CN100444515C - Voltage decoupling variable-frequency control vector controlling method with parameter self-regulating function - Google Patents

Abstract

The invention relates to one voltage decoupling transducer gear vector control method with parameters self-integrating functions, which tests transducer displacement motor stator end voltage, current and rotor speed through outlet voltage test unit, current test unit and speed test unit; according the vector converting the three-phase voltage, current into two-phase rotation coordinates value; for control given value exerting negative feedback adjust and for computation; through decoupling to get control value through inverse vector conversion computation to get three-phase voltage control value for recycle execution.

Description

Voltage decoupling frequency control vector control method with parameter self-tuning function

Technical field

The present invention relates to a kind of voltage decoupling frequency control vector control method, be used for the Frequency Converter Control design for scheme, belong to the Electric automation technology field with parameter self-tuning function.

Background technology

Along with power electronic technology, electronic computer technology, the continuous development of Theory of Automatic Control, Application of frequency conversion technique is also more and more universal.What Application of frequency conversion technique was the widest is the frequency converter product; convertible frequency air-conditioner for example; variable-frequency washing machine, variable frequency refrigerator or the like, it is just integrated towards altitude figure, the trend development of torque control high performance, defencive function soundization, easy and simple to handleization, driving low noiseization, high reliability, low cost and miniaturization.Comprise pulse modulation technology, sliding mode technology, nonlinear transformation technology, alternating current machine vector control technology, direct torque control technology, fuzzy control technology and adaptive control technology etc. in the technology that the frequency converter product mainly is applied to.

Vector control technology is one of main direction of digitlization frequency converter design, the vector control method of asynchronous motor is based on coordinate transform in essence, realize the full decoupled of torque and magnetic flux, thereby torque component in the stator current and excitation component independently can be controlled respectively, thereby be realized the high performance of control application.But according to document " a kind of improved Vector Control System of Induction Motor method " (Wang Lixin. middle and small motor, 2005,32 (6)) point out in, in actual applications, owing to reasons such as temperature rise and magnetic saturation, make the asynchronous motor parameters change, the torque flux that in the ideal model of motor, occurs full decoupled no longer valid, and then influence the vector control performance.

Frequency converter vector control performance is subjected to asynchronous motor parameter variable effect, still remains on the speed adjusting performance to be improved, and needs to seek a kind of method and eliminates the deviation that the parameter variation brings.Frequency control vector control method with parameter self-tuning function can be eliminated deviation effectively, realizes high performance variable frequency speed regulation, the play-by-play that does not also have this technical research to use at present.

Summary of the invention

The objective of the invention is to deficiency, propose a kind of voltage decoupling frequency control vector control method, on the basis of realizing the frequency control function, realize more excellent speed adjusting performance with parameter self-tuning function at existing frequency converter vector control technology.This method makes the numerically controlled output controlling value of frequency converter meet the situation of motor operation all the time by revising the coefficient that the transform vector cross decoupling calculates in real time, reaches the effect that promotes the frequency converter timing performance.

This voltage decoupling frequency control vector control method that the present invention proposes with parameter self-tuning function, magnitude of voltage, current value and rotor speed by external voltage checkout gear, current sensing means and speed measuring device Measurement for Inverter control asynchronous motor stator end, according to transform vector actual three-phase voltage value, current value equivalence are the value under the two-phase rotating coordinate system, then the control set-point is implemented negative feedback control, and according to the decoupling parameter that the asynchronous motor realistic model is derived controlling models is carried out decoupling zero and calculate; Last decoupling zero output valve vector is inversely transformed into the stator voltage controlling value under the three phase static coordinate system, regulates the output of frequency converter inversion unit according to the threephase stator voltage controling value; The execution that constantly circulates of this process makes decoupling parameter along with motor parameter changes real-time update, thereby has self-setting function.

The concrete steps of the inventive method are as follows:

1, the three-phase output end at the frequency converter inverter circuit connects voltage check device and current sensing means respectively, and checkout gear records the stator three-phase voltage value and the stator three-phase electricity flow valuve of asynchronous motor in the frequency converter running; Insert speed measuring device in the asynchronous electric machine circuit, speed measuring device records the asynchronous motor rotor rotary speed actual value in the frequency converter running; Set rotor flux control set-point and rotor speed control set-point; The initial value of the stator magnet current flow angle controlling value of the initial value of vector gyrator stator magnet current flow angle and the inverse transformation of vector gyrator all is set to 0;

2, respectively with stator three-phase voltage value and stator three-phase electricity flow valuve, be transformed to the value of two-phase rest frame to two-phase rest frame transformation for mula according to the three phase static coordinate system, conversion gained magnitude of voltage and current value are passed through the computing of vector gyrator together with the value of vector gyrator stator magnet current flow angle respectively, obtain transform vector magnitude of voltage and transform vector current value under the two-phase rotating coordinate system, promptly obtain the excitation component and the torque component of stator voltage, and the excitation component of stator current and torque component;

3, excitation component and the torque component with stator current calculates by slip frequency, draws slip angular velocity, with slip angular velocity and rotor speed summation, obtains the synchronous angular velocity of rotation of stator field; The excitation component of stator current is calculated by rotor flux, draw the rotor flux actual value;

4, rotor flux control set-point is adopted negative feedback, promptly rotor flux control set-point is deducted the rotor flux actual value, difference is sent into and is obtained stator current excitation component controlling value in the magnetic linkage adjuster; Rotor speed control set-point is also adopted negative feedback, promptly rotor speed control set-point is deducted the rotor speed actual value, difference is sent into and is obtained the torque controlling value in the speed regulator, and the torque controlling value is calculated by torque controller again, obtains stator current torque component controlling value;

5, with stator current excitation component controlling value and stator current torque component controlling value, draw the slip angular velocity controlling value by the slip frequency computing formula, with slip angular velocity controlling value and the summation of rotor speed control set-point, obtain the synchronous angular velocity of rotation controlling value of stator field again;

6, with the stator current excitation component controlling value of trying to achieve, stator current torque component controlling value, synchronous angular velocity of rotation controlling value of stator field and stator voltage excitation component, the stator voltage torque component, the stator current excitation component, the stator current torque component is input in the parameter self-tuning voltage decoupling computing module and calculates, obtain stator voltage excitation component controlling value and stator voltage torque component controlling value, the decoupling parameter of deriving according to the asynchronous motor realistic model carries out decoupling zero calculating to controlling models, in loop calculation, keep decoupling parameter to follow the asynchronous motor parameter all the time and change, thereby make the value of decoupling parameter have self-setting function;

7, with stator voltage excitation component controlling value, stator voltage torque component controlling value stator magnet current flow angle controlling value together with the inverse transformation of vector gyrator, by the inverse transformation of vector gyrator, obtain two-phase rest frame down conversion value, again two-phase rest frame down conversion value is carried out conversion according to two-phase rest frame to three phase static coordinate system transformation formula, obtain the threephase stator voltage controling value; Regulate the inverter driving dynamic control device according to the threephase stator voltage controling value, and then the actual output of control stator voltage;

8, the synchronous angular velocity of rotation of stator field is obtained the value of vector gyrator stator magnet current flow angle to time integral, the synchronous angular velocity of rotation controlling value of stator field is obtained the stator magnet current flow angle controlling value of vector gyrator inverse transformation to time integral; Use the initial value in the stator magnet current flow angle controlling value step of updating 1 of the value of vector gyrator stator magnet current flow angle and the inverse transformation of vector gyrator respectively, utilize the current stator three-phase voltage value that records of checkout gear, stator three-phase electricity flow valuve, asynchronous motor rotor rotary speed actual value simultaneously, and rotor flux control set-point and rotor speed control set-point, return step 2 and carry out new round cycle calculations, thereby realize having the voltage decoupling frequency control vector control of self-setting function.

The present invention is used for the design of the digital vector control strategy of frequency converter product, above-mentioned voltage decoupling frequency control vector control method with parameter self-tuning function, along with constantly carrying out of cycle calculations, the decoupling zero coefficient can be adjusted certainly, makes that the output valve after the decoupling zero calculating is more independent.This method calculates current decoupling zero coefficient in real time by measuring operational factor, thereby realizes that vector control strategy is not subjected to the influence of motor operational factor drift, and then improves the alternating current motor control performance.

Description of drawings

Fig. 1 has the hardware configuration schematic diagram of the vector-control frequency converter of parameter self-tuning function for the present invention.

Fig. 2 has the structural representation of the voltage decoupling frequency control vector control of parameter self-tuning function for the present invention.

Embodiment

Fig. 1 is the hardware configuration schematic diagram with voltage decoupling vector-control frequency converter of parameter self-tuning function, on the main circuit of converter that rectification unit, brake unit and inversion unit are formed, insert vector control circuit, vector control circuit is as follows: the place connects voltage check device and current sensing means at the inverter outlet line, the simulation output that obtains is through isolating conversion and signal condition, the signal that obtains input DSP module; Asynchronous motor connects pulse coder, and the analog signal that obtains is isolated pulsed filter, process of frequency multiplication device through photoelectricity, again through counting device, and signal input DSP module; Signal after the DSP routine processes exports FPGA pulse distribution unit to, and through buffer memory and the base drive circuit of overdriving, the analog control signal that obtains is used to control inversion unit; Computer keyboard and display unit are connected to the DSP module, are used for the control input and show output.

Fig. 2 is the structural representation with voltage decoupling frequency control vector control of parameter self-tuning function, and it points out the algorithm block diagram in the DSP module.

The concrete implementation step of voltage decoupling frequency control vector control method with parameter self-tuning function is as follows:

1, the three-phase output end in frequency converter inverter circuit part connects voltage check device and current sensing means respectively, and checkout gear records the stator three-phase voltage input value u of asynchronous motor in the frequency converter running _A, u _B, u _CWith stator three-phase current input value i _A, i _B, i _CInsert speed measuring device in the asynchronous electric machine circuit, speed measuring device records asynchronous motor rotor rotary speed actual value ω in the frequency converter running ₂Set rotor flux control set-point ψ by computer keyboard ₂ ^*With rotor speed control set-point ω ₂ ^*In the program with the initial value of vector gyrator stator magnet current flow angle θ and the stator magnet current flow angle controlling value θ of vector gyrator inverse transformation ^*Initial value all be set to 0;

2, respectively with stator three-phase voltage value u _A, u _B, u _CAnd stator three-phase electricity flow valuve i _A, i _B, i _CAccording to the three phase static coordinate system to two-phase rest frame 3s/2s transformation for mula: $C_{3s/2s}=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]$ Be transformed to the static α of two-phase, the value u of β coordinate system _{α 1}, u _{β 1}, i _{α 1}, i _{β 1}, mapping algorithm is:

$\left[\begin{array}{c}{u}_{\mathrm{\α}1}\\ u_{\mathrm{\β}1}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\·\left[\begin{array}{c}{u}_A\\ u_B\\ u_C\end{array}\right],\left[\begin{array}{c}{i}_{\mathrm{\α}1}\\ i_{\mathrm{\β}1}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\·\left[\begin{array}{c}{i}_A\\ i_B\\ i_C\end{array}\right];$

Conversion gained magnitude of voltage u _{α 1}, u _{β 1}With current value i _{α 1}, i _{β 1}Pass through vector gyrator formula together with the value of vector gyrator stator magnet current flow angle θ respectively: $C_{2R/2s}=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]$ Computing obtains transform vector magnitude of voltage and transform vector current value under the two-phase rotating coordinate system, i.e. the excitation component u of stator voltage _M1With torque component u _T1And the excitation component i of stator current _M1With torque component i _T1, mapping algorithm is:

$\left[\begin{array}{c}{u}_{M1}\\ u_{T1}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\left[\begin{array}{c}{u}_{\mathrm{\α}1}\\ u_{\mathrm{\β}1}\end{array}\right],\left[\begin{array}{c}{i}_{M1}\\ i_{T1}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\·\begin{array}{c}\left[\begin{array}{c}{i}_{\mathrm{\α}1}\\ i_{\mathrm{\β}1}\end{array}\right]\end{array};$

3, with the excitation component i of stator current _M1With torque component i _T1By the slip frequency formula ${\mathrm{\&omega;}}_s=\frac{{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}^2+r_2{l}_{r}s}{r_1{l}_m}\&CenterDot;\frac{i_{T1}}{i_{M1}}$ Calculate, draw slip angular velocity ω _s, slip angular velocity ω _sWith rotor speed ω ₂Summation obtains the synchronous angular velocity of rotation ω of stator field ₁Excitation component i with stator current _M1By the rotor flux computing formula ${\mathrm{\&psi;}}_2=\frac{r_1{\mathrm{<figure-callout\; id="2"\; label="l\; m\; r"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">l</figure-callout>}}_m}{r_{}}\&CenterDot;i_{M1},$ Draw rotor flux actual value ψ ₂

4, to rotor flux control set-point ψ ₂ ^*Adopt negative feedback, promptly rotor flux control set-point ψ ₂ ^*Deduct rotor flux actual value ψ ₂, difference is sent among the magnetic linkage adjuster A ψ R and is obtained stator current excitation component controlling value i _M1 ^*To rotor speed control set-point ω ₂ ^*Also adopt negative feedback, promptly rotor speed control set-point ω ₂ ^*Deduct rotor speed actual value ω ₂, difference is sent into and is obtained torque controlling value T among the speed regulator ASR _e ^*, torque controlling value T _e ^*Calculate by torque controller ATR again, obtain stator current torque component controlling value i _T1 ^*

5, with stator current excitation component controlling value i _M1 ^*With stator current torque component controlling value i _T1 ^*By the slip frequency formula: ${{\mathrm{\&omega;}}_s}^{*}=\frac{{{\mathrm{<figure-callout\; id="2"\; label="r"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">r</figure-callout>}}_2}^2+r_2{l}_{r}s}{r_1{l}_m}\&CenterDot;\frac{{i_{T1}}^{*}}{{i_{M1}}^{*}}$ Calculate, draw slip angular velocity controlling value ω _s ^*, with slip angular velocity controlling value ω _s ^*With rotor speed control set-point ω ₂ ^*Summation obtains the synchronous angular velocity of rotation controlling value of stator field ω ₁ ^*

6, with the stator current excitation component controlling value i that tries to achieve _M1 ^*, stator current torque component controlling value i _T1 ^*, the synchronous angular velocity of rotation controlling value of stator field ω ₁ ^*With stator voltage excitation component u _M1, stator voltage torque component u _T1, stator current excitation component i _M1, stator current torque component i _T1Be input in the parameter self-tuning voltage decoupling computing module and calculate, decoupling algorithm is:

u _M1 ^*＝A·i _M1 ^*+B·si _M1 ^*-C·ω ₁ ^*i _T1 ^*

u _T1 ^*＝A·i _T1 ^*+B·ω ₁ ^*i _M1 ^*+C·si _T1 ^*

Obtain stator voltage excitation component controlling value u _M1 ^*With stator voltage torque component controlling value u _T1 ^*, wherein the value calculating method of coefficient A, B, C is as follows:

A＝r ₁， $B=\frac{{\mathrm{su}}_{M1}+{\mathrm{\&omega;}}_1{u}_{T1}-r_1{\mathrm{si}}_{M1}-r_1{\mathrm{\&omega;}}_1{i}_{T1}}{({{\mathrm{\&omega;}}_1}^2+s^2)\&CenterDot;i_{M1}},$ $C=\frac{{\mathrm{su}}_{T1}-{\mathrm{\&omega;}}_1{u}_{T1}-r_1{\mathrm{si}}_{T1}+r_1{\mathrm{\&omega;}}_1{i}_{T1}}{({{\mathrm{\&omega;}}_1}^2+s^2)\&CenterDot;i_{T1}},$

Concrete principle is as follows, according to asynchronous motor decoupling zero controlling models:

${u_M}^{*}=r_1{i_M}^{*}+({\mathrm{\&sigma;L}}_s+\frac{l_m}{l_r}\&CenterDot;\frac{r_1{\mathrm{<figure-callout\; id="2"\; label="l\; m\; r"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">l</figure-callout>}}_m}{r_{}})\&CenterDot;{{\mathrm{si}}_M}^{*}-{\mathrm{\&sigma;L}}_s\&CenterDot;{\mathrm{\&omega;}}_1{i_T}^{*}$

${u_T}^{*}=r_1{i_T}^{*}+({\mathrm{\&sigma;L}}_s+\frac{l_m}{l_r}\&CenterDot;\frac{r_1{\mathrm{<figure-callout\; id="2"\; label="l\; m\; r"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">l</figure-callout>}}_m}{r_{}})\&CenterDot;{\mathrm{\&omega;}}_1{i_M}^{*}+{\mathrm{\&sigma;L}}_s\&CenterDot;{{\mathrm{si}}_T}^{*},$

Then

With σ L _sTwo coefficients change along with motor parameter and become, and can release according to asynchronous motor actual motion model:

${\mathrm{\&sigma;L}}_s+\frac{l_m}{l_r}\&CenterDot;\frac{r_1{\mathrm{<figure-callout\; id="2"\; label="l\; m\; r"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">l</figure-callout>}}_m}{r_{}}=\frac{{\mathrm{su}}_M+{\mathrm{\&omega;}}_1{u}_T-r_1{\mathrm{si}}_M-r_1{\mathrm{\&omega;}}_1{i}_T}{({{\mathrm{\&omega;}}_1}^2+s^2)\&CenterDot;i_M}$

${\mathrm{\&sigma;L}}_s=\frac{{\mathrm{su}}_T-{\mathrm{\&omega;}}_1{u}_T-r_1{\mathrm{si}}_T+r_1{\mathrm{\&omega;}}_1{i}_T}{({{\mathrm{\&omega;}}_1}^2+s^2)\&CenterDot;i_T}$

This shows, the decoupling parameter that above decoupling algorithm is derived according to the asynchronous motor realistic model carries out decoupling zero to controlling models and calculates, in loop calculation, keep decoupling parameter to follow the asynchronous motor parameter all the time and change, thereby make the value of decoupling parameter A, B, C have self-setting function;

7, with stator voltage excitation component controlling value u _M1 ^*, stator voltage torque component controlling value u _T1 ^*Stator magnet current flow angle controlling value θ together with the inverse transformation of vector gyrator ^*By vector gyrator inverse transformation formula ${\cos }_{2S/2R}=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]$ Calculate, obtain two-phase rest frame down conversion value u _{α 1} ^*, u _{β 1} ^*, mapping algorithm is; $\left[\begin{array}{c}{u_{\mathrm{\&alpha;}1}}^{*}\\ {u_{\mathrm{\&beta;}1}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{u_{M1}}^{*}\\ {u_{T1}}^{*}\end{array}\right],$ Again with two-phase rest frame down conversion value u _{α 1} ^*, u _{β 1} ^*According to the two-phase rest frame to three phase static coordinate system transformation formula: ${\mathrm{<figure-callout\; id="2s"\; label="C"\; filenames="C20071003704100122.png"\; state="\{\{state\}\}">C</figure-callout>}}_{2s/3s}=\sqrt{\frac{2}{3}}\left[\begin{array}{cc}1& 0\\ \frac{-1}{2}& \frac{\sqrt{3}}{2}\\ \frac{-1}{2}& \frac{-\sqrt{3}}{2}\end{array}\right]$ Carry out conversion, mapping algorithm is: $\left[\begin{array}{c}{u_A}^{*}\\ {u_B}^{*}\\ {u_C}^{*}\end{array}\right]=\sqrt{\frac{2}{3}}\left[\begin{array}{cc}1& 0\\ \frac{-1}{2}& \frac{\sqrt{3}}{2}\\ \frac{-1}{2}& \frac{-\sqrt{3}}{2}\end{array}\right]\&CenterDot;\left[\begin{array}{c}{u_{\mathrm{\&alpha;}1}}^{*}\\ {u_{\mathrm{\&beta;}1}}^{*}\end{array}\right],$ Obtain threephase stator voltage controling value u _A ^*, u _B ^*, u _C ^*Regulate the inverter driving dynamic control device according to the threephase stator voltage controling value, and then the actual output of control stator voltage;

8, with the synchronous angular velocity of rotation ω of stator field ₁To time t integration, obtain the value of vector gyrator stator magnet current flow angle θ, i.e. θ=∫ ω ₁Dt is with the synchronous angular velocity of rotation controlling value of stator field ω ₁ ^*Time t integration is obtained the stator magnet current flow angle controlling value θ of vector gyrator inverse transformation ^*, i.e. θ ^*=∫ ω ₁ ^*Dt; Use the value of vector gyrator stator magnet current flow angle θ and the stator magnet current flow angle controlling value θ of vector gyrator inverse transformation respectively ^*Initial value in the step of updating 1, utilize the current stator three-phase voltage value that records of checkout gear, stator three-phase electricity flow valuve, asynchronous motor rotor rotary speed actual value simultaneously, and rotor flux control set-point and rotor speed control set-point, return step 2 and carry out new round cycle calculations, thereby realize having the voltage decoupling frequency control vector control of self-setting function.

In sum, voltage decoupling frequency control vector control method with parameter self-tuning function is: magnitude of voltage, current value and the rotor speed of at first controlling the asynchronous motor stator end by external voltage checkout gear, current sensing means and speed measuring device Measurement for Inverter, according to transform vector actual three-phase voltage value, current value equivalence are the value under the two-phase rotating coordinate system, then the control set-point is implemented negative feedback control, and according to the decoupling parameter that the asynchronous motor realistic model is derived controlling models is carried out decoupling zero and calculate; Last decoupling zero output valve is transformed to stator voltage controlling value under the three phase static coordinate system through the inverse vector transform method, regulate the output of frequency converter inversion unit according to the threephase stator voltage controling value: above-mentioned algorithm is carried out in circulation, then decoupling parameter is along with motor parameter changes real-time update, thereby has self-setting function.

Claims (1)

1, a kind of voltage decoupling frequency control vector control method with parameter self-tuning function is characterized in that, comprises following concrete steps:

1) three-phase output end at the frequency converter inverter circuit connects voltage check device and current sensing means respectively, measures the stator three-phase voltage value and the stator three-phase electricity flow valuve of asynchronous motor in the frequency converter running; In the asynchronous electric machine circuit, insert speed measuring device, measure asynchronous motor rotor rotary speed actual value in the frequency converter running; Set rotor flux control set-point and rotor speed control set-point, the initial value of vector gyrator stator magnet current flow angle and the stator magnet current flow angle controlling value initial value of vector gyrator inverse transformation all are set to 0;

2) respectively stator three-phase voltage value and stator three-phase electricity flow valuve are carried out conversion according to three phase static coordinate system to two-phase rest frame converter technique, again transformed value is passed through the computing of vector gyrator together with the value of vector gyrator stator magnet current flow angle, obtain transform vector magnitude of voltage and transform vector current value under the two-phase rotating coordinate system, promptly obtain the excitation component and the torque component of stator voltage, and the excitation component of stator current and torque component;

3) excitation component and the torque component with stator current calculates by slip frequency, draws slip angular velocity, with slip angular velocity and rotor speed summation, obtains the synchronous angular velocity of rotation of stator field; The excitation component of stator current is calculated by rotor flux, draw the rotor flux actual value;

4) rotor flux is controlled set-point and deducted the rotor flux actual value, difference is sent into and is obtained stator current excitation component controlling value in the magnetic linkage adjuster; Rotor speed is controlled set-point deduct the rotor speed actual value, difference is sent into and is obtained the torque controlling value in the speed regulator, and the torque controlling value obtains stator current torque component controlling value by torque controller;

5) stator current excitation component controlling value and stator current torque component controlling value are calculated by slip frequency, draw the slip angular velocity controlling value, with slip angular velocity controlling value and the summation of rotor speed control set-point, obtain the synchronous angular velocity of rotation controlling value of stator field again;

6) stator current excitation component controlling value, stator current torque component controlling value, the synchronous angular velocity of rotation controlling value of stator field and stator voltage excitation component, stator voltage torque component, stator current excitation component, stator current torque component are input in the parameter self-tuning voltage decoupling computing module, the decoupling parameter of deriving according to the asynchronous motor realistic model carries out decoupling zero calculating to controlling models, obtains stator voltage excitation component controlling value and stator voltage torque component controlling value;

7) stator voltage excitation component controlling value, stator voltage torque component controlling value are calculated by the inverse transformation of vector gyrator together with the stator magnet current flow angle controlling value of vector gyrator inverse transformation, obtain two-phase rest frame down conversion value, carry out conversion according to two-phase rest frame to three phase static coordinate system transformation method again, obtain the threephase stator voltage controling value; Regulate the inverter driving dynamic control device according to the threephase stator voltage controling value, and then the actual output of control stator voltage;

8) the synchronous angular velocity of rotation of stator field is obtained the value of vector gyrator stator magnet current flow angle to time integral, the synchronous angular velocity of rotation controlling value of stator field is obtained the stator magnet current flow angle controlling value of vector gyrator inverse transformation to time integral; The value of the vector gyrator stator magnet current flow angle that obtains with integration and the stator magnet current flow angle controlling value step of updating 1 of vector gyrator inverse transformation respectively) in the initial value of vector gyrator stator magnet current flow angle and the stator magnet current flow angle controlling value initial value of vector gyrator inverse transformation, utilize the current stator three-phase voltage value that records of checkout gear simultaneously, stator three-phase electricity flow valuve, the asynchronous motor rotor rotary speed actual value, and rotor flux control set-point and rotor speed control set-point, return step 2) carry out new round cycle calculations, thus realize having the voltage decoupling frequency control vector control of self-setting function.

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