Modeling Method and Equipment for High-Speed ​​Maglev Dual-Three-Phase Electric Excited Linear Synchronous Motors

Abstract

This invention relates to a modeling method and device for a high-speed maglev dual-three-phase electrically excited linear synchronous motor, comprising: acquiring motor parameters, 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; calculating the stator voltage in the d-q coordinate system and the harmonic voltage in the x-y coordinate system; calculating the stator current in the d-q coordinate system and the harmonic current in the x-y coordinate system; converting the stator current in the d-q coordinate system and the harmonic current in the x-y coordinate system to the ABC coordinate system to obtain the stator current of the dual-three-phase electrically excited linear synchronous motor; calculating the thrust of the dual-three-phase electrically excited linear synchronous motor, and calculating the mover velocity and the electrical angle and electrical angular velocity of the dual-three-phase electrically excited linear synchronous motor according to the equation of motion, thereby establishing a model of the high-speed maglev dual-three-phase electrically excited linear synchronous motor. Compared with the prior art, this invention improves the modeling accuracy of the linear motor modeling method by performing simulation modeling of the dual-three-phase electrically excited linear synchronous motor.

Description

Technical Field

[0001] This invention relates to the field of motor modeling technology, and in particular to a modeling method and equipment for a high-speed maglev dual three-phase electrically excited linear synchronous motor. Background Technology

[0002] Long-stator electrically excited linear synchronous motors (LSTMs) are used in conventional high-speed maglev trains due to their higher efficiency and lack of pantograph-catenary relationship limitations. As a multiphase motor, the dual-three-phase electrically excited linear synchronous motor (DTM) has smaller single-phase capacity, higher voltage utilization, and stronger fault-tolerant operation compared to the three-phase electrically excited linear synchronous motor, thus possessing greater application value for high-speed maglev train traction systems. Modeling the dual-three-phase electrically excited linear synchronous motor requires a more accurate decoupling method for the fundamental and harmonic subspaces under its dual-three-phase stator windings. Therefore, the mathematical modeling methods for three-phase electrically excited linear synchronous motors cannot be directly applied to the modeling of dual-three-phase electrically excited linear synchronous motors, necessitating the development of more accurate modeling methods.

[0003] In the modeling method of a three-phase electrically excited linear synchronous motor, the stator voltage only needs to be transformed from the ABC three-phase stationary coordinate system to the dq two-phase rotating coordinate system. The dq-axis current is then calculated from the voltage equation, and the electromagnetic thrust, mover velocity, and electric angular velocity are obtained from the motor motion equation. However, for the modeling of a dual three-phase electrically excited linear synchronous motor, the voltage equation in the dq two-phase rotating coordinate system cannot accurately describe the coupling characteristics of the stator current and voltage in the fundamental and harmonic subspaces. The motor's current, voltage, electromagnetic thrust, and other state parameters cannot be accurately described, and the model's accuracy cannot meet the requirements. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects of the existing technology and provide a modeling method and device for a high-speed magnetic levitation dual three-phase electrically excited linear synchronous motor. By using vector space decoupling transformation from the ABC coordinate system to the dq coordinate system and the xy coordinate system as the intermediate coordinate system, the modeling accuracy of the linear motor modeling method is improved.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor, 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 by vector space decoupling transformation with the α-β coordinate system as the intermediate coordinate system.

[0009] Using the electric 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] By using 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 transformed to the ABC coordinate system to obtain the stator current of the dual three-phase electric excitation linear synchronous motor.

[0011] The thrust of the dual three-phase electrically excited linear synchronous motor is calculated from the stator current and mover excitation current in the dq coordinate system using the thrust equation. The mover speed, electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor are calculated from the motion equation, and a model of the high-speed maglev 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, mover excitation flux linkage, mover excitation current, motor pole pitch, mover mass, mover resistance, and motor damping.

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

[0015] Furthermore, the voltage equation for calculating the stator current in the dq coordinate system from the stator voltage in the dq coordinate system is as follows:

[0016]

[0017] Among them, L d and L q i represents the stator inductance in the dq coordinate system. d and i qR represents the stator current in the dq coordinate system. s ω represents the stator resistance. e L represents the electric angular velocity of the motor. fm Indicates the magnetizing flux linkage of the mover, i fm This represents the magnetizing current of the mover.

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

[0019]

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

[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 the inverse Park transformation to obtain the stator current in the α-β coordinate system.

[0023] By using vector space decoupling transformations 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, the stator current of a dual-three-phase electrically excited linear synchronous motor in the ABC coordinate system is calculated.

[0024] Furthermore, the thrust equation includes:

[0025]

[0026] Among them, L d and L q i represents the stator inductance in the dq coordinate system. d and i q L represents the stator current in the dq coordinate system. fm Indicates the magnetizing flux linkage of the mover, i fm F represents the magnetizing current of the mover. e τ represents the thrust of a 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, it implements the steps of the modeling method for a high-speed magnetic levitation dual-three-phase electrically excited linear synchronous motor as described above.

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

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. This invention is based on a modeling method for high-speed magnetic levitation linear motors with dual three-phase stator windings. It uses the α-β coordinate system as the intermediate coordinate system and improves the modeling accuracy of the linear motor modeling method by decoupling the vector space from the ABC coordinate system to the dq coordinate system and the xy coordinate system.

[0031] 2. This invention considers the impact of high-speed magnetic levitation electric excitation on a dual three-phase linear motor, and introduces a method for calculating the magnetic flux linkage of the electric excitation on the mover side, thereby further improving the modeling accuracy of the simulation model of the dual three-phase electric excitation linear synchronous motor. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating the modeling process of the simulation model of the dual three-phase electrically excited linear synchronous motor of the present invention.

[0033] Figure 2 This is a diagram of the dual three-phase stator current curves of the model established in the embodiments of the present invention;

[0034] Figure 3 The diagram shows the dual three-phase dq-axis current curves of the model established in this embodiment of the invention.

[0035] Figure 4 The electromagnetic thrust curve of the motor in the model established in the embodiment of the present invention;

[0036] Figure 5 The velocity curve of the mover in the model established in the embodiment of the present invention. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] Example 1

[0039] This embodiment aims to disclose a modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor. The specific process flowchart of the method is as follows: Figure 1 As shown, it includes:

[0040] Step S1: 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.

[0041] The parameters of a 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.

[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, the stator voltage in the dq coordinate system and the harmonic voltage in the xy coordinate system are calculated by vector space decoupling transformation from the ABC coordinate system to the dq coordinate system and the xy coordinate system with the α-β coordinate system as the intermediate coordinate system.

[0043] The vector space decoupling transformation for calculating stator voltage in the dq coordinate system and 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 These represent the output voltages of the inverter's A, B, C, D, E, and F phase bridge arms, respectively. 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 The stator voltage is represented in the dq coordinate system, θ represents the electrical angle of the dual three-phase electrically excited linear synchronous motor, and u represents the stator voltage in the dq coordinate system. 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 These represent the output voltages of the inverter's A, B, C, D, E, and F phase bridge arms, respectively. x and u y This represents the harmonic voltage in the xy coordinate system.

[0053] Step S3: Using the electric 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.

[0054] The voltage equation for calculating the stator current in the dq coordinate system is as follows:

[0055]

[0056] Among them, L d and L q i represents the stator inductance in the dq coordinate system. d and i q R represents the stator current in the dq coordinate system. s ω represents the stator resistance. e L represents the electric angular velocity of the motor. fm Indicates the magnetizing flux linkage of the mover, i fm Indicates the magnetizing current of the mover;

[0057] The voltage equation for harmonic current in the xy coordinate system, calculated from the harmonic voltage in the xy coordinate system, is as follows:

[0058]

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

[0060] Step S4: Using 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 transformed to the ABC coordinate system through vector space decoupling transformation from the dq coordinate system and the xy coordinate system, so as to obtain the stator current of the dual three-phase electrically excited linear synchronous motor.

[0061] The process of obtaining the stator current of a dual three-phase electrically excited 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 obtained by performing an inverse Park transform, which is specifically expressed as:

[0063]

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

[0065] By using vector space decoupling transformations 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, specifically as follows:

[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 These represent the stator currents of phases A, B, C, D, E, and F of a dual three-phase electrically excited linear synchronous motor, respectively.

[0070] Step S5: The thrust of the dual three-phase electrically excited linear synchronous motor is calculated from the stator current and mover excitation current in the dq coordinate system using the thrust equation. The mover 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 maglev dual three-phase electrically excited linear synchronous motor is established.

[0071] The thrust equations include:

[0072]

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

[0074] The equations of motion include:

[0075]

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

[0077] This embodiment uses a dual-three-phase electrically excited linear synchronous motor traction system with a bus voltage of 5000V and a rated current of 1800A as a basis to verify the effectiveness of the high-speed maglev dual-three-phase electrically excited linear synchronous motor modeling method proposed in this invention.

[0078] Taking the acceleration of the rotor speed from 0 m / s to 100 m / s and the load of 30 tons as an example, PI vector control with a switching frequency of 1 kHz is used 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 this invention. The dual-three-phase stator current is as follows: Figure 2 As shown, the dq-axis current is as follows Figure 3 As shown, the electromagnetic thrust of the motor is as follows Figure 4 As shown, the mover velocity is as follows Figure 5 As shown in the figure, under the conditions of motor startup and steady-state operation, the simulation modeling method for dual three-phase electrically excited linear synchronous motor proposed in this invention can accurately describe the operating states of the motor, such as stator current, electromagnetic thrust, and mover speed, and achieve accurate modeling of the dual three-phase electrically excited linear synchronous motor.

[0079] Example 2

[0080] Based on Embodiment 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 aforementioned modeling method for a high-speed maglev dual three-phase electrically excited linear synchronous motor.

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

[0082] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0083] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0084] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor, characterized in that, The method includes: 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 by vector space decoupling transformation with the α-β coordinate system as the intermediate coordinate system. Using the electric 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. By using 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 transformed to the ABC coordinate system to obtain the stator current of the dual three-phase electric excitation linear synchronous motor. The thrust of the dual three-phase electrically excited linear synchronous motor is calculated from the stator current and mover excitation current in the dq coordinate system using the thrust equation. The mover speed, electrical angle and electrical angular velocity of the dual three-phase electrically excited linear synchronous motor are calculated from the motion equation, and a model of the high-speed maglev dual three-phase electrically excited linear synchronous motor is established.

2. The modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor 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. The modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor according to claim 1, characterized in that, The vector space decoupling transformation for calculating stator voltage in the dq coordinate system and harmonic voltage in the xy coordinate system, with the α-β coordinate system as the intermediate 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. The modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor 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 from the stator voltage in the α-β coordinate system through the Park transformation.

5. The modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor according to claim 1, characterized in that, The voltage equation for calculating the stator current in the dq coordinate system from the stator voltage is as follows: Among them, L d and L q i represents the stator inductance in the dq coordinate system. d and i q R represents the stator current in the dq coordinate system. s ω represents the stator resistance. e L represents the electric angular velocity of the motor. fm Indicates the magnetizing flux linkage of the mover, i fm This represents the magnetizing current of the mover.

6. The modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor according to claim 1, characterized in that, The voltage equation for calculating the harmonic current in the xy coordinate system from the harmonic voltage in the xy coordinate system is as follows: Among them, R s L represents the stator resistance. z i represents the stator inductance in the dq coordinate system. x and i y Let u represent the harmonic current in the xy coordinate system, respectively. x and u y These represent harmonic voltages in the xy coordinate system, respectively.

7. The modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor according to claim 1, characterized in that, The process of obtaining the stator current of a dual three-phase electrically excited 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 the inverse Park transformation to obtain the stator current in the α-β coordinate system. By using vector space decoupling transformations 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, the stator current of a dual-three-phase electrically excited linear synchronous motor in the ABC coordinate system is calculated.

8. A modeling method for a high-speed maglev dual-three-phase electrically excited linear synchronous motor according to claim 1, characterized in that, The thrust equations include: Among them, L d and L q i represents the stator inductance in the dq coordinate system. d and i q L represents the stator current in the dq coordinate system. fm Indicates the magnetizing flux linkage of the mover, i fm F represents the magnetizing current of the mover. e This indicates the thrust of a dual-phase 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, it implements the steps of the high-speed maglev dual-three-phase electrically excited linear synchronous motor modeling method as described in any one of claims 1-8.

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

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