A method for estimating the excitation current of a main motor of a multi-stage hybrid excitation starting power generation system
Patent Information
- Application Number
- CN202611044925.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-14
- Publication Date
- 2026-10-27
AI Technical Summary
然而，励磁机在发电阶段采用直流励磁方式，这会导致对励磁机侧电气量的积分运算中出现直流偏置问题，使得在发电阶段无法从励磁机侧准确估算主电机励磁电流
本发明提出的一种多级式混合励磁起动发电系统主电机励磁电流在线估算方法，首先建立混合励磁主电机的轴主磁化电感饱和模型和永磁体等效励磁电流模型，利用主电机定子电压、电流及转速等可测物理量与电压方程，通过带遗忘因子的递推最小二乘法在线估算主电机的
轴磁链。其次，结合所建数学模型及磁链方程，推导出主电机励磁电流的估算关系式，并代入
轴磁链估算结果进行求解，从而获得混合励磁主电机励磁电流的估算值。所提方法通过主电机侧电气量在线估算
轴磁链，并基于主电机的混合励磁模型将永磁磁链与电励磁磁链解耦，以实现主电机励磁电流的在线估算。该方法可实现混合励磁主电机励磁电流的在线估算，有助于提升主电机的运行性能。
Smart Images
Figure CN122993535A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of motor parameter identification methods, and relates to an online estimation method for the excitation current of the main motor in a multi-stage hybrid excitation starting and generating system. Background Technology
[0002] Multi-electric / all-electric aircraft technology is a crucial technological path for promoting green aviation development and improving aircraft performance, and has become a core trend in aircraft development. As a vital component of this technology, the aircraft starter-generator system, based on the reversible operation principle of an electric motor, achieves the dual functions of engine starting and power supply to onboard equipment. This reduces the system's size and weight, improves its maintainability and integration, and is a key piece of equipment supporting the multi-electric transformation of aircraft. Multi-stage brushless synchronous starter-generator systems, with their high reliability, long service life, and excellent power generation quality over a wide speed range, have become the preferred choice for starter-generator systems on large aircraft. A schematic diagram of the multi-stage hybrid excitation starter-generator system under power generation conditions is shown below. Figure 1 As shown, the exciter provides the excitation current to the main motor through a rotating rectifier. This current information cannot be directly measured, but control strategies such as minimum loss control and fault-tolerant control of the main motor all rely on this information. Therefore, realizing online estimation of the excitation current of the hybrid excitation main motor can provide accurate excitation current information for the main motor's control strategy, which helps to improve the operating performance of the main motor.
[0003] In a multi-stage hybrid excitation starting and generating system, the exciter provides excitation current to the main motor through a rotating rectifier. Therefore, this current information can be estimated online based on either the electrical quantities on the exciter side or the electrical quantities on the main motor side. However, the exciter uses DC excitation during the generation phase, which leads to a DC bias problem in the integration calculation of the electrical quantities on the exciter side, making it impossible to accurately estimate the main motor excitation current from the exciter side during the generation phase. Furthermore, while the main motor in this system uses a hybrid excitation form of "electric excitation + permanent magnet excitation," which improves the system's reliability and fault tolerance, its complex magnetic circuit and inductance characteristics render traditional online excitation current estimation methods inapplicable, making it difficult to accurately estimate the excitation current from the main motor side. To address these issues, this invention proposes a method for estimating the main motor excitation current based on a hybrid excitation model. This method utilizes physical quantities such as voltage, current, and electric angular velocity on the main motor side, and estimates the main motor's excitation current online using a recursive least squares (RLS) method with a forgetting factor. The shaft flux linkage is used, and the relevant equations about the excitation current are constructed and solved in conjunction with the established hybrid excitation main motor model, thereby realizing the online estimation of the excitation current of the main motor. Summary of the Invention
[0004] Technical problems to be solved To overcome the shortcomings of existing technologies, this invention proposes an online estimation method for the excitation current of the main motor in a multi-stage hybrid excitation starting and generating system. Specifically, for the online identification of the excitation current of the main motor in a multi-stage hybrid excitation starting and generating system, the main technical problem this invention aims to solve is: online estimation of the excitation current of the hybrid excitation main motor based on measurable physical quantities on the main motor side. Shaft flux linkage and excitation current.
[0005] Technical solution A method for online estimation of the main motor excitation current in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model is characterized by the following: The multi-stage hybrid excitation starting and generating system includes a coaxially mounted exciter and a hybrid excitation dual three-phase main motor, a rotating rectifier that rotates synchronously with the shaft, and a generator controller; wherein, the generator controller has two built-in power conversion circuits, which are used to regulate the excitation current of the exciter and the armature current of the main motor, respectively; when the system is operating in the generation stage, the generator controller controls the excitation current of the main motor by adjusting the excitation current of the exciter, and realizes its voltage stabilization and generation control through the fully controlled rectifier circuit on the output side of the main motor, so that the system can stably output high-voltage DC power to the airborne equipment. The steps of the online estimation method for the main motor excitation current are as follows: Step 1: Set up the main motor Shaft main magnetizing inductor With the main motor direct axis current quadrature axis current and excitation winding current The relationship is denoted as ,in , The ratio of the number of effective turns in the main motor excitation winding to the number of effective turns in each phase of the stator winding. , , To and The relevant fitting coefficients; Establish the equivalent excitation current of the permanent magnet of the main motor With the main motor direct axis current and excitation winding current The relationship is denoted as ,in and The coefficients of the first-order fitting expression; Step 2: Based on rotor position information The stator winding phase current By sequentially performing vector space decoupling transformation and Park coordinate transformation, the direct-axis current of the main motor is obtained. and cross-axis current ; Step 3: Utilize the quadrature axis voltage of the main motor stator winding quadrature axis current and speed Based on the voltage equation of the hybrid excitation main motor, the voltage of the main motor is estimated online using the recursive least squares method with a forgetting factor. Estimated value of shaft flux ; The specific process is as follows: Step 3.1: Calculate the quadrature-axis current of the main motor Regarding time The derivative, i.e. , recorded as ,in Acquired for the current sampling period shaft current value, Acquired from the previous sampling period shaft current value, The sampling period is defined as follows: and calculate , recorded as ,in Main motor stator phase resistance value; define vector , , ,in and These are the estimates of the quadrature-axis inductance and direct-axis flux linkage of the main motor, respectively. Step 3.2: Calculation , recorded as ,in Define matrix Let be the covariance matrix at the current time, with initial values of . ,in The initial value is selected. Given a two-dimensional identity matrix; calculate , recorded as ,in The forgetting factor in recursive least squares; calculate That is, update the covariance matrix; calculate This will give you the current moment of the main motor. Estimated value of shaft flux ; Step 4: Based on the flux linkage equation of the hybrid excitation main motor and the mathematical model established in Step 1, combined with the direct-axis current of the main motor obtained in Step 2... The main motor obtained in step 3 Shaft flux estimate Derivation of the excitation current of the main motor The estimation formula is used to obtain the estimated value of the main motor excitation current.
[0006] The specific process is as follows: Step 4.1: Establish simultaneous magnetic flux linkage equations and mathematical model:
[0007] in Main motor Axial inductance, derived about A cubic equation in one variable; calculate , recorded as ,in Leakage inductance of main motor stator winding; calculation , recorded as ;calculate , recorded as ;calculate , recorded as ;calculate , recorded as ; Step 4.2: Solve the equation And by the discriminant, we know that the equation has only a single real solution, denoted as . ;Depend on The estimation formula for the excitation current of the master motor is as follows: ; This is the estimated value of the excitation current of the main motor.
[0008] The main motor Shaft main magnetizing inductor With the main motor direct axis current quadrature axis current and excitation winding current The relationship between the main motor permanent magnet and the equivalent excitation current of the main motor permanent magnet. With the main motor direct axis current and excitation winding current The relationship is established using the finite element simulation results of the hybrid excitation main motor and a data fitting method.
[0009] The rotor position information and rotational speed The rotor position and speed information of the main motor are collected through a rotary transformer and recorded as follows: and .
[0010] stator winding phase current The stator winding phase current of the main motor is measured by a current sensor and denoted as . .
[0011] Step 1 , , To and The calculation of the relevant fitting coefficients, , and They are respectively , and In the indivual Values within the segmented interval:
[0012] and coefficient In the indivual First-order fitting coefficients within segmented intervals; establishing the equivalent excitation current of the main motor permanent magnet. With the main motor direct axis current and excitation winding current The relationship is denoted as ,in and The coefficients are those of the first-order fitting expression.
[0013] Step 2 involves the stator winding phase current By sequentially performing vector space decoupling transformation and Park coordinate transformation, the direct-axis current of the main motor is obtained. and cross-axis current Specifically: ,in: Rotor position information, .
[0014] An electronic device on an electric motor is characterized by comprising a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the steps of the online estimation method for the excitation current of the main motor of a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model.
[0015] A readable storage medium, characterized in that a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, it implements the steps of the online estimation method for the excitation current of the main motor of a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model.
[0016] A computer program product is characterized by including computer-executable instructions, which, when executed, are used to implement the online estimation method for the excitation current of the main motor of the multi-stage hybrid excitation starting and generating system based on the hybrid excitation model.
[0017] Beneficial effects This invention proposes an online estimation method for the excitation current of the main motor in a multi-stage hybrid excitation starting and generating system. First, it establishes the... The model uses a saturation model of the main magnetization inductance and an equivalent excitation current model of the permanent magnet. It then utilizes measurable physical quantities such as the stator voltage, current, and speed of the main motor, along with voltage equations, to online estimate the main motor's [voltage / current] using a recursive least squares method with a forgetting factor. Shaft flux linkage. Secondly, combining the established mathematical model and flux linkage equations, the estimation formula for the main motor excitation current is derived and substituted into... The shaft flux linkage estimation results are used to solve for the estimated value of the excitation current of the hybrid excitation main motor. The proposed method estimates the electrical quantities on the main motor side online. This method employs a shaft flux linkage model and decouples the permanent magnet flux linkage from the electrically excited flux linkage based on a hybrid excitation model of the main motor, thereby enabling online estimation of the main motor's excitation current. This approach facilitates online estimation of the excitation current of a hybrid excitation main motor, contributing to improved main motor performance. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of a multi-stage hybrid excitation starting and generating system under power generation conditions. Figure 2 This is a flowchart of the online estimation method for the excitation current of the hybrid excitation main motor proposed in this invention; Figure 3 The phase current waveforms of stator A, B, X, and Y phase windings when the main motor is operating at its rated generating power; Figure 4 The phase current waveforms of stator A, B, X, and Y phase windings when the main motor is operating at half-load power generation; Figure 5 The main motor operates at its rated generating power. Actual value of shaft flux and estimated value The waveform; Figure 6 The main motor operates at half-load power generation. Actual value of shaft flux and estimated value The waveform; Figure 7 Actual value of main motor excitation current when the main motor is operating at rated generating power and estimated value The waveform; Figure 8 Actual value of main motor excitation current when the main motor is operating at half load power and estimated value The waveform. Detailed Implementation
[0019] The present invention will now be further described in conjunction with the embodiments and accompanying drawings. The present invention includes, but is not limited to, the following embodiments: This embodiment establishes a simulation model of a multi-stage hybrid excitation starting and generating system and an online estimation module for the main motor excitation current.
[0020] The multi-stage hybrid excitation starting and generating system mainly includes a coaxially mounted exciter and a hybrid excitation dual three-phase main motor, a rotating rectifier that rotates synchronously with the shaft, and a generator controller. The generator controller incorporates two sets of power conversion circuits, used to regulate the excitation current of the exciter and the armature current of the main motor, respectively. When the system is operating in the generation phase, the generator controller controls the excitation current of the main motor by adjusting the exciter's excitation current, and achieves voltage stabilization and generation control through the fully controlled rectifier circuit on the output side of the main motor, enabling the system to stably output high-voltage direct current to the onboard equipment.
[0021] The flowchart of the main motor excitation current online estimation module is as follows: Figure 2 As shown. The following section uses the DC bus output voltage during the system's power generation phase. Operating speed Main motor excitation current And the main motors operate at their rated generating power. and half-load power generation Taking two operating conditions as examples, the proposed online estimation method for the main motor excitation current is explained. The specific steps included in the embodiment are as follows: Step 1: Using the finite element simulation results of the hybrid excitation main motor, establish the main motor model using the data fitting method. Shaft main magnetizing inductor With the main motor direct axis current quadrature axis current and excitation winding current The relationship is denoted as ,in , The ratio of the number of effective turns in the main motor excitation winding to the number of effective turns in each phase of the stator winding. , , and They are respectively , and In the indivual The values within the segmented interval and coefficient In the indivual First-order fitting coefficients within segmented intervals; establishing the equivalent excitation current of the main motor permanent magnet. With the main motor direct axis current and excitation winding current The relationship is denoted as ,in and The coefficients of the first-order fitting expression; Step 2: Collect the rotor position and speed information of the main motor through a rotary transformer, and record them as follows: and The stator winding phase current of the main motor is measured by a current sensor and recorded as follows: The waveforms of the phase currents in the A, B, X, and Y phase windings of the main motor stator are as follows: Figure 3 and Figure 4 As shown. Based on the collected rotor position information The stator winding phase current By sequentially performing vector space decoupling transformation and Park coordinate transformation, the direct-axis current of the main motor is obtained. and cross-axis current ; The stator winding phase current By sequentially performing vector space decoupling transformation and Park coordinate transformation, the direct-axis current of the main motor is obtained. and cross-axis current Specifically: ,in: Rotor position information, .
[0022] Step 3: Estimate the main motor's... Axial flux Specifically: 3.1 Calculate the quadrature-axis current of the main motor Regarding time The derivative, i.e. , recorded as ,in Acquired for the current sampling period shaft current value, Acquired from the previous sampling period shaft current value, The sampling period is defined as follows: and calculate , recorded as ,in Main motor stator phase resistance value; define vector , , ,in and These are the estimates of the quadrature-axis inductance and direct-axis flux linkage of the main motor, respectively. In the embodiment, calculation ,Pick , and calculate , to obtain vector , .
[0023] (3.2) Calculation ,Pick ;calculate , recorded as ,in ,Pick , ;calculate , recorded as ;in The forgetting factor in recursive least squares; calculate That is, update the covariance matrix; and calculate ,and That is, to obtain the current moment of the main motor Estimated value of shaft flux Main motor Actual value of shaft flux and estimated value The waveform is as follows Figure 5 and Figure 6 As shown.
[0024] Step 4: Based on the flux linkage equation of the hybrid excitation main motor and the mathematical model established in Step 1, combined with the direct-axis current of the main motor obtained in Step 2... The main motor obtained in step 3 Shaft flux estimate Derivation of the excitation current of the main motor The estimation formula is used to achieve online estimation of the excitation current and determine the estimated value of the main motor excitation current. Specifically: (4.1) Combine the flux linkage equations of the hybrid excitation main motor with the established mathematical model.
[0025] in Main motor Axial inductance, derived about Calculate the cubic equation in one variable. , recorded as ,in Leakage inductance of main motor stator winding; calculation , recorded as ;calculate , recorded as ;calculate , recorded as ;calculate , recorded as .
[0026] (4.2) Solve the equation And by the discriminant, we know that the equation has only a single real solution, denoted as . .Depend on The estimation formula for the main motor excitation current can be obtained as follows:
[0027] Combining the above expression and the main motor direct-axis current obtained in step 2 This allows us to obtain an estimated value of the main motor's excitation current. Actual value of main motor excitation current and estimated value The waveform is as follows Figure 7 and Figure 8 As shown.
[0028] Table 1: The proposed method for the main motor Summary of estimation results for shaft flux linkage and excitation current
[0029] The method proposed in this invention combines a mathematical model of the main motor to estimate the main motor's... The shaft flux linkage was determined, and the estimation formula for the main motor excitation current was derived, enabling online estimation of the excitation current of the hybrid excitation main motor. Based on... Figures 5 to 8 The simulation waveform shown demonstrates the proposed method for the main motor. The estimation results of shaft flux linkage and excitation current are shown in Table 1. The results show that the proposed method can achieve accurate estimation and rapid tracking of excitation current under both steady-state and abrupt change conditions of excitation current in hybrid excitation main motors.
Claims
1. A method for online estimation of the excitation current of the main motor in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model, characterized in that: The multi-stage hybrid excitation starting and generating system includes a coaxially mounted exciter and a hybrid excitation dual three-phase main motor, a rotating rectifier that rotates synchronously with the shaft, and a generator controller. The generator controller has two built-in power conversion circuits, used to regulate the excitation current of the exciter and the armature current of the main motor, respectively. When the system is operating in the generation phase, the generator controller controls the excitation current of the main motor by adjusting the exciter's excitation current, and achieves voltage stabilization and generation control through the fully controlled rectifier circuit on the output side of the main motor, enabling the system to stably output high-voltage DC power to the onboard equipment. The steps for online estimation of the main motor excitation current are as follows: Step 1: Set up the main motor Shaft main magnetizing inductor With the main motor direct axis current quadrature axis current and excitation winding current The relationship is denoted as ,in , The ratio of the number of effective turns in the main motor excitation winding to the number of effective turns in each phase of the stator winding. , , To and The relevant fitting coefficients; Establish the equivalent excitation current of the permanent magnet of the main motor With the main motor direct axis current and excitation winding current The relationship is denoted as ,in and The coefficients of the first-order fitting expression; Step 2: Based on rotor position information The stator winding phase current By sequentially performing vector space decoupling transformation and Park coordinate transformation, the direct-axis current of the main motor is obtained. and cross-axis current ; Step 3: Utilize the quadrature axis voltage of the main motor stator winding quadrature axis current and speed Based on the voltage equation of the hybrid excitation main motor, the voltage of the main motor is estimated online using the recursive least squares method with a forgetting factor. Estimated value of shaft flux ; The specific process is as follows: Step 3.1: Calculate the quadrature-axis current of the main motor Regarding time The derivative, i.e. , recorded as ,in Acquired for the current sampling period shaft current value, Acquired from the previous sampling period shaft current value, The sampling period is defined as follows: and calculate , recorded as ,in Main motor stator phase resistance value; define vector , , ,in and These are the estimates of the quadrature-axis inductance and direct-axis flux linkage of the main motor, respectively. Step 3.2: Calculation , recorded as ,in Define matrix Let be the covariance matrix at the current time, with initial values of . ,in The initial value is selected. Given a two-dimensional identity matrix; calculate , recorded as ,in The forgetting factor in recursive least squares; calculate That is, update the covariance matrix; calculate This will give you the current moment of the main motor. Estimated value of shaft flux ; Step 4: Based on the flux linkage equation of the hybrid excitation main motor and the mathematical model established in Step 1, combined with the direct-axis current of the main motor obtained in Step 2... The main motor obtained in step 3 Shaft flux estimate Derivation of the excitation current of the main motor The estimation formula is used to obtain the estimated value of the main motor excitation current. The specific process is as follows: Step 4.1: Establish simultaneous magnetic flux linkage equations and mathematical model: in Main motor Axial inductance, derived about A cubic equation in one variable; calculate , recorded as ,in Leakage inductance of main motor stator winding; calculation , recorded as ;calculate , recorded as ;calculate , recorded as ;calculate , recorded as ; Step 4.2: Solve the equation And by the discriminant, we know that the equation has only a single real solution, denoted as . ;Depend on The estimation formula for the excitation current of the master motor is as follows: ; This is the estimated value of the excitation current of the main motor.
2. The method for online estimation of main motor excitation current in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model according to claim 1, characterized in that: The main motor Shaft main magnetizing inductor With the main motor direct axis current quadrature axis current and excitation winding current The relationship between the main motor permanent magnet and the equivalent excitation current of the main motor permanent magnet. With the main motor direct axis current and excitation winding current The relationship is established using the finite element simulation results of the hybrid excitation main motor and a data fitting method.
3. The method for online estimation of main motor excitation current in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model according to claim 1, characterized in that: The rotor position information and rotational speed The rotor position and speed information of the main motor are collected through a rotary transformer and recorded as follows: and .
4. The method for online estimation of main motor excitation current in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model according to claim 1, characterized in that: stator winding phase current The stator winding phase current of the main motor is measured by a current sensor and denoted as . .
5. The method for online estimation of main motor excitation current in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model according to claim 1, characterized in that: Step 1 , , To and The calculation of the relevant fitting coefficients, , and They are respectively , and In the indivual Values within the segmented interval: and coefficient In the indivual First-order fitting coefficients within segmented intervals; establishing the equivalent excitation current of the main motor permanent magnet. With the main motor direct axis current and excitation winding current The relationship is denoted as ,in and The coefficients are those of the first-order fitting expression.
6. The method for online estimation of main motor excitation current in a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model according to claim 1, characterized in that: Step 2 involves the stator winding phase current By sequentially performing vector space decoupling transformation and Park coordinate transformation, the direct-axis current of the main motor is obtained. and cross-axis current Specifically: ,in: Rotor position information, 。 7. An electronic device on a motor, characterized in that, The system includes a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the steps of the online estimation method for the main motor excitation current of a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model as described in any one of claims 1 to 6.
8. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the online estimation method for the main motor excitation current of a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model as described in any one of claims 1 to 6.
9. A computer program product, characterized in that... The method includes computer-executable instructions, which, when executed, implement the online estimation method for the main motor excitation current of a multi-stage hybrid excitation starting and generating system based on a hybrid excitation model, as described in any one of claims 1 to 6.