Modeling method and device for high-speed maglev double-three-phase electro-magnetic linear synchronous motor

Abstract

The invention relates to a modeling method and device for a high-speed magnetic levitation double-three-phase electro-magnetic linear synchronous motor. The method comprises the steps that motor parameters, the output voltage of a six-phase bridge arm of an inverter at the current moment and the electrical angle and the electrical angular speed of the double-three-phase electro-magnetic linear synchronous motor at the last moment are obtained; calculating a stator voltage under a d-q coordinate system and a harmonic voltage under an x-y coordinate system; calculating a stator current under a d-q coordinate system and a harmonic current under an x-y coordinate system; the stator current under the d-q coordinate system and the harmonic current under the x-y coordinate system are converted to be under the ABC coordinate system, and the stator current of the dual three-phase electro-magnetic linear synchronous motor is obtained; the thrust of the dual three-phase electro-magnetic linear synchronous motor is calculated, the motion speed of the rotor and the electrical angle and the electrical angular speed of the dual three-phase electro-magnetic linear synchronous motor are calculated according to the motion equation, and a model of the high-speed magnetic levitation dual three-phase electro-magnetic linear synchronous motor is established. Compared with the prior art, simulation modeling is carried out on the dual three-phase electro-magnetic linear synchronous motor, and the modeling precision of the linear motor modeling method is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor modeling, and in particular to a high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method and equipment. Background Art

[0002] Long-stator electrically excited linear synchronous motors are used in conventional high-speed maglev trains because of their higher efficiency and freedom from bow-net restrictions. As a multi-phase motor, the dual three-phase electrically excited linear synchronous motor has a smaller single-phase capacity, higher voltage utilization, and stronger fault-tolerant operation capability than the three-phase electrically excited linear synchronous motor. Therefore, it has a higher application value for high-speed maglev train traction systems. For the modeling of dual three-phase electrically excited linear synchronous motors, a more accurate decoupling method is required for the fundamental subspace and harmonic subspace under the dual three-phase stator windings. Therefore, the mathematical modeling method of the three-phase electrically excited linear synchronous motor cannot be directly applied to the modeling of dual three-phase electrically excited linear synchronous motors. A more accurate dual three-phase electrically excited linear synchronous motor modeling method needs to be developed.

[0003] In the three-phase electrically excited linear synchronous motor modeling method, the stator voltage only needs to be converted from the ABC three-phase stationary coordinate system to the dq two-phase rotating coordinate system, and the dq axis current is calculated by the voltage equation, and then the state parameters such as electromagnetic thrust, rotor motion speed, and electrical angular velocity are obtained through the motor motion equation. However, for the modeling of dual three-phase electrically excited linear synchronous motors, the voltage equation in the dq two-phase rotating coordinate system cannot accurately describe the coupling characteristics of the stator current and voltage of the dual three-phase electrically excited linear synchronous motor in the fundamental subspace and harmonic subspace, and the motor's current, voltage, electromagnetic thrust and other state parameters cannot be accurately described, and the accuracy of the model cannot meet the requirements. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method and equipment, which improves the modeling accuracy of the linear motor modeling method by means of vector space decoupling transformation from the ABC coordinate system to the dq coordinate system and the α-β coordinate system of the xy coordinate system as the intermediate coordinate system.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method, the method comprising:

[0007] Obtain the parameters of the dual three-phase electrically excited linear synchronous motor, the output voltage of the six-phase bridge arm of the inverter at the current moment, and the electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor at the previous moment;

[0008] Using the output voltage of the six-phase bridge arm of the inverter at the current moment and the electrical angle of the dual three-phase electrically excited linear synchronous motor at the previous moment, the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system are calculated through the vector space decoupling transformation of the α-β coordinate system as the intermediate coordinate system;

[0009] Using the electrical angular velocity and parameters of the dual three-phase electrically excited linear synchronous motor at the previous moment, the stator current in the dq coordinate system and the harmonic current in the xy coordinate system are calculated from the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system through the voltage equation;

[0010] Through the vector space decoupling transformation with the α-β coordinate system as the intermediate coordinate system, the stator current in the dq coordinate system and the harmonic current in the xy coordinate system are converted to the ABC coordinate system to obtain the stator current of the dual three-phase electrically excited linear synchronous motor.

[0011] Through the thrust equation, the thrust of the dual three-phase electrically excited linear synchronous motor is calculated from the stator current and the mover excitation current in the dq coordinate system, and the mover movement speed and the electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor are calculated according to the motion equation, and a model of a high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor is established.

[0012] Furthermore, the parameters of the dual three-phase electrically excited linear synchronous motor include stator inductance, stator resistance, rotor excitation flux linkage, rotor excitation current, motor pole pitch, rotor mass, rotor resistance and motor damping.

[0013] Furthermore, the vector space decoupling transformation of the α-β coordinate system as the intermediate coordinate system for calculating the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system includes the transformation from the ABC coordinate system to the α-β coordinate system, the transformation from the α-β coordinate system to the dq coordinate system, and the transformation from the ABC coordinate system to the xy coordinate system.

[0014] Furthermore, the transformation from the α-β coordinate system to the dq coordinate system includes obtaining the stator voltage in the dq coordinate system by Park transformation of the stator voltage in the α-β coordinate system.

[0015] Furthermore, the voltage equation of the stator current in the dq coordinate system is calculated from the stator voltage in the dq coordinate system:

[0016]

[0017] Among them, L d and L q represents the stator inductance in the dq coordinate system, i d and i qrepresents the stator current in the dq coordinate system, R s is the stator resistance, ω e Indicates the motor electrical angular velocity, L fm represents the rotor excitation flux, i fm Represents the rotor excitation current.

[0018] Furthermore, the voltage equation of the harmonic current in the xy coordinate system is calculated from the harmonic voltage in the xy coordinate system:

[0019]

[0020] Among them, L z They represent the stator inductance in the dq coordinate system, i x and i y They respectively represent the harmonic current in the xy coordinate system.

[0021] Furthermore, the process of obtaining the stator current of the dual three-phase electrically excited linear synchronous motor includes:

[0022] Using the stator current in the dq coordinate system and the harmonic current in the xy coordinate system, the stator current in the dq coordinate system is subjected to Park inverse transformation to obtain the stator current in the α-β coordinate system;

[0023] The stator current of the dual three-phase electrically excited linear synchronous motor in the ABC coordinate system is calculated by vector space decoupling transformation from the α-β coordinate system to the ABC coordinate system and from the xy coordinate system to the ABC coordinate system, with the α-β coordinate system as the intermediate coordinate system.

[0024] Furthermore, the thrust equation includes:

[0025]

[0026] Among them, L d and L q represents the stator inductance in the dq coordinate system, i d and i q represents the stator current in the dq coordinate system, L fm represents the rotor excitation flux, i fm Indicates the rotor excitation current, F e It represents the thrust of dual three-phase electrically excited linear synchronous motor, and τ represents the motor pole pitch.

[0027] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method as described above are implemented.

[0028] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method as described above.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention designs a high-speed magnetic levitation linear motor modeling method based on dual three-phase stator windings, takes the α-β coordinate system as the intermediate coordinate system, and improves the modeling accuracy of the linear motor modeling method through vector space decoupling transformation from the ABC coordinate system to the dq coordinate system and the xy coordinate system;

[0031] 2. The present invention takes into account the influence of high-speed magnetic levitation electric excitation on the dual three-phase linear motor, introduces a mover-side electric excitation flux calculation method, and further improves the modeling accuracy of the dual three-phase electric excitation linear synchronous motor simulation model. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A modeling flow chart of a dual three-phase electrically excited linear synchronous motor simulation model of the present invention;

[0033] Figure 2 A dual three-phase stator current curve diagram of the model built according to an embodiment of the present invention;

[0034] Figure 3 A dual three-phase dq axis current curve diagram of the model built according to an embodiment of the present invention;

[0035] Figure 4 The electromagnetic thrust curve of the motor modeled according to the embodiment of the present invention;

[0036] Figure 5 This is the mover velocity curve of the model built in the embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] Example 1

[0039] This embodiment intends to disclose a high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method. The specific process block diagram of the method is as follows: Figure 1 As shown, including:

[0040] Step S1, obtaining the parameters of the dual three-phase electrically excited linear synchronous motor, the output voltage of the six-phase bridge arm of the inverter at the current moment, and the electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor at the previous moment.

[0041] The parameters of the dual three-phase electrically excited linear synchronous motor include stator inductance, stator resistance, rotor excitation flux, rotor excitation current, motor pole pitch, rotor mass, rotor resistance and motor damping.

[0042] Step S2, using the output voltage of the six-phase bridge arm of the inverter at the current moment and the electrical angle of the dual three-phase electrically excited linear synchronous motor at the previous moment, by taking the α-β coordinate system as the intermediate coordinate system, the vector space decoupling transformation of the ABC coordinate system to the dq coordinate system and the xy coordinate system, calculates the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system.

[0043] The vector space decoupling transformation for calculating the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system includes the transformation from the ABC coordinate system to the α-β coordinate system, the transformation from the α-β coordinate system to the dq coordinate system, and the transformation from the ABC coordinate system to the xy coordinate system;

[0044] The transformation formula from the ABC coordinate system to the α-β coordinate system is:

[0045]

[0046] Among them, u A 、u B 、u C 、u D 、u E and u F They represent the output voltages of the inverter A phase, B phase, C phase, D phase, E phase and F phase bridge arms respectively, u α and u β represents the stator voltage in the α-β coordinate system;

[0047] The transformation from the α-β coordinate system to the dq coordinate system is the Park transformation, and the transformation formula is:

[0048]

[0049] Among them, u d and u q represents the stator voltage in the dq coordinate system, θ represents the electrical angle of the dual three-phase electric excitation linear synchronous motor, and u α and u β represents the stator voltage in the α-β coordinate system;

[0050] Transformation from ABC coordinate system to xy coordinate system

[0051]

[0052] Among them, u A 、u B 、u C 、u D 、u E and u F They represent the output voltages of the inverter A phase, B phase, C phase, D phase, E phase and F phase bridge arms respectively, u x and u y Represents the harmonic voltage in xy coordinates.

[0053] Step S3, using the electrical angular velocity and parameters of the dual three-phase electrically excited linear synchronous motor at the previous moment, through the voltage equation, the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system are calculated to obtain the stator current in the dq coordinate system and the harmonic current in the xy coordinate system.

[0054] The stator voltage in the dq coordinate system is calculated to obtain the voltage equation of the stator current in the dq coordinate system:

[0055]

[0056] Among them, L d and L q represents the stator inductance in the dq coordinate system, i d and i q represents the stator current in the dq coordinate system, R s is the stator resistance, ω e Indicates the motor electrical angular velocity, L fm represents the rotor excitation flux, i fm It represents the excitation current of the mover;

[0057] The voltage equation of the harmonic current in the xy coordinate system is calculated from the harmonic voltage in the xy coordinate system:

[0058]

[0059] Among them, l z They represent the stator inductance in the dq coordinate system, i x and i y They respectively represent the harmonic current in the xy coordinate system.

[0060] Step S4, taking the α-β coordinate system as the intermediate coordinate system, through the vector space decoupling transformation from the dq coordinate system and the xy coordinate system to the ABC coordinate system, the stator current in the dq coordinate system and the harmonic current in the xy coordinate system are converted to the ABC coordinate system to obtain the stator current of the dual three-phase electrically excited linear synchronous motor.

[0061] The process of obtaining the stator current of the dual three-phase electric excitation linear synchronous motor includes:

[0062] Using the stator current in the dq coordinate system and the harmonic current in the xy coordinate system, the stator current in the dq coordinate system is subjected to Park inverse transformation to obtain the stator current in the α-β coordinate system, which is specifically expressed as:

[0063]

[0064] Among them, i α and i β represents the stator current in the α-β coordinate system;

[0065] Through the vector space decoupling transformation from the α-β coordinate system to the ABC coordinate system and from the xy coordinate system to the ABC coordinate system, the stator current of the dual three-phase electrically excited linear synchronous motor in the ABC coordinate system is calculated, which is specifically expressed as:

[0066] i A =i α +i x

[0067]

[0068] i F =-i β -i y

[0069] Among them, i A 、i B 、i C 、i D 、i E and i F They respectively represent the stator currents of phase A, phase B, phase C, phase D, phase E and phase F of the dual three-phase electrically excited linear synchronous motor.

[0070] Step S5, through the thrust equation, the thrust of the dual three-phase electrically excited linear synchronous motor is calculated from the stator current and the mover excitation current in the dq coordinate system, and the mover movement speed and the electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor are calculated according to the motion equation, and a model of the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor is established.

[0071] The thrust equation includes:

[0072]

[0073] Among them, F e represents the electromagnetic thrust of the motor, and τ represents the motor pole pitch.

[0074] The equations of motion include:

[0075]

[0076] Where, M represents the mass of the mover, F z represents the rotor resistance, and B represents the motor damping.

[0077] This embodiment is based on a dual three-phase electrically excited linear synchronous motor traction system with a bus voltage of 5000V and a rated current of 1800A to verify the effectiveness of the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method of the present invention.

[0078] Taking the working condition where the rotor speed is accelerated from 0m / s to 100m / s and the load is 30 tons as an example, PI vector control is adopted and the switching frequency is 1kHz to verify the accuracy of the dual three-phase electrically excited linear synchronous motor model built by the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method of the present invention. The dual three-phase stator current is as follows Figure 2 As shown, the dq axis current is Figure 3 As shown, the electromagnetic thrust of the motor is Figure 4 As shown, the rotor speed is Figure 5 As shown in the figure, under the motor startup and steady-state operation conditions, the dual three-phase electrically excited linear synchronous motor simulation modeling method proposed in the present invention can accurately describe the stator current, electromagnetic thrust, rotor running speed and other operating states during motor operation, and realize accurate modeling of the dual three-phase electrically excited linear synchronous motor.

[0079] Example 2

[0080] Based on Example 1, this embodiment provides an electronic device, including: one or more processors and a memory, wherein the memory stores one or more programs, and the one or more programs include instructions for executing the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method as described above.

[0081] At the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above-mentioned high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method. Of course, in addition to the software implementation method, the present invention does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0082] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0083] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0084] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method, characterized in that: The method comprises: Obtain the parameters of the dual three-phase electrically excited linear synchronous motor, the output voltage of the six-phase bridge arm of the inverter at the current moment, and the electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor at the previous moment; Using the output voltage of the six-phase bridge arm of the inverter at the current moment and the electrical angle of the dual three-phase electrically excited linear synchronous motor at the previous moment, the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system are calculated through the vector space decoupling transformation of the α-β coordinate system as the intermediate coordinate system; Using the electrical angular velocity and parameters of the dual three-phase electrically excited linear synchronous motor at the previous moment, the stator current in the dq coordinate system and the harmonic current in the xy coordinate system are calculated from the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system through the voltage equation; Through the vector space decoupling transformation with the α-β coordinate system as the intermediate coordinate system, the stator current in the dq coordinate system and the harmonic current in the xy coordinate system are converted to the ABC coordinate system to obtain the stator current of the dual three-phase electrically excited linear synchronous motor. Through the thrust equation, the thrust of the dual three-phase electrically excited linear synchronous motor is calculated from the stator current and the mover excitation current in the dq coordinate system, and the mover movement speed and the electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor are calculated according to the motion equation, and a model of a high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor is established.

2. A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 1, characterized in that: The parameters of the dual three-phase electrically excited linear synchronous motor include stator inductance, stator resistance, mover excitation flux linkage, mover excitation current, motor pole pitch, mover mass, mover resistance and motor damping.

3. A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 1, characterized in that: The vector space decoupling transformation of the α-β coordinate system as the intermediate coordinate system for calculating the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system includes the transformation from the ABC coordinate system to the α-β coordinate system, the transformation from the α-β coordinate system to the dq coordinate system and the transformation from the ABC coordinate system to the xy coordinate system.

4. A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 3, characterized in that: The transformation from the α-β coordinate system to the dq coordinate system includes obtaining the stator voltage in the dq coordinate system by Park transformation of the stator voltage in the α-β coordinate system.

5. The high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 1 is characterized in that: The voltage equation of the stator current in the dq coordinate system calculated from the stator voltage in the dq coordinate system is: Among them, L d and L q represents the stator inductance in the dq coordinate system, i d and i q represents the stator current in the dq coordinate system, R s is the stator resistance, ω e Indicates the motor electrical angular velocity, L fm represents the rotor excitation flux, i fm Represents the rotor excitation current.

6. A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 1, characterized in that: The voltage equation of the harmonic current in the xy coordinate system calculated from the harmonic voltage in the xy coordinate system is: Among them, R s Indicates stator resistance, L z represents the stator inductance in the dq coordinate system, i x and i y They represent the harmonic current in the xy coordinate system, u x and u y They respectively represent the harmonic voltage in the xy coordinate system.

7. A high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 1, characterized in that: The process of obtaining the stator current of the dual three-phase electric excitation linear synchronous motor includes: Using the stator current in the dq coordinate system and the harmonic current in the xy coordinate system, the stator current in the dq coordinate system is subjected to Park inverse transformation to obtain the stator current in the α-β coordinate system; The stator current of the dual three-phase electrically excited linear synchronous motor in the ABC coordinate system is calculated by vector space decoupling transformation from the α-β coordinate system to the ABC coordinate system and from the xy coordinate system to the ABC coordinate system, with the α-β coordinate system as the intermediate coordinate system.

8. The high-speed magnetic levitation dual three-phase electric excitation linear synchronous motor modeling method according to claim 1 is characterized in that: The thrust equation includes: Among them, L d and L q represents the stator inductance in the dq coordinate system, i d and i q represents the stator current in the dq coordinate system, L fm represents the rotor excitation flux, i fm Indicates the rotor excitation current, F e Indicates the thrust of the dual three-phase electrically excited linear synchronous motor, τ Indicates the motor pole pitch.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method as described in any one of claims 1-8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor modeling method as described in any one of claims 1 to 8 are implemented.

Images