CN101383582B - Electric excitation synchronous motor control method based on torque angle sine value linear control - Google Patents

Electric excitation synchronous motor control method based on torque angle sine value linear control Download PDF

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Publication number
CN101383582B
CN101383582B CN2008101559991A CN200810155999A CN101383582B CN 101383582 B CN101383582 B CN 101383582B CN 2008101559991 A CN2008101559991 A CN 2008101559991A CN 200810155999 A CN200810155999 A CN 200810155999A CN 101383582 B CN101383582 B CN 101383582B
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phase
synchronous motor
electric excitation
excitation synchronous
stator
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CN101383582A (en
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王宇
邓智泉
王晓琳
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses an electrically excited synchronous motor control method based on the linear control to the sine value of the torque angle, and the control method belongs to an electrically excited synchronous motor debugging method. The debugging method controls the torque through directly and linearly adjusting the sine value of the torque angle of the electrically excited synchronous motor under the condition that the electrically excited synchronous motor maintains the crest value of a stator flux to be unchanged. The invention combines the vector control for linearly adjusting the torque and the direct torque control for directly adjusting the torque angle, and has the advantages of no current closed-loop and no coordinate transformation; the implementation is easy, the stator flux is only required to be distinguished, the parameter robustness is strong, the current harmonic is small, the torque ripple is small, the flux fluctuation is small, and the speed adjusting performance is good.

Description

Electric excitation synchronous motor control method based on the torque angle sine value Linear Control
Technical field
The present invention relates to a kind of electric excitation synchronous motor control method, belong to the permagnetic synchronous motor speed regulating method based on the torque angle sine value Linear Control.
Background technology
The control system that electric excitation synchronous motor is commonly used is vector control system and direct Torque Control at present.Vector control has solved the high performance control problem of alternating current motor torque theoretically, is transplanted to synchronous machine very soon.The basic thought of vector control comes from the strictness simulation to direct current machine.Direct current machine itself has good decoupling, and it can be respectively by controlling the purpose that its armature supply and exciting curent reach the control motor torque.Vector control is divided into excitatory component and torque component by the motor-field orientation with stator current, is controlled respectively, thereby obtains good decoupling zero characteristic.Therefore, vector control had both needed to control the amplitude size of stator current, needed to control the phase place of stator current space phasor again.The magneto vector control becomes more consummate day by day in theory, but comparatively complicated in implementation procedure, and this mainly shows as the factors such as limitation of skewness, current sensor non-linearization and current regulator of skew, the magnetic material of magnet positions.
1985, German scholar M.Depenbrock proposed the theory of direct torque control first, and Japanese subsequently scholar I.Takahashi has also proposed similar controlling schemes.The characteristics of direct Torque Control are as follows: (1) analyzes the Mathematical Modeling of alternating current machine, the torque and the magnetic linkage of control motor under the stator coordinate system, avoided complicated static rotating coordinate transformation; What (2) control system was used is stator magnetic linkage, just can observe it out as long as know stator resistance, and the parameter robustness is good; (3) with torque and magnetic linkage directly as controlled volume, do not have current regulator successively, realize simple; (4) torque is directly controlled the dynamic property height of torque control.The shortcoming of direct torque control is as follows: what stator magnetic linkage and electromagnetic torque were adopted is the link control that stagnates, and there are pulsation in magnetic linkage amplitude, torque, and the stator current harmonic content is higher, and its static control performance is not as vector control.
Summary of the invention
The technical problem to be solved in the present invention is to propose a kind of electric excitation synchronous motor control method based on the torque angle sine value Linear Control.
A kind of electric excitation synchronous motor control method based on the torque angle sine value Linear Control is characterized in that by the detected electric excitation synchronous motor actual speed of velocity transducer ω, with given electric excitation synchronous motor rotational speed omega *Obtain electric excitation synchronous motor instantaneous torque angle sine value sin δ through PI link, amplitude limit link successively with actual speed ω *With given electric excitation synchronous motor stator magnetic linkage amplitude ψ *And electric excitation synchronous motor instantaneous torque angle sine value sin δ *, the current flux linkage vector of electric excitation synchronous motor gas Phase angle theta kObtain next moment target stator magnetic linkage vector of electric excitation synchronous motor through target stator magnetic linkage vector link With next moment target stator magnetic linkage vector of electric excitation synchronous motor With the current stator magnetic linkage vector of electric excitation synchronous motor Obtain electric excitation synchronous motor stator magnetic linkage variable quantity as phasor difference With electric excitation synchronous motor stator magnetic linkage variable quantity Generating the three-phase duty ratio that obtains three-phase full-bridge inverter through the space vector modulation link is A phase duty ratio D A, B phase duty ratio D B, C phase duty ratio D C, it is A phase current i that described three-phase duty ratio is obtained the three-phase phase current of electric excitation synchronous motor under static abc coordinate through three-phase full-bridge inverter Sa, B phase current i Sb, C phase current i Sc, adopt described three-phase phase current to drive the target electromagnetic torque T that electric excitation synchronous motor obtains electric excitation synchronous motor output eThe k+1 target electromagnetic torque of electric excitation synchronous motor constantly is:
T e ( k + 1 ) * = 3 p 2 L sσ | ψ → k + 1 * | | ψ → m | sin δ * ,
Wherein k is a current time, L S σBe electric excitation synchronous motor stator leakage inductance, p is the electric excitation synchronous motor number of pole-pairs, Be the current air gap flux linkage vector of electric excitation synchronous motor, the current stator magnetic linkage vector of electric excitation synchronous motor And phase angle theta kAsk for and may further comprise the steps:
(1) adopt voltage sensor senses to obtain the DC bus-bar voltage U of three-phase full-bridge inverter Dc, adopt described DC bus-bar voltage U DcWith the three-phase duty ratio of three-phase full-bridge inverter is A duty ratio D mutually A, B phase duty ratio D B, C phase duty ratio D CIt is A phase voltage u that combination calculation draws the three-phase phase voltage of electric excitation synchronous motor under static abc coordinate Sa, B phase voltage u Sb, C phase voltage u Sc:
u sa = U dc 3 ( 2 D A - D B - D C ) u sb = U dc 3 ( 2 D B - D A - D C ) u sc = U dc 3 ( 2 D C - D B - D A )
With the A phase voltage u of electric excitation synchronous motor under static abc coordinate Sa, B phase voltage u Sb, C phase voltage u ScCarrying out 3/2 constant conversion of magnetic potential, to obtain the stator voltage of electric excitation synchronous motor under static α β coordinate system be α phase stator voltage u S α, β phase stator voltage u S β:
u sα = U dc 2 ( 2 D A - D B - D C ) u sβ = 3 U dc 2 ( D B - D C )
(2) adopting current sensor senses to obtain the three-phase phase current of electric excitation synchronous motor under static abc coordinate is A phase current i Sa, B phase current i Sb, C phase current i ScAnd carrying out 3/2 constant conversion of magnetic potential, to obtain the stator current of electric excitation synchronous motor under static α β coordinate system be α phase stator current i S α, β phase stator current i S β:
i sα = U dc 3 ( 2 i sa - i sb - i sc ) i sβ = 3 U dc 3 ( i sb - i sc )
(3) utilize the α phase stator voltage u of electric excitation synchronous motor under static α β coordinate system S α, β phase stator voltage u S βWith α stator current i mutually S α, β phase stator current i S βCalculate the α phase stator magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S β
ψ sα = ∫ ( u sα - Ri sα ) dt ψ sβ = ∫ ( u sβ - Ri sβ ) dt , Wherein R is a stator winding resistance,
Again with the α phase stator magnetic linkage ψ of formula electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S βTry to achieve the current stator magnetic linkage vector of electric excitation synchronous motor through α β coordinate to polar conversion Amplitude ψ kAnd phase angle theta k+ δ k:
ψ k = ψ sα 2 + ψ sβ 2
θ k + δ k = arctan ψ sβ ψ sα
Utilize the α phase stator magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S βWith α stator leakage field L mutually S σi S α, β phase stator leakage field L S σi S βTry to achieve the α phase air gap magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system M α, β phase air gap magnetic linkage ψ M β:
ψ mα = ψ sα - L sσ i sα ψ mβ = ψ sβ - L sσ i sβ
Again with the α phase air gap magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system M α, β phase air gap magnetic linkage ψ M βTry to achieve electric excitation synchronous motor air gap flux linkage vector through α β coordinate to polar conversion Phase angle:
θ k = arctan ψ mβ ψ mα
The present invention is by linear regulation sin δ *Can the linear regulation torque, reduced torque pulsation, reduced the stator current harmonic wave; In dynamic process, by directly regulating sin δ *Change torque rapidly, have good dynamic characteristics.Do not have coordinate transform in this system, the no current link realizes simple; Only need identification stator magnetic linkage (direct torque control is wanted identification stator magnetic linkage and electromagnetic torque simultaneously); Of no use to any rotor parameter, need not any rotor amount of identification, the parameter robustness is good, will have wide practical use in electric excitation synchronous motor speed governing occasion.
Description of drawings
Fig. 1: the electric excitation synchronous motor governing system block diagram that the present invention is based on the torque angle sine value Linear Control;
Fig. 2: target stator magnetic linkage vector calculates schematic diagram;
Fig. 3: the present invention 6 controls electric excitation synchronous motor duty ratio schematic diagram calculation constantly.
Embodiment
As Fig. 1, a kind of electric excitation synchronous motor control method based on the torque angle sine value Linear Control is characterized in that by the detected electric excitation synchronous motor actual speed of velocity transducer ω, with given electric excitation synchronous motor rotational speed omega *Obtain electric excitation synchronous motor instantaneous torque angle sine value sin δ through PI link, amplitude limit link successively with the actual corners rotational speed omega *With given electric excitation synchronous motor stator magnetic linkage amplitude Ψ *And electric excitation synchronous motor instantaneous torque angle sine value sin δ *, the current flux linkage vector of electric excitation synchronous motor gas Phase angle theta kObtain next moment target stator magnetic linkage vector of electric excitation synchronous motor through target stator magnetic linkage vector link With next moment target stator magnetic linkage vector of electric excitation synchronous motor With the current stator magnetic linkage vector of electric excitation synchronous motor Obtain electric excitation synchronous motor stator magnetic linkage variable quantity as phasor difference With electric excitation synchronous motor stator magnetic linkage variable quantity Generating the three-phase duty ratio that obtains three-phase full-bridge inverter through the space vector modulation link is A phase duty ratio D A, B phase duty ratio D B, C phase duty ratio D C, it is A phase current i that described three-phase duty ratio is obtained the three-phase phase current of electric excitation synchronous motor under static abc coordinate through three-phase full-bridge inverter Sa, B phase current i Sb, C phase current i Sc, adopt described three-phase phase current to drive the target electromagnetic torque T that electric excitation synchronous motor obtains electric excitation synchronous motor output e
The k+1 target electromagnetic torque of electric excitation synchronous motor constantly is:
T e ( k + 1 ) * = 3 p 2 L sσ | ψ → k + 1 * | | ψ → m | sin δ *
Wherein k is a current time, L S σBe electric excitation synchronous motor stator leakage inductance, p is the electric excitation synchronous motor number of pole-pairs, Be the current air gap flux linkage vector of electric excitation synchronous motor, the current stator magnetic linkage vector of electric excitation synchronous motor And phase angle theta kAsk for and may further comprise the steps:
(1) adopt voltage sensor senses to obtain the DC bus-bar voltage U of three-phase full-bridge inverter Dc, adopt described DC bus-bar voltage U DcWith the three-phase duty ratio of three-phase full-bridge inverter is A duty ratio D mutually A, B phase duty ratio D B, C phase duty ratio D CIt is A phase voltage u that combination calculation draws the three-phase phase voltage of electric excitation synchronous motor under static abc coordinate Sa, B phase voltage u Sb, C phase voltage u Sc:
u sa = U dc 3 ( 2 D A - D B - D C ) u sb = U dc 3 ( 2 D B - D A - D C ) u sc = U dc 3 ( 2 D C - D B - D A )
With the A phase voltage u of electric excitation synchronous motor under static abc coordinate Sa, B phase voltage u Sb, C phase voltage u ScCarrying out 3/2 constant conversion of magnetic potential, to obtain the stator voltage of electric excitation synchronous motor under static α β coordinate system be α phase stator voltage u S α, β phase stator voltage u S β:
u sα = U dc 2 ( 2 D A - D B - D C ) u sβ = 3 U dc 2 ( D B - D C )
(2) adopting current sensor senses to obtain the three-phase phase current of electric excitation synchronous motor under static abc coordinate is A phase current i Sa, B phase current i Sb, C phase current i ScAnd carrying out 3/2 constant conversion of magnetic potential, to obtain the stator current of electric excitation synchronous motor under static α β coordinate system be α phase stator current i S α, β phase stator current i S β:
i sα = U dc 3 ( 2 i sa - i sb - i sc ) i sβ = 3 U dc 3 ( i sb - i sc )
(3) utilize the α phase stator voltage u of electric excitation synchronous motor under static α β coordinate system S α, β phase stator voltage u S βWith α stator current i mutually S α, β phase stator current i S βCalculate the α phase stator magnetic linkage Ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage Ψ S β
ψ sα = ∫ ( u sα - Ri sα ) dt ψ sβ = ∫ ( u sβ - Ri sβ ) dt , Wherein R is a stator winding resistance,
Again with the α phase stator magnetic linkage ψ of formula electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S βTry to achieve the current stator magnetic linkage vector of electric excitation synchronous motor through α β coordinate to polar conversion Amplitude ψ kAnd phase angle theta k+ δ k:
ψ k = ψ sα 2 + ψ sβ 2
θ k + δ k = arctan ψ sβ ψ sα
Utilize the α phase stator magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S βWith α stator leakage field L mutually S σi S α, β phase stator leakage field L S σi S βTry to achieve the α phase air gap magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system M α, β phase air gap magnetic linkage ψ M β:
ψ mα = ψ sα - L sσ i sα ψ mβ = ψ sβ - L sσ i sβ
Again with the α phase air gap magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system M α, β phase air gap magnetic linkage ψ M βTry to achieve electric excitation synchronous motor air gap flux linkage vector through α β coordinate to polar conversion Phase angle:
θ k = arctan ψ mβ ψ mα
As shown in Figure 2, earlier with the current air gap flux linkage vector of electric excitation synchronous motor Rotation w r* the T angle obtains next control cycle air gap flux linkage vector of electric excitation synchronous motor Next control cycle air gap flux linkage vector of electric excitation synchronous motor Phase angle be θ k+ w r* T; Next moment target stator magnetic linkage vector of electric excitation synchronous motor Phase angle be θ k+ w r* T+ δ *, next moment target stator magnetic linkage vector of electric excitation synchronous motor Length be electric excitation synchronous motor stator flux linkage set amplitude ψ *, wherein T is time interrupt cycle, w rBe system's transient speed angular frequency;
As shown in Figure 3, constantly controlling electric excitation synchronous motor with 6 is example.With electric excitation synchronous motor target stator magnetic linkage vector With the current stator magnetic linkage vector of electric excitation synchronous motor Obtain the stator magnetic linkage variable quantity as phasor difference With described stator magnetic linkage variable quantity Can get by vector is synthetic:
Δ ψ → = V k * t k + V k + 1 * t k + 1
Wherein V is the poor of reference voltage vector and stator resistance pressure drop, by V kAnd V K+1T action time kAnd t K+1Further try to achieve the three-phase duty ratio of three-phase full-bridge inverter:
When Δ ψ → = V 3 * t 3 + V 4 * t 4
D A = 0 D B = t 3 + t 4 T D C = t 4 T
When Δ ψ → = V 1 * t 1 + V 2 * t 2 , Then
D A = t 1 + t 2 T D B = t 2 T D C = 0
When Δ ψ → = V 2 * t 2 + V 3 * t 3 , Then
D A = t 2 T D B = t 2 + t 3 T D C = 0
When Δ ψ → = V 4 * t 4 + V 5 * t 5 , Then
D A = 0 D B = t 4 T D C = t 4 + t 5 T
When Δ ψ → = V 5 * t 5 + V 6 * t 6 , Then
D A = t 6 T D B = 0 D C = t 5 + t 6 T
When Δ ψ → = V 6 * t 6 + V 1 * t 1 , Then
D A = t 6 + t 1 T D B = 0 D C = t 6 T
The present invention is that the torque angle sine value by the adjusting electric excitation synchronous motor of direct linearity comes controlling torque.Keep under the constant situation of stator magnetic linkage amplitude at electric excitation synchronous motor, the electromagnetic torque of motor is shown below:
T e = 3 p 2 L sσ | ψ → s | | ψ → m | sin δ * , ψ wherein sBe electric excitation synchronous motor stator magnetic linkage amplitude.
By following formula as seen, the electromagnetic torque of motor and torque angle sine value are linear.Just can regulate torque rapidly linearly by the instantaneous power angle sine value of directly regulating electric excitation synchronous motor linearly.
Accompanying drawing 1 has provided the theory diagram based on the electric excitation synchronous motor speed regulating method of slip Linear Control, and it is made up of rotating speed link, target stator magnetic linkage vector generation link joint, space vector modulation link joint, stator magnetic linkage identification link joint, three-phase full-bridge inverter, electric excitation synchronous motor.
When static state, by linear regulation sin δ *Can the linear regulation torque, reduced torque pulsation, reduced the stator current harmonic wave; In dynamic process, by directly regulating sin δ *Change torque rapidly, have good dynamic characteristics.

Claims (1)

1. the electric excitation synchronous motor control method based on the torque angle sine value Linear Control is characterized in that by the detected electric excitation synchronous motor actual speed of velocity transducer ω, with given electric excitation synchronous motor rotational speed omega *Obtain electric excitation synchronous motor instantaneous torque angle sine value sin δ through PI link, amplitude limit link successively with the difference of actual speed ω *With given electric excitation synchronous motor stator magnetic linkage amplitude ψ *And electric excitation synchronous motor instantaneous torque angle sine value sin δ *, the current flux linkage vector of electric excitation synchronous motor Phase angle theta kObtain next moment target stator magnetic linkage vector of electric excitation synchronous motor through target stator magnetic linkage vector link With next moment target stator magnetic linkage vector of electric excitation synchronous motor With the current stator magnetic linkage vector of electric excitation synchronous motor Obtain electric excitation synchronous motor stator magnetic linkage variable quantity as phasor difference With electric excitation synchronous motor stator magnetic linkage variable quantity Generating the three-phase duty ratio that obtains three-phase full-bridge inverter through the space vector modulation link is A phase duty ratio D A, B phase duty ratio D B, C phase duty ratio D C, it is A phase current i that described three-phase duty ratio is obtained the three-phase phase current of electric excitation synchronous motor under static abc coordinate through three-phase full-bridge inverter Sa, B phase current i Sb, C phase current i Sc, adopt described three-phase phase current to drive the target electromagnetic torque T that electric excitation synchronous motor obtains electric excitation synchronous motor output e
The k+1 target electromagnetic torque of electric excitation synchronous motor constantly is:
T e ( k + 1 ) * = 3 p 2 L sσ | ψ → k + 1 * | | ψ → m | sin δ *
Wherein k is a current time, L S σBe electric excitation synchronous motor stator leakage inductance, p is the electric excitation synchronous motor number of pole-pairs, Be the current air gap flux linkage vector of electric excitation synchronous motor, the current stator magnetic linkage vector of electric excitation synchronous motor And phase angle theta kAsk for and may further comprise the steps:
(1) adopt voltage sensor senses to obtain the DC bus-bar voltage U of three-phase full-bridge inverter Dc, adopt described DC bus-bar voltage U DcWith the three-phase duty ratio of three-phase full-bridge inverter is A duty ratio D mutually A, B phase duty ratio D R, C phase duty ratio D CIt is A phase voltage u that combination calculation draws the three-phase phase voltage of electric excitation synchronous motor under static abc coordinate Sa, B phase voltage u Sb, C phase voltage u Sc:
u sa = U dc 3 ( 2 D A - D B - D C ) u sb = U dc 3 ( 2 D B - D A - D C ) u sc = U dc 3 ( 2 D C - D B - D A )
With the A phase voltage u of electric excitation synchronous motor under static abc coordinate Sa, B phase voltage u Sb, C phase voltage u ScCarrying out 3/2 constant conversion of magnetic potential, to obtain the stator voltage of electric excitation synchronous motor under static α β coordinate system be α phase stator voltage u S α, β phase stator voltage u S β:
u sα = U dc 2 ( 2 D A - D B - D C ) u sβ = 3 U dc 2 ( D B - D C ) ;
(2) adopting current sensor senses to obtain the three-phase phase current of electric excitation synchronous motor under static abc coordinate is A phase current i Sa, B phase current i Sb, C phase current i ScAnd carrying out 3/2 constant conversion of magnetic potential, to obtain the stator current of electric excitation synchronous motor under static α β coordinate system be α phase stator current i S α, β phase stator current i S β:
i sα = U dc 3 ( 2 i sa - i sb - i sc ) i sβ = 3 U dc 3 ( i sb - i sc ) ;
(3) utilize the α phase stator voltage u of electric excitation synchronous motor under static α β coordinate system S α, β phase stator voltage u S βWith α stator current i mutually S α, β phase stator current i S βCalculate the α phase stator magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S β:
Wherein R is a stator winding resistance,
Again with the α phase stator magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S βTry to achieve the current stator magnetic linkage vector of electric excitation synchronous motor through α β coordinate to polar conversion Amplitude ψ kAnd phase angle theta k+ δ k:
ψ k = ψ sα 2 + ψ sβ 2
θ k + δ k = arctan ψ sβ ψ sα
Utilize the α phase stator magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system S α, β phase stator magnetic linkage ψ S βWith α stator leakage field L mutually S σi S α, β phase stator leakage field L S σi S βTry to achieve the α phase air gap magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system M α, β phase air gap magnetic linkage ψ M β:
ψ mα = ψ sα - L sσ i sα ψ mβ = ψ sβ - L sσ i sβ
Again with the α phase air gap magnetic linkage ψ of electric excitation synchronous motor under static α β coordinate system M α, β phase air gap magnetic linkage ψ M βTry to achieve electric excitation synchronous motor air gap flux linkage vector through α β coordinate to polar conversion Phase angle:
θ k = arctan ψ mβ ψ mα .
CN2008101559991A 2008-10-15 2008-10-15 Electric excitation synchronous motor control method based on torque angle sine value linear control Expired - Fee Related CN101383582B (en)

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CN103560735B (en) * 2013-09-27 2014-11-12 南车株洲电力机车研究所有限公司 Control method for electro-magnetic synchronous motor
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