电动汽车用多相电机电流控制策略比较
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摘要
针对多相电机具有多控制自由度、容错性能强等特点,对电流环的建模、分析与实现进行了研究。根据多相电机的多平面数学模型,推导了基波和谐波平面的电压方程,构建了不同平面的电流环,提出了一种静止坐标系下的比例谐振控制方式(PRstat)。从理论上对电流环的参数选择进行了详细阐述,并且给出了离散化系统的参数优化方法。从电流环动态响应、开关纹波等角度,对比了旋转坐标系比例积分控制方式(PIsync)、静止坐标系比例积分控制方式(PIstat)和滞环控制方式(Hyst)。最后,构建了一套五相感应电机控制系统,实验结果证明了比例谐振电流控制方式的可行性与先进性。
Multiphase induction machine drive has advantages over conventional three phase drives due to multiple control freedom and higher reliability. Higher performance of modelling,analysis,and realization for current control loop was investigated. According to the multiple planes in the multiphase motor,the voltage equations for fundamental and harmonic plane were derived. The current control loop were constructed,and the proportional resonant( PRstat) controller in the stationary frame was proposed. The parameters in the current control loop was analyzed,and discrete system was also taken into consideration. Furthermore,synchronous frame proportional integral( PIsync),stationary frame proportional integral( PIstat) and hysteresis( Hyst) control methods were taken for comparison,including the performance of dynamic response and current ripple. Finally,a five-phase induction motor drive was constructed,and experimental results verify the feasibility and superiority of PRstat current controller.
Multiphase induction machine drive has advantages over conventional three phase drives due to multiple control freedom and higher reliability. Higher performance of modelling,analysis,and realization for current control loop was investigated. According to the multiple planes in the multiphase motor,the voltage equations for fundamental and harmonic plane were derived. The current control loop were constructed,and the proportional resonant( PRstat) controller in the stationary frame was proposed. The parameters in the current control loop was analyzed,and discrete system was also taken into consideration. Furthermore,synchronous frame proportional integral( PIsync),stationary frame proportional integral( PIstat) and hysteresis( Hyst) control methods were taken for comparison,including the performance of dynamic response and current ripple. Finally,a five-phase induction motor drive was constructed,and experimental results verify the feasibility and superiority of PRstat current controller.
引文
[1] EMIL L. Multiphase electric machines for variable speed applica-tions[J]. IEEE Transactions on Industrial Electronics,2008,55(5):1893.
[2] XU H,TOLIYAT H A,PETERSEN L J. Rotor field oriented controlof five phase induction motor with the combined fundamental andthird harmonic currents[C]. IEEE Applied Power Electronics Con-ference APEC,Anaheim,CA,2001.
[3]黄进. P对极n相对称系统的变换理论[J].电工技术学报,1995(1):53.HUANG Jin. Transformation theory for p-pair Pole n-phase sym-metric system[J]. Transactions of China Electrotechnical Society,1995(1):53.
[4]孔武斌,黄进,康敏,等.多相电机非正弦供下的定子缺项容错控制[J].电机与控制学报,2013,17(5):9.KONG Wubin,HUANG Jin,KANG Min,et al. Fault tolerantcontrol of a multiphase motor with non-sinusoidal source underopen-phase conditions[J]. Electric Machines and Control,2013,17(5):9.
[5]康敏,孔武斌,黄进.电动汽车用五相感应电机容错控制[J].电机与控制学报,2014,18(3):1.KANG Min,KONG Wubin,HUANG Jin. Fault-tolerant control offive-phase induction motor for electric vehicles[J]. Electric Ma-chines and Control,2014,18(3):1.
[6]赵品志,杨桂杰,李勇.五相永磁同步电动机单相开路故障的容错控制策略[J].中国电机工程学报,2011,31(24):68.ZHAO Pinzhi,YANG Guijie,LI Yong. Fault-tolerant control strat-egy for five-phase permanent magnetic synchronous motor undersingle phase open-circuit fault condition[J]. Proceedings of theCSEE,2011,31(24):68.
[7]朱鹏,张晓峰,乔鸣忠,等.五相集中整距绕组感应电机缺相容错控制[J].中国电机工程学报,2011,31(33):131.ZHU Peng,ZHANG Xiaofeng,QIAO Mingzhong,et al. Tolerantcontrol strategy for five-phase concentrated full-pitch windings in-duction motor under open phases fault[J]. Proceedings of theCSEE,2011,31(33):131.
[8]刘东.大功率多相感应电机变频调速系统的研究[D].杭州:浙江大学,2011.
[9] KANG Min,HUANG Jin,et al. Strategies for the fault-tolerant cur-rent control of a multiphase machine under open phase conditions[C]. ICEMS2009,Tokyo,Japan,2009.
[10]康敏,黄进,刘东,等.多相感应电机参数的计算与测量[J].中国电机工程学报,2010,30(24):81.KANG Min,HUANG Jin,LIU Dong,at el. Calculation and meas-urement of parameters of a multiphase induction motor[J]. Pro-ceedings of the CSEE,2010,30(24):81.
[11]刘东,黄进,于文娟,等.空间矢量PWM多相变频调速系统非正弦供电技术[J].电机与控制学报,2010,14(9):41.LIU Dong,HUANG Jin,YU Wenjuan,at el. Non-sinusoidal outputvoltage for multiphase variable speed drives with space vectorPWM[J]. Electric Machines and Control,2010,14(9):41.
[12]薛山,温旭辉,王又珑.多相永磁同步电机多维控制技术[J].电工技术学报,2008,23(9):65.XUE Shan,WEN Xuhui,WANG Youlong. Multi-dimensional con-trol in multiphase permanent motor drives[J]. Transactions ofChina Electrotechnical Society,2008,23(9):65.
[13] ZHENG Libo,Fletcher J E,Williams B W,at el. Dual-plane vec-tor control of a five-phase induction machine for an improved fluxpattern[J]. IEEE Transactions on Industrial Electronics,2008,55(5):1996.
[14] Bianchi N,Bolognani S,Pre M D. Strategies for the fault-tolerantcurrent control of a five-phase permanent-magnet motor[J]. IEEETransactions on Industry Applications,2007,43(4):960.
[15] Zmood D N,Holmes D G. Stationary frame current regulation ofPWM inverters with zero steady-state error[J]. IEEE Transactionson Power Electronics,2003,18(3):814.
[16] Kazmierkowski M P,Malesani L. Current control techniques forthree-phase voltage-source PWM converters:a survey[J]. IEEETransactions on Industrial Electronics,1998,45(5):691.
[17] Del Blanco F B,Degner M W,Lorenz R D. Dynamic analysis ofcurrent regulators for AC motors using complex vectors[J]. IEEETransactions on Industry Applications,1999,35(6):1424.
[18] Holmes D G,Lipo T A,Mc Grath B P,at el. Optimized design ofstationary frame three phase AC current regulators[J]. IEEETransactions on Power Electronics,2009,24(11):2417.
[19] Buja G,Menis R. Steady-state performance degradation of a DTCIM drive under parameter and transduction errors[J]. IEEETransactions on Industrial Electronics,2008,55(4):1749.
[20] Yepes A G,Freijedo F D,Doval-Gandoy J,at al. Correction to“effects of discretization methods on the performance of resonantcontrollers”[J]. IEEE Transactions on Power Electronics,2012,27(12):4976.
[21] Robyns B,Sente P A,Buyse H A,at al. Influence of digital cur-rent control strategy on the sensitivity to electrical parameter un-certainties of induction motor indirect field-oriented control[J].IEEE Transactions on Power Electronics,1999,14(4):690.
[22] Rodriguez F J,Bueno E,Aredes M,at el. Discrete-time implemen-tation of second order generalized integrators for grid converters[C]. Proceedings of the 34th Annual IEEE Conference on Indus-trial Electronics,Orlando,America,2008.
[2] XU H,TOLIYAT H A,PETERSEN L J. Rotor field oriented controlof five phase induction motor with the combined fundamental andthird harmonic currents[C]. IEEE Applied Power Electronics Con-ference APEC,Anaheim,CA,2001.
[3]黄进. P对极n相对称系统的变换理论[J].电工技术学报,1995(1):53.HUANG Jin. Transformation theory for p-pair Pole n-phase sym-metric system[J]. Transactions of China Electrotechnical Society,1995(1):53.
[4]孔武斌,黄进,康敏,等.多相电机非正弦供下的定子缺项容错控制[J].电机与控制学报,2013,17(5):9.KONG Wubin,HUANG Jin,KANG Min,et al. Fault tolerantcontrol of a multiphase motor with non-sinusoidal source underopen-phase conditions[J]. Electric Machines and Control,2013,17(5):9.
[5]康敏,孔武斌,黄进.电动汽车用五相感应电机容错控制[J].电机与控制学报,2014,18(3):1.KANG Min,KONG Wubin,HUANG Jin. Fault-tolerant control offive-phase induction motor for electric vehicles[J]. Electric Ma-chines and Control,2014,18(3):1.
[6]赵品志,杨桂杰,李勇.五相永磁同步电动机单相开路故障的容错控制策略[J].中国电机工程学报,2011,31(24):68.ZHAO Pinzhi,YANG Guijie,LI Yong. Fault-tolerant control strat-egy for five-phase permanent magnetic synchronous motor undersingle phase open-circuit fault condition[J]. Proceedings of theCSEE,2011,31(24):68.
[7]朱鹏,张晓峰,乔鸣忠,等.五相集中整距绕组感应电机缺相容错控制[J].中国电机工程学报,2011,31(33):131.ZHU Peng,ZHANG Xiaofeng,QIAO Mingzhong,et al. Tolerantcontrol strategy for five-phase concentrated full-pitch windings in-duction motor under open phases fault[J]. Proceedings of theCSEE,2011,31(33):131.
[8]刘东.大功率多相感应电机变频调速系统的研究[D].杭州:浙江大学,2011.
[9] KANG Min,HUANG Jin,et al. Strategies for the fault-tolerant cur-rent control of a multiphase machine under open phase conditions[C]. ICEMS2009,Tokyo,Japan,2009.
[10]康敏,黄进,刘东,等.多相感应电机参数的计算与测量[J].中国电机工程学报,2010,30(24):81.KANG Min,HUANG Jin,LIU Dong,at el. Calculation and meas-urement of parameters of a multiphase induction motor[J]. Pro-ceedings of the CSEE,2010,30(24):81.
[11]刘东,黄进,于文娟,等.空间矢量PWM多相变频调速系统非正弦供电技术[J].电机与控制学报,2010,14(9):41.LIU Dong,HUANG Jin,YU Wenjuan,at el. Non-sinusoidal outputvoltage for multiphase variable speed drives with space vectorPWM[J]. Electric Machines and Control,2010,14(9):41.
[12]薛山,温旭辉,王又珑.多相永磁同步电机多维控制技术[J].电工技术学报,2008,23(9):65.XUE Shan,WEN Xuhui,WANG Youlong. Multi-dimensional con-trol in multiphase permanent motor drives[J]. Transactions ofChina Electrotechnical Society,2008,23(9):65.
[13] ZHENG Libo,Fletcher J E,Williams B W,at el. Dual-plane vec-tor control of a five-phase induction machine for an improved fluxpattern[J]. IEEE Transactions on Industrial Electronics,2008,55(5):1996.
[14] Bianchi N,Bolognani S,Pre M D. Strategies for the fault-tolerantcurrent control of a five-phase permanent-magnet motor[J]. IEEETransactions on Industry Applications,2007,43(4):960.
[15] Zmood D N,Holmes D G. Stationary frame current regulation ofPWM inverters with zero steady-state error[J]. IEEE Transactionson Power Electronics,2003,18(3):814.
[16] Kazmierkowski M P,Malesani L. Current control techniques forthree-phase voltage-source PWM converters:a survey[J]. IEEETransactions on Industrial Electronics,1998,45(5):691.
[17] Del Blanco F B,Degner M W,Lorenz R D. Dynamic analysis ofcurrent regulators for AC motors using complex vectors[J]. IEEETransactions on Industry Applications,1999,35(6):1424.
[18] Holmes D G,Lipo T A,Mc Grath B P,at el. Optimized design ofstationary frame three phase AC current regulators[J]. IEEETransactions on Power Electronics,2009,24(11):2417.
[19] Buja G,Menis R. Steady-state performance degradation of a DTCIM drive under parameter and transduction errors[J]. IEEETransactions on Industrial Electronics,2008,55(4):1749.
[20] Yepes A G,Freijedo F D,Doval-Gandoy J,at al. Correction to“effects of discretization methods on the performance of resonantcontrollers”[J]. IEEE Transactions on Power Electronics,2012,27(12):4976.
[21] Robyns B,Sente P A,Buyse H A,at al. Influence of digital cur-rent control strategy on the sensitivity to electrical parameter un-certainties of induction motor indirect field-oriented control[J].IEEE Transactions on Power Electronics,1999,14(4):690.
[22] Rodriguez F J,Bueno E,Aredes M,at el. Discrete-time implemen-tation of second order generalized integrators for grid converters[C]. Proceedings of the 34th Annual IEEE Conference on Indus-trial Electronics,Orlando,America,2008.