CN101944875A - Method for measuring position and speed of doubly-fed motor rotor and control device - Google Patents
Method for measuring position and speed of doubly-fed motor rotor and control device Download PDFInfo
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- CN101944875A CN101944875A CN2010102909542A CN201010290954A CN101944875A CN 101944875 A CN101944875 A CN 101944875A CN 2010102909542 A CN2010102909542 A CN 2010102909542A CN 201010290954 A CN201010290954 A CN 201010290954A CN 101944875 A CN101944875 A CN 101944875A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004804 winding Methods 0.000 claims abstract description 46
- 230000005284 excitation Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 230000011664 signaling Effects 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
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- 238000011156 evaluation Methods 0.000 description 1
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Abstract
The invention relates to a method for measuring the position and the speed of a doubly-fed motor rotor and a control device, belonging to the measuring method and the control device of the doubly-fed motor. The method comprises the following steps of: adding a high-frequency excitation signal to a winding of the doubly-fed motor rotor; changing the position of the motor rotor so as to change the amplitude of a high-frequency current signal which is generated by a high-frequency pulsating magnetic potential in a stator winding, wherein the high-frequency pulsating magnetic potential is generated in a rotor winding; and feeding back a measured rotor position and rotating speed signal to a controller which can accurately control the rotating speed of the doubly-fed motor according to the given signal. The invention has the advantages of avoiding using a mechanical speed sensor in a brush-type doubly-fed motor, directly and accurately measuring the position and the speed of the rotor by utilizing the mechanical structure of the doubly-fed motor and the electromagnetic relation therein and using a method of adding the high-frequency voltage signal to the rotor winding to reach the favorable control effect, simplify the system structure and improve the system reliability and the speed control accuracy.
Description
Technical field
The present invention relates to a kind of rotor-position and speed measurement method and control device of method of measurement and control device, particularly a kind of double feedback electric engine of double feedback electric engine.
Background technology
In high performance double feedback electric engine vector control system, the closed-loop control link of rotor-position and speed generally is absolutely necessary.Based on the control system of velocity transducer, adopt mechanical speed transducers such as photoelectric code disk, tachogenerator to carry out motor speed and detect, and the feedback tach signal.These systems are relatively poor to the detectability of rotor-position, and there is installation question in the mechanical speed transducer simultaneously, and has increased the maintenance workload of system.
Present Speedless sensor control system utilize to detect physical quantitys such as motor stator voltage, electric current, carries out position and velocity estimation to replace mechanical pick-up device in conjunction with the asymmetry of rotor magnetic circuit.This system has solved the problem that the mechanical speed transducer brings, reduced system cost, but present evaluation method is strong to the dependence of the parameter of electric machine, and calculating and control ratio there is mechanical velocity transducer system complex, respond slowlyer, the low speed dynamic response characteristic is relatively poor.
Summary of the invention
The objective of the invention is to provide a kind of: the rotor-position of double feedback electric engine and speed measurement method and control device, solve double feedback electric engine closed loop speed control system hardware configuration complicated problems, improve the reliability and the accuracy of control system simultaneously.
The object of the present invention is achieved like this: the present invention solves the rotor-position of double feedback electric engine and the technical scheme of tachometric survey has method of measurement and control device:
Method of measurement is:
A, system controller are controlled rotor power converter on the one hand and are the power supply of double fed electric machine rotor winding, are f by the rotor power converter frequency that superposes in a phase rotor winding on the other hand
HThe high frequency excitation signal, producing frequency in the double feedback electric engine three-phase stator winding is f
HCurrent signal;
B, utilize current transformer to detect to contain frequency in the double feedback electric engine three-phase stator winding and be f
HThe current signal of high fdrequency component carries out filtering with this current signal by traffic filter, and it is f that traffic filter separates the detected frequency of current transformer
HHigh-frequency current signal and fundamental current signal;
C, double feedback electric engine three-phase stator winding medium frequency are f
HHigh-frequency signal become cosine relation with rotor angle, double fed electric machine rotor speed n
rBeing rotor angle to the derivative of time, is f to frequency
HHigh-frequency current signal handle, can obtain the position signalling and the rotating speed of motor signal of rotor;
D, the position signalling and the rotating speed of motor signal of the rotor measured are delivered to system controller through over-sampling circuit, system controller compares itself and given signal, thereby send control signal rotor power converter is controlled;
E, rotor power converter change its output according to the control signal that system controller sent, thereby realize reliably controlling exactly rotating speed of motor.
Control device is:
The rotor winding of double feedback electric engine is connected to rotor power converter through the rotor current instrument transformer, is connected to the three-phase alternating current electrical network by transformer again; Rotor power converter connected system controller; The double feedback electric engine stator winding is connected to electrical network through current transformer, and voltage transformer is in parallel with stator winding; Current transformer is connected to traffic filter; Voltage transformer, traffic filter and rotor current instrument transformer all are connected with sample circuit, and the output of sample circuit is connected with the input of system controller; Another input of system controller is connected with signal feeding circuit such as speed.
Beneficial effect: owing to adopted such scheme, do not adopt the mechanical speed sensor device, utilize the mechanical structure of double feedback electric engine itself and electromagnetic relationship wherein, use rotor one phase winding to inject the method for high-frequency voltage signal, measure the position and the speed of rotor directly and accurately, reach good control effect, simplified the composition of system, improved the reliability of system and the accuracy of speed control.
Solve double feedback electric engine closed loop speed control system hardware configuration complicated problems, improved the reliability and the accuracy of control system, reached purpose of the present invention.
Advantage: in brush double feedback electric engine is arranged, do not use the mechanical speed transducer, utilize the electromagnetic structure of double feedback electric engine itself, the method that adopts rotor to inject high-frequency signal is directly measured rotating speed of motor, has simplified system configuration, strengthen the reliability of system, improved the accuracy of speed control.
Description of drawings
Fig. 1 is double fed electric machine rotor Position And Velocity measuring principle figure;
Fig. 2 measures and control system figure for the double fed electric machine rotor Position And Velocity.
Among the figure: 1, current transformer; 2, voltage transformer; 3, stator winding; 4, stator core; 5, rotor core; 6, rotor winding; 7, rotor current instrument transformer; 8, rotor power converter; 9, transformer; 10, sample circuit; 11, traffic filter; 12, system controller; 13, signal feeding circuit such as speed.
Embodiment
Embodiment 1: to the rotor-position of double feedback electric engine and the method for measurement of tachometric survey be:
A, system controller 12 controls rotor power converter 8 on the one hand and is 6 power supplies of double fed electric machine rotor winding, is f by rotor power converter 8 frequency that superposes in a phase rotor winding on the other hand
HThe high frequency excitation signal, producing frequency in the double feedback electric engine three-phase stator winding is f
HCurrent signal;
B, utilize current transformer 1 to detect to contain frequency in the double feedback electric engine three-phase stator winding and be f
HThe current signal of high fdrequency component carries out filtering with this current signal by traffic filter 11, and it is f that traffic filter 11 separates current transformer 1 detected frequency
HHigh-frequency current signal and fundamental current signal;
C, double feedback electric engine three-phase stator winding medium frequency are f
HHigh-frequency signal become cosine relation with rotor angle, double fed electric machine rotor speed n
rBeing rotor angle to the derivative of time, is f to frequency
HHigh-frequency current signal handle, can obtain the position signalling and the rotating speed of motor signal of rotor;
D, the position signalling and the rotating speed of motor signal of the rotor measured are delivered to system controller 12 through over-sampling circuit 10, system controller 12 compares itself and given signal, thereby send control signal rotor power converter 8 is controlled;
E, rotor power converter 8 change its output according to the control signal that system controller 12 is sent, thereby realize reliably controlling exactly rotating speed of motor.
The control device of the rotor-position of realization double feedback electric engine and the method for measurement of tachometric survey is: the rotor winding 6 of double feedback electric engine is connected to rotor power converter 8 through rotor current instrument transformers 7, is connected to the three-phase alternating current electrical network by transformer 9 again; Rotor power converter 8 connected system controllers 12, rotor power converter 8 adopts conventional power inverter, and system controller 12 adopts conventional controller; Double feedback electric engine stator winding 3 is connected to electrical network through current transformer 1, and voltage transformer 2 is in parallel with stator winding 3; Current transformer 1 is connected to traffic filter 11, and traffic filter 11 adopts conventional traffic filter; Voltage transformer 2, traffic filter 11 and rotor current instrument transformer 7 all are connected with sample circuit 10, and sample circuit 10 adopts conventional at present employing circuit, and the output of sample circuit 10 is connected with the input of system controller 12; Another input of system controller 12 is connected with signal feeding circuit 13 such as speed, and signal feeding circuit such as speed 13 are custom circuit.
Double fed electric machine rotor Position And Velocity measuring principle of the present invention:
The phase axle of definition motor stator U phase winding is the U axle, rotor u
rThe phase axle of phase winding is u
rAxle, the electrical degree of the space angle of the two is θ.If the motor number of pole-pairs is P, then U axle and u
rThe mechanical angle θ at axle clamp angle
rWith the pass of electrical degree θ be:
θ＝P×θ
r (1)
As rotor u
rWhen phase winding applies the high frequency excitation signal, can be at u
rAxle produces the high frequency impulsive magnetic field, and its amplitude position can be moved with the variation of rotor-position.Work as u
rAxle and stator U the phase winding electrical degree of the space angle of spool (being the U axle) mutually are 0 o'clock, and the frequency that stator U phase winding is responded to is f
HThe high frequency potential signal be E
HIf u
rAxle is θ with the electrical degree of the space angle of stator U axle, u
rAxle high frequency impulsive magnetic field induction frequencies in three-phase stator winding (U phase, V phase and W are mutually) is f
HHigh frequency potential signal (E
UH, E
VHAnd E
WH), their size is:
When stator winding added the operation of three-phase main-frequency voltage double-fed, the stator winding medium frequency was f
HHigh-frequency current signal (I
UH, I
VHAnd I
WH) size be:
As seen, the frequency that produces in the stator phase winding is f
HHigh-frequency signal become cosine relation with the electrical degree θ of rotor space angle, by detecting stator winding high frequency potential or current signal, just can directly measure rotor position angle θ.
The rotor position angle of measuring is carried out derivative calculations to time t, and convolution (1), just can calculate the rotation speed n of rotor
rFor:
Rotor-position and the rate signal measured are fed back to system controller 12, just constitute the closed loop speed control system of double feedback electric engine, can control accurately the speed of double feedback electric engine.
A concrete grammar of the rotor-position of double feedback electric engine of the present invention and tachometric survey and control is:
Inject the high frequency voltage excitation signal that frequency is 1000Hz in the rotor ur of double feedback electric engine phase winding, this high frequency voltage excitation signal will produce the frequency that becomes cosine relation with rotor position in double feedback electric engine stator winding 3 be the 1000Hz high-frequency signal.Utilize current transformer 1 to measure the current signal that comprises the 1000Hz high fdrequency component on the double feedback electric engine stator winding 3, this signal is passed through traffic filter 11, can obtain the rotor-position signal and the tach signal of double feedback electric engine, the signal that system controller 12 comes according to feedback, the given signal of signal feeding circuit 13 such as itself and speed is compared, thereby send appropriate control signals.The control signal that rotor power converter 8 is sent according to system controller 12 changes its output, thereby controls the rotating speed of double feedback electric engine reliably, exactly.
Claims (2)
1. the rotor-position of a double feedback electric engine and speed measurement method, it is characterized in that: method of measurement is:
A, system controller are controlled rotor power converter on the one hand and are the power supply of double fed electric machine rotor winding, are f by the rotor power converter frequency that superposes in a phase rotor winding on the other hand
HThe high frequency excitation signal, producing frequency in the double feedback electric engine three-phase stator winding is f
HCurrent signal;
B, utilize current transformer to detect to contain frequency in the double feedback electric engine three-phase stator winding and be f
HThe current signal of high fdrequency component carries out filtering with this current signal by traffic filter, and it is high-frequency current signal and the fundamental current signal of fH that traffic filter separates the detected frequency of current transformer;
C, double feedback electric engine three-phase stator winding medium frequency are f
HHigh-frequency signal become cosine relation with rotor angle, double fed electric machine rotor speed n
rBeing rotor angle to the derivative of time, is f to frequency
HHigh-frequency current signal handle, can obtain the position signalling and the rotating speed of motor signal of rotor;
D, the position signalling and the rotating speed of motor signal of the rotor measured are delivered to system controller through over-sampling circuit, system controller compares itself and given signal, thereby send control signal rotor power converter is controlled;
E, rotor power converter change its output according to the control signal that system controller sent, thereby realize reliably controlling exactly rotating speed of motor.
2. realize the rotor-position of double feedback electric engine and the control device of speed measurement method for one kind, it is characterized in that: control device is: the rotor winding of double feedback electric engine is connected to rotor power converter through the rotor current instrument transformer, is connected to the three-phase alternating current electrical network by transformer again; Rotor power converter connected system controller; The double feedback electric engine stator winding is connected to electrical network through current transformer, and voltage transformer is in parallel with stator winding; Current transformer is connected to traffic filter; Voltage transformer, traffic filter and rotor current instrument transformer all are connected with sample circuit, and the output of sample circuit is connected with the input of system controller; Another input of system controller is connected with signal feeding circuit such as speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102909542A CN101944875A (en) | 2010-09-21 | 2010-09-21 | Method for measuring position and speed of doubly-fed motor rotor and control device |
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|---|---|---|---|
| CN2010102909542A CN101944875A (en) | 2010-09-21 | 2010-09-21 | Method for measuring position and speed of doubly-fed motor rotor and control device |
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| CN101944875A true CN101944875A (en) | 2011-01-12 |
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| CN2010102909542A Pending CN101944875A (en) | 2010-09-21 | 2010-09-21 | Method for measuring position and speed of doubly-fed motor rotor and control device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104201998A (en) * | 2014-08-22 | 2014-12-10 | 哈尔滨同为电气股份有限公司 | Practical low-frequency signal envelope line extraction circuit and extraction method |
| CN104348394B (en) * | 2013-08-08 | 2017-03-01 | 台达电子工业股份有限公司 | The method and device of estimation motor rotor position |
| CN107144701A (en) * | 2017-06-29 | 2017-09-08 | 合肥巨动力系统有限公司 | The rational method of calibration of hybrid powder motor speed and its functional development method |
| CN108351365A (en) * | 2015-11-18 | 2018-07-31 | 罗伯特·博世有限公司 | The method and apparatus of rotating speed in generator unit for identification |
Citations (4)
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| CN201181927Y (en) * | 2008-04-15 | 2009-01-14 | 徐州中矿大传动与自动化有限公司 | Full speed range control device of double-feedback electric motor |
| CN101714844A (en) * | 2009-11-10 | 2010-05-26 | 哈尔滨工业大学 | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor |
| CN101789746A (en) * | 2009-01-23 | 2010-07-28 | 中国矿业大学 | Method and device for rotor position measurement and speed measurement and control of synchronous motor |
| CN201860292U (en) * | 2010-09-21 | 2011-06-08 | 中国矿业大学 | Measurement control device for position and speed of rotor of double-fed motor |
-
2010
- 2010-09-21 CN CN2010102909542A patent/CN101944875A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201181927Y (en) * | 2008-04-15 | 2009-01-14 | 徐州中矿大传动与自动化有限公司 | Full speed range control device of double-feedback electric motor |
| CN101789746A (en) * | 2009-01-23 | 2010-07-28 | 中国矿业大学 | Method and device for rotor position measurement and speed measurement and control of synchronous motor |
| CN101714844A (en) * | 2009-11-10 | 2010-05-26 | 哈尔滨工业大学 | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor |
| CN201860292U (en) * | 2010-09-21 | 2011-06-08 | 中国矿业大学 | Measurement control device for position and speed of rotor of double-fed motor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104348394B (en) * | 2013-08-08 | 2017-03-01 | 台达电子工业股份有限公司 | The method and device of estimation motor rotor position |
| CN104201998A (en) * | 2014-08-22 | 2014-12-10 | 哈尔滨同为电气股份有限公司 | Practical low-frequency signal envelope line extraction circuit and extraction method |
| CN108351365A (en) * | 2015-11-18 | 2018-07-31 | 罗伯特·博世有限公司 | The method and apparatus of rotating speed in generator unit for identification |
| CN108351365B (en) * | 2015-11-18 | 2020-06-26 | 罗伯特·博世有限公司 | Method and device for detecting the rotational speed in a generator unit |
| CN107144701A (en) * | 2017-06-29 | 2017-09-08 | 合肥巨动力系统有限公司 | The rational method of calibration of hybrid powder motor speed and its functional development method |
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Application publication date: 20110112 |