定子分段直线感应电机推进系统非线性解耦建模方法

doi:10.19595/j.cnki.1000-6753.tces.240944

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摘要定子分段直线感应电机在超高速电磁推进领域具有较好的应用前景,然而多相直线感应电机定子与动子耦合程度快速时变、供电切换晶闸管开关电流过零关断、供电电缆阻抗随动子位置变化等非线性特性显著,导致现有建模方法难以准确实时地模拟系统电磁暂态过程。该文将直线感应电机系统依据能量转换特性划分为有效转换、无效转换和电源三部分,采用多相电机定子空间矢量解耦建模和虚拟动子磁链方法,实现了晶闸管与直线电机、电机定子与动子之间的解耦,并建立了数学模型。硬件在环实验结果表明,数学模型无迭代实时运算步长低至500 ns,原理样机实验结果表明,数学模型与物理实验误差小于7%,验证了数学模型的快速性和准确性,研究成果可为超高速直线感应电机推进系统高性能控制提供建模基础。

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关键词 ：分段供电, 多相直线感应电机, 晶闸管开关, 非线性特性, 实时模型

Abstract：The linear induction motor with a segmented stator (LIM-SS) has great potential for ultra- high-speed electromagnetic propulsion. However, simulating the system’s electromagnetic transient feature in real time poses challenges due to rapid time-varying coupling characteristics between the stator and rotor, zero-crossing thyristor switching current, and varying cable impedance. Mathematical modeling methods for high-speed linear motors mainly include the field-circuit joint operation mathematical model and lumped parameter equivalent circuit mathematical model. While the field-circuit joint operation mathematical model can accurately simulate the system's electromagnetic transient characteristics, it requires extensive computational time and cannot operate in real-time. The lumped parameter equivalent circuit mathematical model is more efficient but struggles to accurately represent the nonlinear characteristics of linear motors. Therefore, this paper proposes a decoupling modeling method for the nonlinear characteristics of the LIM-SS propulsion system.
Firstly, this paper analyzes the electromagnetic transient characteristics of the LIM-SS propulsion system under the conditions of the thyristor switching process, rotor entering, and leaving the stator segment. According to the multi-phase motor space vector decoupling modeling method, the system energy conversion characteristics are divided into three parts: effective conversion, invalid conversion, and power supply. The cable voltage drop is moved into the motor leakage inductance part as the stator invalid electromechanical energy conversion part, which effectively avoids the problem of computational divergence caused by the differential term of inductance when calculating the thyristor voltage. Secondly, this paper proposes a virtual rotor flux modeling method for the virtual invalid electromechanical energy conversion part of the linear motor rotor. From the perspective of the rotor, the mutual inductance between the stator and the rotor of the linear induction motor is a constant, which effectively avoids the problem of state equation computational divergence when the coverage ratio is at a continuous non-differentiable point. Finally, a decoupling mathematical model of the LIM-SS propulsion system is proposed based on the multi-phase motor stator space-vector decoupling modeling and virtual rotor flux method. The thyristor’s switching state is judged by the switch command and the current zero crossing point. The stator coverage ratio realizes the mutual decoupling operation of the mathematical model of each stator segment, and the FPGA hardware acceleration realizes the system's small-step real-time calculation.
The results of the hardware-in-the-loop test indicate that the traditional mathematical model's numerical calculation diverges as the cable length increases. However, the decoupling modeling method can maintain a constant virtual rotor flux in a steady state, thus avoiding real-time calculation divergence. The simulation results align with the theoretical analysis, achieving a real-time calculation step as low as 500 ns. The steady-state variation between the prototype experimental results and the hardware-in-the-loop simulation results is less than 7%. This difference primarily stems from the dynamic characteristics of the power semiconductor device switching process and the disparity in inductance of each phase from a disconnected structure of linear motor stator.
The following conclusions are drawn. (1) The decoupling modeling method equates the cable voltage drop to the electromechanical energy conversion part in the motor. (2) The virtual rotor flux method regards the coupling inductance between the stator and the mover of the linear induction motor as a constant. (3) The constructed mathematical model can realize real-time and accurate characterization of multiple working conditions, such as power supply switching and stator-rotor coupling changes of the stator segmented linear induction motor propulsion system. The results provide a modeling basis for high-performance control of ultra-high-speed linear motor propulsion systems.

Key words： Segmented power supply multi-phase linear induction motor thyristor switch nonlinear characteristics real-time modeling

收稿日期: 2024-06-04

PACS:

TM346

基金资助:中国科学院稳定支持基础研究领域青年团队计划资助项目（YSBR-045）

通讯作者: 史黎明男,1964年生,研究员,博士生导师,研究方向为直线电机和驱动控制、磁悬浮技术、电能无线传输技术等。E-mail: limings@mail.iee.ac.cn

作者简介: 徐飞男,1983年生,副研究员,硕士生导师,研究方向为高速直线电机数学建模与优化控制。E-mail: xufei@mail.iee.ac.cn

引用本文:

徐飞, 史黎明, 李子欣, 李耀华. 定子分段直线感应电机推进系统非线性解耦建模方法[J]. 电工技术学报, 2025, 40(4): 1023-1033. Xu Fei, Shi Liming, Li Zixin, Li Yaohua. A Nonlinear Decoupled Modeling Method of Linear Induction Motor Propulsion System with Segmented Stator. Transactions of China Electrotechnical Society, 2025, 40(4): 1023-1033.

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