the primary resistance R p The primary total internal resistance voltage drop β-axis component is obtained. The input of the second adder is connected to the third and fourth proportional controllers to calculate the total back EMF β-axis component. The input of the second integrator is connected to the second adder to integrate the total back EMF β-axis component to obtain the primary total flux linkage β-axis component ψ. pβ The input of the first square arithmetic unit is connected to the first integrator, and is used to calculate the α-axis component ψ of the primary total flux linkage. pα Perform the squaring operation to obtain The input of the second square operator is connected to the second integrator, and is used to calculate the β-axis component ψ of the primary total flux linkage. pβ Perform the squaring operation to obtain The input of the third adder is connected to the first and second squarers and is used to calculate the α-axis component ψ of the primary total flux linkage. pα and the primary total flux linkage β-axis component ψ pβ Sum of squares. The input of the square root operator is connected to the third adder to calculate the magnitude ψ of the primary total flux linkage. pm The input of the first multiplier is connected to the square root operator and the second integrator, and is used to calculate the cosine value of the primary total flux linkage phase angle. The input of the anticosine calculator is connected to the first multiplier to calculate the primary total flux linkage phase angle.

[0104] The third integrator is used to process the acceleration reference value a. * Integrate to obtain the secondary velocity reference value v * The input of the fourth adder is connected to the third integrator and is used to calculate the secondary velocity reference value v. * The difference between the actual value v and the input of the first PI controller is connected to the fourth adder, which is used to proportionally k the speed difference. p Sum of integrals k p The electromagnetic thrust reference value F is obtained through a / s operation. e * .

[0105] Specifically, such as Figure 5 and Figure 6 As shown, the primary total flux linkage control module includes: a fifth adder and a second PI controller. The primary total current q-axis component calculation module includes: a sixth adder, a second multiplier, and a third multiplier.

[0106] The fifth adder is used to calculate the primary total flux linkage magnitude reference. and actual value ψ pm The difference. The input of the second PI controller is connected to the fifth adder, used to reference the amplitude of the primary total flux linkage. and actual value ψ pm The difference is proportional to k p Sum of integrals k p The / s operation yields the reference value of the d-axis component of the primary total current.

[0107] The sixth adder is used to calculate the electromagnetic thrust reference value F. e * With compensation value ΔF e The difference. The second multiplier is used to calculate the primary total flux linkage magnitude ψ. pm and The product of the two. The input of the third multiplier is connected to the sixth adder and the second multiplier to perform the division operation between them and obtain the reference value of the q-axis component of the primary total current.

[0108] Specifically, such as Figure 7 and Figure 8 As shown, the primary segment flux linkage calculation and current coordinate transformation module includes proportional controllers (2k+3) and (2k+4), adders (2k+5) and (2k+6), integrators (2k+2) and (2k+3), and coordinate transformation modules (N+2+2k) and (N+3+2k). The thrust compensation value calculation module includes adders (3k+4+2N), (3k+5+2N), (3k+6+2N), and (7+5N), multipliers (2k+2), (2k+3), and (2N+4), and a k-th switching switch.

[0109] The (2k+3)th proportional controller is used to input the kth segment primary total current α-axis component i pαk Multiplied by the primary resistance R p The α-axis component of the primary internal resistance voltage drop of the k-th segment is obtained. The input of the (2k+5)-th adder is connected to the (2k+3)-th proportional controller to calculate the α-axis component of the primary back EMF of the k-th segment. The input of the (2k+2)-th integrator is connected to the (2k+5)-th adder to integrate the α-axis component of the primary back EMF of the k-th segment to obtain the α-axis component ψ of the primary total flux linkage of the k-th segment. pαk The (2k+4)th proportional controller is used to input the k-th segment primary total current β-axis component i. pβk Multiplied by the primary resistance R p The β-axis component of the primary internal resistance voltage drop of the k-th segment is obtained. The input of the (2k+6)-th adder is connected to the (2k+4)-th proportional controller to calculate the β-axis component of the primary back EMF of the k-th segment. The input of the (2k+3)-th integrator is connected to the (2k+6)-th adder to integrate the β-axis component of the primary back EMF of the k-th segment to obtain the β-axis component ψ of the primary total flux linkage of the k-th segment. pβk The (N+2+2k)th coordinate transformation module is used to transform the k-th segment of the primary current i in the αβ stationary coordinate system. pαk and i pβk Transformed into the k-th primary current i in the dq rotating coordinate system pdk and i pqk The input of the (N+3+2k)th coordinate transformation module is connected to the (2k+2)th and (2k+3)th integrators, and is used to transform the kth primary magnetic flux linkage ψ in the αβ stationary coordinate system. pαk and ψ pβk Convert to the k-th primary magnetic flux linkage ψ in the dq rotating coordinate system pdk and ψ pqk .

[0110] The (3k+4+2N)th adder is used to calculate the d-axis component ψ of the primary total flux linkage. pm and the d-axis component ψ of the primary flux linkage in the kth segment pdk The difference Δψ pdk The input of the (2k+2)th multiplier is connected to the (3k+4+2N)th adder to calculate the d-axis flux linkage difference Δψ. pdk With q-axis current i pqk The product of the (3k+5+2N)th adder is used to calculate the q-axis component 0 of the primary total flux linkage and the q-axis component ψ of the kth segment of the primary flux linkage. pqk The difference Δψ pqk The input of the (2k+3)th multiplier is connected to the (3k+5+2N)th adder to calculate the q-axis flux linkage difference Δψ. pqk With d-axis current ipdk The product of the products. The input of the (3k+6+2N)th adder is connected to the (2k+2)th and (2k+3)th multipliers to calculate the difference Δψ. pqk i pdk -Δψ pdk i pqk The input terminal of the k-th switch is connected to the (3k+6+2N)-th adder. It closes when the primary winding of the k-th segment is powered, and opens otherwise. The (7+5N)-th adder is connected to the 1st through k-th switches and is used for calculation. The input of the (2N+4)th multiplier is connected to the (7+5N)th adder to implement... )and Multiply to obtain the electromagnetic thrust compensation value ΔF e .

[0111] Specifically, such as Figure 9 As shown, the primary total current control module includes adders (5N+8) and (5N+9), and third and fourth PI controllers.

[0112] The (5N+8)th adder is used to calculate the reference value of the d-axis component of the primary total current. With actual value i pd The difference. The (5N+9)th adder is used to calculate the reference value of the q-axis component of the primary total current. With actual value i pq The difference. The input of the third PI controller is connected to the (5N+8)th adder, used to scale the difference of the d-axis components of the primary total current. p and points Calculations are performed to obtain the reference value of the d-axis component of the primary voltage. The input of the fourth PI controller is connected to the (5N+9)th adder, and is used to scale the difference in the q-axis components of the primary total current. p and points Calculations are performed to obtain the reference value of the q-axis component of the primary voltage.

[0113] In summary, compared with the prior art, the present invention has the following advantages:

[0114] This invention provides a segmented LPDSLIM control method based on primary field orientation. Employing primary field orientation, the amplitude and phase of the primary flux linkage are obtained more accurately, improving the accuracy and robustness of field orientation. Furthermore, closed-loop control of the primary total flux linkage is used to obtain the reference value of the d-axis component of the primary total current, and electromagnetic thrust compensation is used to obtain the reference value of the q-axis component of the primary total current. This achieves decoupling control of the primary total flux linkage and electromagnetic thrust, improving the dynamic and steady-state performance of the control system and realizing high-performance control of segmented LPDSLIM.

[0115] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A segmented LPDSLIM control method based on primary magnetic field orientation, characterized in that, Includes the following steps: S1. Estimate the total flux linkage of the primary based on the primary voltage and the total primary current, and calculate its magnitude; Closed-loop control of the secondary velocity is used to obtain the electromagnetic thrust reference value; including: S11. Based on the primary voltage , Number of primary power supply sections Primary resistor and primary total current , Calculate the primary total flux linkage , The calculation formula is: S12. Based on the primary total flux linkage , Calculate amplitude and phase angle The calculation formula is: S13. Acceleration reference value Speed ​​reference value is obtained by integrating points. Then, the speed difference is proportional. and points The electromagnetic thrust reference value is obtained through calculation. The calculation formula is: ； S2. Closed-loop control of the amplitude of the primary total flux linkage is used to obtain the reference value of the d-axis component of the primary total current; the electromagnetic thrust compensation value is calculated to decouple the d-axis and q-axis control, and then the reference value of the q-axis component of the primary total current is obtained by combining the electromagnetic thrust reference value; including: S21. Difference in amplitude of primary total flux linkage Proportion and points Calculate the reference value of the d-axis component of the primary total current. The calculation formula is: S22. Based on electromagnetic thrust compensation value Electromagnetic thrust reference value Primary total flux linkage amplitude Calculate the reference value of the q-axis component of the primary total current. The calculation formula is: in The polar distance; S3. Perform closed-loop control on the d-axis and q-axis components of the primary total current to obtain reference values ​​for the d-axis and q-axis components of the primary voltage; S4. Perform coordinate transformation on the d-axis and q-axis components of the primary voltage to obtain reference values ​​for the α-axis and β-axis components of the primary voltage, and use the SVPWM method to control the motor.

2. The segmented LPDSLIM control method based on primary magnetic field orientation as described in claim 1, characterized in that, S22 includes: S221. Current in the abc stationary coordinate system obtained from primary sampling of segments 1 to N. ~ , ~ Perform a coordinate transformation to obtain the primary current in the αβ stationary coordinate system. ~ , ~ ; S222. For the primary current in the primary αβ stationary coordinate system of segments 1 to N. ~ , ~ Perform a coordinate transformation to obtain the primary current in the dq rotating coordinate system. ~ , ~ ; S223. Utilizing the primary current in the primary αβ stationary coordinate system (segments 1-N) ~ , ~ To calculate the primary flux linkages of segments 1 to N in the αβ stationary coordinate system, taking the k-th segment as an example, the calculation formula is as follows: S224. Primary magnetic flux linkages in the primary αβ stationary coordinate system for segments 1 to N. ~ , ~ Perform a coordinate transformation to obtain the primary flux linkage in the dq rotated coordinate system. ~ , ~ ; S225. Calculate the primary flux linkage in primary dq rotation coordinates for segments 1 to N. ~ , ~ With primary total flux difference ~ , ~ Taking the k-th segment as an example, the calculation formula is: S226. Based on the primary current in the dq rotating coordinate system. ~ , ~ and flux difference ~ , ~ The thrust compensation value is calculated using the following formula: in, j This is the starting number of the primary power supply section. m The number of primary power supply sections; S227. Calculate the reference value of the q-axis component of the primary total current. The calculation formula is: 。 3. The segmented LPDSLIM control method based on primary magnetic field orientation as described in claim 1, characterized in that, S3 includes: S31. Difference between d-axis components of primary total current Proportion and points The primary voltage d-axis component reference value is obtained through calculation. The calculation formula is: S32. Difference between the q-axis components of the primary total current Proportion and points The primary voltage q-axis component reference value is obtained through calculation. The calculation formula is: 。 4. A segmented LPDSLIM control device based on primary magnetic field orientation, characterized in that, include: The primary total flux linkage amplitude and phase angle calculation module is used to estimate the primary total flux linkage based on the primary voltage and primary total current, and calculate its amplitude; including: based on the primary voltage... , Number of primary power supply sections Primary resistor and primary total current , Calculate the primary total flux linkage , The calculation formula is: According to the primary total magnetic flux , Calculate amplitude and phase angle The calculation formula is: For acceleration reference value Speed ​​reference value is obtained by integrating points. Then, the speed difference is proportional. and points The electromagnetic thrust reference value is obtained through calculation. The calculation formula is: ； The secondary speed control module is used to perform closed-loop control of the secondary speed to obtain the electromagnetic thrust reference value; The primary total current d-axis component calculation module is used to control the primary total flux linkage amplitude to obtain a reference value for the primary total current d-axis component; and to calculate the difference in primary total flux linkage amplitude. Proportion and points Calculate the reference value of the d-axis component of the primary total current. The calculation formula is: The primary total current q-axis component calculation module is used to calculate the electromagnetic thrust compensation value, achieving decoupling of d-axis and q-axis control. It then combines this with the electromagnetic thrust reference value to obtain the primary total current q-axis component reference value; based on the electromagnetic thrust compensation value... Electromagnetic thrust reference value Primary total flux linkage amplitude Calculate the reference value of the q-axis component of the primary total current. The calculation formula is: in The polar distance; The primary total current control module is used for closed-loop control of the d-axis and q-axis components of the primary total current to obtain reference values ​​for the d-axis and q-axis components of the primary voltage. The SVPWM generator performs coordinate transformation on the d-axis and q-axis components of the primary voltage to obtain reference values ​​for the α-axis and β-axis components of the primary voltage, and uses the SVPWM method to control the motor.

5. The segmented LPDSLIM control device based on primary magnetic field orientation as described in claim 4, characterized in that, The primary total current q-axis component calculation module includes: The first to (N+3) coordinate transformation modules are used to perform coordinate transformations on physical quantities such as current and voltage. The module for calculating flux linkage and transforming current coordinates in primary segments 1 to N is used to calculate flux linkage in primary segments 1 to N and to transform the coordinates of the current in primary segments 1 to N. The electromagnetic thrust compensation value calculation module is used to calculate the thrust compensation value and achieve decoupling of d-axis and q-axis control.

6. The segmented LPDSLIM control device based on primary magnetic field orientation as described in claim 4, characterized in that, The formulas for calculating the reference values ​​of the d-axis and q-axis components of the primary voltage are as follows: Difference of d-axis components of primary total current Proportion and points The primary voltage d-axis component reference value is obtained through calculation. The calculation formula is: Difference of q-axis components of primary total current Proportion and points The primary voltage q-axis component reference value is obtained through calculation. The calculation formula is: 。

Images