CN101951222A - Control method of brushless double-fed motor and application thereof - Google Patents

Abstract

The invention discloses a control method of a brushless double-fed motor and an application thereof, relating to the field of motor control. In the control method, the observed control-side motor flux linkage and motor torque are used as feedback quantities to be compared with a given value by using the influence of a power-side motor on a control-side motor as the disturbance according to the basic principle of feedback control, a regulator regulates errors to obtain a control quantity under a synchronous coordinate system, and the control quantity is subject to rotation transformation and is converted to a control quantity under a static coordinate system so as to realize the control on the control-side motor flux linkage and motor torque. Flux linkage observer and torque observer models have less dependence on motor parameters; the control algorithm is simple and avoids the difficulty in solving the complicated nonlinear equation; and the invention can realize the effective control on the control-side motor flux linkage and motor torque in the dynamic/static process, thereby being especially applicable to variable-frequency speed-regulating, variable-speed constant-frequency constant-voltage and variable-frequency variable-voltage control systems of the brushless double-fed motor.

Description

A kind of Control Methods on Brushless Doubly-Fed Machine and application thereof

Technical field

The present invention relates to Motor Control Field, particularly Control Methods on Brushless Doubly-Fed Machine and application thereof is applicable to the application scenario of the frequency control of brushless dual-feed motor and variable speed constant frequency constant voltage, variable-frequency variable-voltage control system.

Background technology

Owing to the development and utilization to new forms of energy, particularly in the utilization to wind energy, the application of double feedback electric engine and the research of control method have obtained people's very big concern in recent years.Double feedback electric engine mainly comprises two kinds: brush double feedback electric engine and brushless dual-feed motor are arranged.Extensive use at present be that Wound-rotor type has the brush double feedback electric engine, it is at stator and rotor both sides feed, general stator side joint power frequency civil power, rotor-side links to each other with inverter by slip ring, control method is ripe relatively, but has the brush double feedback electric engine to have brush and slip ring, the maintenance cost height, reliability is low, and useful life is short.Brushless dual-feed motor is 2 coaxial being in series of wire-wound asynchronous motor, as shown in Figure 1,2 wire-wound asynchronous motors are called power side motor and control side motor, power side motor is connected with the rotor winding negative-phase sequence of control side motor, equivalent circuit diagram as shown in Figure 2, in most application scenarios, power side motor stator connects the power frequency civil power, the magnetic linkage amplitude of power side motor and rotary speed substantially constant, control side motor connects inverter, control by to control side motor stator supply power voltage realizes the control to control side motor magnetic linkage and motor torque.

Because brushless double-fed acc power side motor and control side motor influence each other by the rotor that negative-phase sequence is connected, make to be difficult to the model complexity of brushless dual-feed motor control.In the prior art Control Methods on Brushless Doubly-Fed Machine is mainly contained following two kinds:

Method one: based on the vector decoupling control method of two synchronous coordinate systems, this control method is divided into power subsystem and control subsystem to brushless dual-feed motor, power subsystem adopts power side stator flux orientation, control subsystem adopts the control side rotor field-oriented, to realize the decoupling zero control of brushless dual-feed motor torque and control side motor magnetic linkage.This control method mainly comprises four kinds of specific implementations: the direct solving method of electromagnetic torque equation utilizes Newton iteration method to solve torque current from the nonlinear function of torque and electric current and realizes control to torque, tries to achieve exciting current according to inversion model and realizes control to control side rotor magnetic linkage; The electromagnetic torque estimation algorithm is expressed as torque equation the trigonometric function at motor synchronous angle, then the electromagnetic torque by expectation just can obtain synchro angle by separating antitrigonometric function, obtain torque current according to the relation of synchro angle and torque current again, exciting current ask method with last a kind of identical, by the torque current that obtains and exciting current estimation electromagnetic torque; Ignore the method that synchro angle in the dynamic process changes and utilize the slip angle of power side motor under the stable state and the opposite characteristic of slip angle numerical value equal symbol of control side motor, the variation of ignoring synchro angle obtains the relation of motor torque and torque current and finds the solution torque current; Then avoid the calculating of torque based on the method for synchro angle,, obtain torque current according to the relation of synchro angle and torque current directly the output of speed closed loop given as synchro angle.

Method two: the both sides motor is transformed under each motor synchronizing speed coordinate system, the characteristic of utilizing power motor slip angular frequency under the stable situation and control motor slip angular frequency to equate is closed two motor models as a whole, adopts power side stator flux orientation that decoupling zero control is carried out in torque and magnetic linkage.

The inventor finds that there is following shortcoming and defect at least in above-mentioned existing control method in realizing process of the present invention:

The electromagnetic torque equation is directly found the solution and implemented complexity in the method one, and amount of calculation is big, and is big to the dependence of the parameter of electric machine; Electromagnetic torque estimation algorithm and can introduce error based on the method for synchro angle in solution procedure can't accurately be controlled torque and magnetic linkage; Ignore method and the method two that synchro angle in the dynamic process changes and under stable situation, obtain, can't realize in the dynamic process control brushless dual-feed motor torque and magnetic linkage.

Summary of the invention

For realize dynamically and limit under the accurate control of brushless dual-feed motor magnetic linkage and torque, reduce dependence to the parameter of electric machine, the simplification control algolithm the present invention proposes a kind of Control Methods on Brushless Doubly-Fed Machine and application thereof, it thes contents are as follows:

(a) constitute according to the basic principle of FEEDBACK CONTROL, looking power side motor is disturbance to the influence of control side motor, and amplitude by flux observer and the controlled side motor of torque observer magnetic linkage and motor torque are as the feedback quantity of magnetic linkage and torque outer shroud;

(b) amplitude of described control side motor magnetic linkage is compared with the set-point of magnetic linkage, error obtains the synchronous coordinate system following direct axis component set-point of controlling side motor stator electric current in magnetic field in the current inner loop through the magnetic linkage adjuster, the direct axis component set-point of described control side motor stator electric current is compared with the direct axis component measuring amount of control side motor stator electric current, and error obtains the direct axis component set-point of control side motor stator voltage under the synchronous coordinate system through the direct-axis current adjuster;

(c) described motor torque is compared with the torque set-point, error obtains the synchronous coordinate system following quadrature axis component set-point of controlling side motor stator electric current in magnetic field in the current inner loop through torque controller, the quadrature axis component set-point of described control side motor stator electric current is compared with the quadrature axis component measuring amount of control side motor stator electric current, and error obtains the quadrature axis component set-point of control side motor stator voltage under the synchronous coordinate system through handing over the shaft current adjuster;

(d) the direct axis component set-point of described control side motor stator voltage and the quadrature axis component set-point of described control side motor stator voltage are passed through rotation transformation and 2/3 conversion, obtain control side motor stator voltage set-point under the rest frame, the inverter voltage of control inverter is loaded on the control side motor stator winding of double feedback electric engine, realizes the control to control side motor magnetic linkage amplitude and motor torque.

Described flux observer is the electric current observer under the rotor coordinate system or electric current rotating speed observer under the rest frame or the electric current and voltage observer under the rest frame.

Described magnetic linkage adjuster, described torque controller and described d-axis and friendship shaft current adjuster are specially linear regulator or dead-band regulator or automatic disturbance rejection controller or fuzzy controller or feedforward decoupling controller.

Described magnetic linkage and torque outer shroud and current inner loop are realizing under the control side rotor field orientation coordinate system or under the control side motor stator field orientation coordinate system.

A kind of application scenario of Control Methods on Brushless Doubly-Fed Machine is specially in frequency control, variable speed constant frequency constant voltage, variable-frequency variable-voltage control system of brushless dual-feed motor and products thereof.

The distinguishing feature of above-mentioned brushless dual-feed motor control method is:

1, according to the basic principle of FEEDBACK CONTROL, with controlled variable as feedback quantity, compare with specified rate, error is through the direct controlled amount of adjuster, adjuster algorithm and parameter have the very big selection degree of freedom under the precondition that guarantees the stability of a system and dynamic characteristic, do not need to know for sure the structure and parameter of controlled device, counter the pushing away of inversion model that also need not to use controlled device, algorithm is simple; The observation model of feedback quantity only needs a spot of parameter of electric machine and simple calculations, and is little to the dependence of the parameter of electric machine.

2, the comparison of outer shroud and interior ring all realizes under the directed synchronous coordinate system of control side motor-field with the adjuster algorithm, the controlled quentity controlled variable of magnetic linkage and torque outer shroud is the direct axis component and the quadrature axis component of control side motor stator electric current, can realize effective control respectively to control side motor magnetic linkage and motor torque, and in d-axis and the friendship shaft current ring the influence that can remove the stator voltage equation effectively is set, and, controlled quentity controlled variable under the synchronous coordinate system and disturbance quantity all are DC quantity under stable state, select simple pi regulator just can reach the control purpose.

3, use the controlled amount of method of FEEDBACK CONTROL, avoided the difficulty of finding the solution the complex nonlinear equation, control algolithm is simple; The observer model of magnetic linkage and torque is simple, and is little to the dependence of the parameter of electric machine; Can realize in the dynamic process and static conditions under to effective control of magnetic linkage and torque.

Sum up above-mentionedly, the Control Methods on Brushless Doubly-Fed Machine that the present invention provides has direct feedback and directly actuated essential characteristic, so be called DFC (Direct Feedback Control, the directly FEEDBACK CONTROL) method of brushless dual-feed motor.

Description of drawings

Fig. 1 is the structure chart of brushless dual-feed motor;

Fig. 2 is the equivalent circuit diagram of brushless dual-feed motor;

Fig. 3 is the brushless dual-feed motor control system block diagram of employing control side rotor field orientation provided by the invention;

Fig. 4 is the brushless dual-feed motor control flow chart of employing control side rotor field orientation provided by the invention;

Fig. 5 is the brushless dual-feed motor control system block diagram of employing control side motor stator field orientation provided by the invention;

Fig. 6 is the brushless dual-feed motor control flow chart of employing control side motor stator field orientation provided by the invention;

Fig. 7 is that oscillogram is followed the tracks of in torque provided by the invention;

Fig. 8 is that control side rotor magnetic linkage provided by the invention is followed the tracks of oscillogram;

Fig. 9 is the oscillogram of control side rotor magnetic linkage direct axis component provided by the invention and quadrature axis component;

Figure 10 is speed waveform figure provided by the invention;

Figure 11 is power side stator current A phase waveform figure provided by the invention;

Figure 12 is control side stator current A phase waveform figure provided by the invention.

Embodiment

During below literal is set forth and is illustrated, each variable and the target implication is as follows up and down:

I, u, ψ, T _εMeasured value or the measured value of representing electric current, voltage, magnetic linkage and motor torque respectively;

Subscript c, p represent the control side motor and the power side motor of brushless dual-feed motor respectively;

Subscript d, q represent the d axle and the q axle of two-phase rotor coordinate system respectively;

Subscript r, s represent the rotor and the stator of motor respectively;

Subscript a, b, c represent three phase windings of motor respectively;

Subscript m, t represent the d-axis of synchronous coordinate system respectively and hand over axle;

Subscript α, β represent the α axle and the β axle of rest frame respectively;

Subscript l represents leakage inductance, and m represents magnetizing inductance;

Subscript * represents given;

R represents motor stator and rotor resistance parameters parameter.

L represents motor stator and rotor inductance parameters, l _mExpression mutual inductance parameter;

ω _rThe expression motor speed, θ r represents the motor corner;

λ represents the slip angle of synchronous coordinate system with respect to the rotor coordinate system;

The corner of expression synchronous coordinate system

s _pThe slip of expression power side motor, s _cThe slip of expression control side motor, s=s _ps _cTotal slip of expression motor;

ω _pExpression power side motor terminal voltage angular frequency, ω _cExpression control side motor terminal voltage angular frequency.

Embodiment 1

One of typical embodiments of brushless dual-feed motor control method adopts control side rotor field orientation, and its system block diagram sees that Fig. 3, control method flow process see Fig. 4, the detailed content description that sees below:

101: the power side motor stator electric current that measures and control side motor stator electric current are sent into rotor flux observer and torque observer to obtain amplitude, slip angle and the motor torque of control side rotor magnetic linkage.

This step is specially: for realizing the rotor field-oriented direct FEEDBACK CONTROL of brushless dual-feed motor, the direction that needs controlled side rotor magnetic linkage is to realize field orientation, the amplitude and the motor torque that also need controlled side rotor magnetic linkage simultaneously, them as feedback quantity to realize FEEDBACK CONTROL.For this reason, need to make up the rotor flux observer and the torque observer of brushless dual-feed motor, wherein, rotor flux observer comprises: control side rotor flux observer and power side rotor flux observer.

Control side rotor flux observer that the embodiment of the invention provides and power side rotor flux observer realize that under the rotor coordinate system rotor coordinate system observation model of control side rotor magnetic linkage down is

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{cdr}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{cm}}+l_{\mathrm{pr}}{l}_{\mathrm{cm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cds}}+\frac{l_{\mathrm{cr}}{l}_{\mathrm{pm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pds}}\\ {\mathrm{\ψ}}_{\mathrm{cqr}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{cm}}+l_{\mathrm{pr}}{l}_{\mathrm{cm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cqs}}-\frac{l_{\mathrm{cr}}{l}_{\mathrm{pm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pqs}}\end{array}\right.---\left(1\right)$

Wherein, ψ _Cdr, ψ _CqrD, the q axle component of representing control side rotor magnetic linkage under the rotor coordinate system respectively, i _Pds, i _PqsD, the q axle component of representing power side motor stator electric current under the rotor coordinate system respectively, i _Cds, i _CqsD, the q axle component of representing control side motor stator electric current under the rotor coordinate system respectively; r _Cr, r _PrThe rotor resistance of side and power side motor, l are controlled in expression respectively _Cr, l _PrThe inductor rotor of side and power side motor, l are controlled in expression respectively _Cm, l _PmThe mutual inductance of expression control side and power side motor respectively.

The amplitude of control side rotor magnetic linkage is

${\mathrm{\ψ}}_{\mathrm{cr}}=\sqrt{{\mathrm{\ψ}}_{\mathrm{cdr}}^2+{\mathrm{\ψ}}_{\mathrm{cqr}}^2}---\left(2\right)$

Control side rotor magnetic linkage with respect to the slip angle of rotor is

${\mathrm{\λ}}_{\mathrm{cr}}=\arctan \frac{{\mathrm{\ψ}}_{\mathrm{cqr}}}{{\mathrm{\ψ}}_{\mathrm{cr}}}---\left(3\right)$

The observation model of power side rotor magnetic linkage is under the rotor coordinate system

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{pdr}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{pm}}+l_{\mathrm{cr}}{l}_{\mathrm{pm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pds}}+\frac{l_{\mathrm{pr}}{l}_{\mathrm{cm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cds}}\\ {\mathrm{\ψ}}_{\mathrm{pqr}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{pm}}+l_{\mathrm{cr}}{l}_{\mathrm{pm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pqs}}-\frac{l_{\mathrm{pr}}{l}_{\mathrm{cm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cqs}}\end{array}\right.---\left(4\right)$

Wherein, θ _Pdr, ψ _PqrD, the q axle component of representing power side rotor magnetic linkage under the rotor coordinate system respectively.

The torque observer model of brushless dual-feed motor is

$T_e=\frac{3}{2}\frac{p_p{l}_{\mathrm{pm}}}{l_{\mathrm{pr}}}(i_{\mathrm{pqs}}{\mathrm{\ψ}}_{\mathrm{pdr}}-i_{\mathrm{pds}}{\mathrm{\ψ}}_{\mathrm{pqr}})+\frac{3}{2}\frac{p_c{l}_{\mathrm{cm}}}{l_{\mathrm{cr}}}(i_{\mathrm{cqs}}{\mathrm{\ψ}}_{\mathrm{cdr}}-i_{\mathrm{cds}}{\mathrm{\ψ}}_{\mathrm{cqr}})---\left(5\right)$

Wherein, T _εThe expression motor torque, p _p, p _cThe number of pole-pairs of representing power side and control side motor respectively.

Above-mentioned magnetic linkage and torque observe model have only been used rotor resistance, inductor rotor and the mutual inductance parameter of control side motor and power side motor, and be less to the dependence of the parameter of electric machine.

The observer model of the above-mentioned rotor flux that provides is to realize under the rotor coordinate system, obtain the electric current rotating speed observation model of rest frame lower rotor part magnetic linkage in view of the above easily, equally, except that the cross product form of the rotor flux of motor torque and stator current, can also use between other magnetic linkage, the cross product form of motor torque between magnetic linkage and electric current and between electric current and electric current, and cross product computing and coordinate system choose irrelevant.So, no matter choose which kind of rotor flux observation model, no matter adopt the torque model of which kind of variable cross product form, also no matter they are realized under which coordinate system, as long as the purpose of observation is the essential characteristic that is used for realizing feeding back and embody direct FEEDBACK CONTROL, all should belong to the special case of the controlling schemes that the embodiment of the invention provides.

102: the amplitude of the control side rotor magnetic linkage that obtains in the step 101 is compared with set-point, and error obtains in the current inner loop field orientation synchronous coordinate system direct axis component set-point of control side motor stator electric current down through the magnetic linkage adjuster; The motor torque that obtains in the step 101 is compared with set-point, and error obtains controlling under the field orientation synchronous coordinate system in the current inner loop quadrature axis component set-point of side motor stator electric current through torque controller.

Above-mentioned controlled quentity controlled variable is tried to achieve by the method for FEEDBACK CONTROL, need not to use that the inversion model of controlled device is counter pushes calculation, has avoided finding the solution the difficulty of complex nonlinear function, and control algolithm is simple, and is little to the dependence of the parameter of electric machine.

103: the direct axis component set-point of the control side motor stator electric current that obtains in the step 102 is compared with the direct axis component measuring amount that rotates to control side motor stator electric current under the synchronous coordinate system, and error obtains controlling synchronous coordinate system under the direct axis component set-point of side motor stator voltage through the direct-axis current adjuster; The quadrature axis component set-point of the control side motor stator electric current that obtains in the step 102 is compared with the quadrature axis component measuring amount that rotates to control side motor stator electric current under the synchronous coordinate system, and error obtains controlling synchronous coordinate system under the quadrature axis component set-point of side motor stator voltage through handing over the shaft current adjuster.

The comparison of above-mentioned magnetic linkage and torque outer shroud and current inner loop is all carried out under control side rotor field orientation synchronous coordinate system with the adjuster algorithm, here field orientation can not remove coupling, but can realize more efficiently control, promptly the direct axis component and the quadrature axis component of control side motor stator electric current can be realized the most effectively controlling control side motor magnetic linkage amplitude and motor torque respectively to the field orientation synchronous coordinate down; And controlled quentity controlled variable under the synchronous coordinate system and disturbance quantity all are DC quantity under stable state, select simple P1 adjuster just can reach the control purpose.

The adjuster of the torque of the embodiment of the invention and magnetic linkage outer shroud and current inner loop all recommends to adopt pi regulator, but be not limited to pi regulator simultaneously, adopt the linear regulator, dead-band regulator, automatic disturbance rejection controller, fuzzy controller, feedforward decoupling controller of other types etc., all should be considered as the special case of direct FEEDBACK CONTROL scheme and the improvement of its performance.

104: with the direct axis component set-point of the control side stator voltage that obtains in the step 103 and quadrature axis component set-point through rotation transformation and 2/3 conversion, obtain control side motor stator voltage set-point under the rest frame, the inverter voltage of control inverter is loaded on the stator winding of brushless dual-feed motor control side.

Rotation transformation in above-mentioned steps between rest frame and rotor field-oriented coordinate system, its anglec of rotation

The slip angle that is obtained by step 101 adds that the rotor angle that measures obtains.

In sum, the embodiment of the invention 1 provides a kind of brushless dual-feed motor control method that adopts control side rotor field orientation, this method makes up according to the basic principle of FEEDBACK CONTROL, the influence of looking power side motor is disturbance, adopt control side rotor field orientation, can directly realize control effectively to control side motor magnetic linkage and motor torque, less to the dependence of the parameter of electric machine simultaneously.

Embodiment 2

Two of the typical embodiments of brushless dual-feed motor control method adopts control side motor stator field orientations, and its system block diagram sees that Fig. 5, control method flow process see Fig. 6, the detailed content description that sees below:

201: the power side motor stator electric current that measures and control side motor stator electric current are sent into stator flux observer and torque observer to obtain amplitude, slip angle and the motor torque of control side motor stator magnetic linkage.

This step is specially: for realizing the direct FEEDBACK CONTROL of brushless dual-feed motor stator flux orientation, the direction that needs controlled side motor stator magnetic linkage is to realize field orientation, the amplitude and the motor torque that also need controlled side motor stator magnetic linkage simultaneously, them as feedback quantity to realize FEEDBACK CONTROL.For this reason, need to make up the stator flux observer and the torque observer of brushless dual-feed motor, wherein, stator flux observer comprises: control side motor stator flux observer and power side motor stator flux observer.

Control side motor that the embodiment of the invention provides and power side motor stator flux observer realize that under the rotor coordinate system rotor coordinate system observation model of control side motor stator magnetic linkage down is

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{cds}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{cs}}+[(l_{\mathrm{pr}}+l_{\mathrm{cr}})l_{\mathrm{cs}}-l_{\mathrm{cm}}^2]S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cds}}+\frac{l_{\mathrm{pm}}{l}_{\mathrm{cm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pds}}\\ {\mathrm{\ψ}}_{\mathrm{cqs}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{cs}}+[(l_{\mathrm{pr}}+l_{\mathrm{cr}})l_{\mathrm{cs}}-l_{\mathrm{cm}}^2]S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cqs}}-\frac{l_{\mathrm{pm}}{l}_{\mathrm{cm}}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pqs}}\end{array}\right.---\left(6\right)$

Wherein, ψ _Cds, ψ _CqsD, the q axle component of representing control side motor stator magnetic linkage under the rotor coordinate system respectively, l _CsThe stator inductance of expression control side motor.

The amplitude of control side motor stator magnetic linkage is

${\mathrm{\ψ}}_{\mathrm{cs}}=\sqrt{{\mathrm{\ψ}}_{\mathrm{cds}}^2+{\mathrm{\ψ}}_{\mathrm{cqs}}^2}---\left(7\right)$

Control side motor stator magnetic linkage with respect to the slip angle of rotor is

${\mathrm{\λ}}_{\mathrm{cs}}=\arctan \frac{{\mathrm{\ψ}}_{\mathrm{cqs}}}{{\mathrm{\ψ}}_{\mathrm{cs}}}---\left(8\right)$

The observation model of power side motor stator magnetic linkage is under the rotor coordinate system

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{pds}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{ps}}+[(l_{\mathrm{pr}}+l_{\mathrm{cr}})l_{\mathrm{ps}}-l_{\mathrm{pm}}{l}_{\mathrm{cm}}]S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pds}}+\frac{l_{\mathrm{cm}}^{2}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cds}}\\ {\mathrm{\ψ}}_{\mathrm{pqs}}=\frac{(r_{\mathrm{pr}}+r_{\mathrm{cr}})l_{\mathrm{ps}}+[(l_{\mathrm{pr}}+l_{\mathrm{cr}})l_{\mathrm{ps}}-l_{\mathrm{pm}}{l}_{\mathrm{cm}}]S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{pqs}}-\frac{l_{\mathrm{cm}}^{2}S}{(r_{\mathrm{pr}}+r_{\mathrm{cr}})+(l_{\mathrm{pr}}+l_{\mathrm{cr}})S}{i}_{\mathrm{cqs}}\end{array}\right.---\left(9\right)$

Wherein, ψ _Pds, ψ _PqsRepresent d, the q axle component of power side motor stator magnetic linkage under the rotor coordinate system respectively, l _PsThe stator inductance of expression power side motor.

The torque observer model of brushless dual-feed motor is

$T_e=\frac{3}{2}{p}_p(i_{\mathrm{pqs}}{\mathrm{\ψ}}_{\mathrm{pds}}-i_{\mathrm{pds}}{\mathrm{\ψ}}_{\mathrm{pqs}})+\frac{3}{2}{p}_c(i_{\mathrm{cqs}}{\mathrm{\ψ}}_{\mathrm{cds}}-i_{\mathrm{cds}}{\mathrm{\ψ}}_{\mathrm{cqs}})---\left(10\right)$

Above-mentioned magnetic linkage and torque observe model have been used rotor resistance, stator inductance, inductor rotor and the mutual inductance parameter of control side motor and power side motor, and be less to the dependence of the parameter of electric machine.

In addition, for further reducing the dependence of observer model to the parameter of electric machine, control side motor stator magnetic linkage and power side motor stator magnetic linkage also can be observed with the electric current and voltage model under the two-phase rest frame, and the electric current and voltage observation model of control side motor stator magnetic linkage is

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{c\αs}}=\∫(u_{\mathrm{c\αs}}-r_{\mathrm{cs}}{i}_{\mathrm{c\αs}})\mathrm{dt}\\ {\mathrm{\ψ}}_{\mathrm{c\βs}}=\∫(u_{\mathrm{c\βs}}-r_{\mathrm{cs}}{i}_{\mathrm{c\βs}})\mathrm{dt}\end{array}\right.---\left(11\right)$

Wherein, ψ _{C α s}, ψ _{C β s}α, the beta-axis component of side motor stator magnetic linkage under the two-phase rest frame, u are controlled in expression respectively _{C α s}, u _{C β s}α, the beta-axis component of side motor stator voltage under the two-phase rest frame controlled in expression respectively, and ic α s, ic β s represent to control α, the beta-axis component of side motor stator electric current under the two-phase rest frame, r respectively _CsExpression control side motor stator resistance.

The electric current and voltage observation model of power side motor stator magnetic linkage is

$\left\{\begin{array}{c}{\mathrm{\ψ}}_{\mathrm{p\αs}}=\∫(u_{\mathrm{p\αs}}-r_{\mathrm{ps}}{i}_{\mathrm{p\αs}})\mathrm{dt}\\ {\mathrm{\ψ}}_{\mathrm{p\βs}}=\∫(u_{\mathrm{p\βs}}-r_{\mathrm{ps}}{i}_{\mathrm{p\βs}})\mathrm{dt}\end{array}\right.---\left(12\right)$

Wherein, ψ _{Q α s}, ψ _{P β s}Represent α, the beta-axis component of power side motor stator magnetic linkage under the two-phase rest frame respectively, u _{P α s}, u _{P β s}Represent α, the beta-axis component of power side motor stator voltage under the two-phase rest frame respectively, i _{P α s}, i _{P β s}Represent α, the beta-axis component of power side motor stator electric current under the two-phase rest frame respectively, r _PsExpression power side motor stator resistance.

The electric current and voltage observation model of stator magnetic linkage has only been used the stator resistance parameter of control side motor and power side motor, dependence to the parameter of electric machine is little, but pure integral action is its inherent defect to initial condition sensitivity and unavoidable null offset, must take suitable method to suppress.

Equally, no matter choose which kind of stator flux observer model, be electric current observer or electric current rotating speed observer under the rest frame or the electric current and voltage observer under the rest frame under the rotor coordinate system, no matter adopt the torque model of which kind of variable cross product form, also no matter they at which coordinate system are realized, as long as the purpose of observation is the essential characteristic that is used for realizing feeding back and embody direct FEEDBACK CONTROL, all should belong to the special case of direct FEEDBACK CONTROL scheme.

202: the amplitude of the control side motor stator magnetic linkage that obtains in the step 201 is compared with set-point, and error obtains in the current inner loop field orientation synchronous coordinate system direct axis component set-point of control side motor stator electric current down through the magnetic linkage adjuster; The motor torque that obtains in the step 201 is compared with set-point, and error obtains controlling under the field orientation synchronous coordinate system in the current inner loop quadrature axis component set-point of side motor stator electric current through torque controller.

Above-mentioned controlled quentity controlled variable is tried to achieve by the method for FEEDBACK CONTROL, need not to use that the inversion model of controlled device is counter pushes calculation, has avoided finding the solution the difficulty of complex nonlinear function, and control algolithm is simple, and is little to the dependence of the parameter of electric machine.

203: the direct axis component set-point of the control side motor stator electric current that obtains in the step 202 is compared with the direct axis component measuring amount that rotates to control side motor stator electric current under the synchronous coordinate system, and error obtains controlling synchronous coordinate system under the direct axis component set-point of side motor stator voltage through the direct-axis current adjuster; The quadrature axis component set-point of the control side motor stator electric current that obtains in the step 202 is compared with the quadrature axis component measuring amount that rotates to control side motor stator electric current under the synchronous coordinate system, and error obtains controlling synchronous coordinate system under the quadrature axis component set-point of side motor stator voltage through handing over the shaft current adjuster.

Equally, the comparison of above-mentioned magnetic linkage and torque outer shroud and current inner loop is all carried out under control side motor stator field orientation synchronous coordinate system with the adjuster algorithm, here field orientation can not remove coupling, but can realize more efficiently control, promptly the direct axis component and the quadrature axis component of control side motor stator electric current can be realized the most effectively controlling control side motor magnetic linkage amplitude and motor torque respectively to the field orientation synchronous coordinate down; And controlled quentity controlled variable under the synchronous coordinate system and disturbance quantity all are DC quantity under stable state, select simple pi regulator just can reach the control purpose.

The embodiment of the invention provide torque and the adjuster of magnetic linkage outer shroud and current inner loop all recommend to adopt pi regulator, but be not limited to pi regulator simultaneously, adopt the linear regulator, dead-band regulator, automatic disturbance rejection controller, fuzzy controller, feedforward decoupling controller of other types etc., all should be considered as the special case of direct FEEDBACK CONTROL scheme and the improvement of its performance.

204: with the direct axis component set-point of the control side motor stator voltage that obtains in the step 203 and quadrature axis component set-point through rotation transformation and 2/3 conversion, obtain control side motor stator voltage set-point under the rest frame, the inverter voltage of control inverter is loaded on the stator winding of brushless dual-feed motor control side motor.

Rotation transformation in above-mentioned steps between rest frame and stator flux orientation coordinate system, its anglec of rotation

The slip angle that is obtained by step 201 adds that the rotor angle that measures obtains.

In sum, the embodiment of the invention 2 provides a kind of brushless dual-feed motor control method that adopts control side motor stator field orientation, this method makes up according to the basic principle of FEEDBACK CONTROL, the influence of looking power side motor is disturbance, adopt control side motor stator field orientation, can realize effectively directly that the dependence to the parameter of electric machine is little simultaneously to the control of control side motor magnetic linkage and motor torque.

In the embodiment of the direct FEEDBACK CONTROL of brushless dual-feed motor of Fig. 3 and rotor field-oriented and stator flux orientation shown in Figure 5, being the frequency conversion speed-adjusting system of brushless dual-feed motor when motor is coupling load, is variable speed constant frequency constant voltage, variable-frequency variable-voltage system when motor is coupling prime mover.

Fig. 7～Figure 12 is the wavy curve of the embodiment of the invention.Curve 1 among Fig. 7 is the set-point of motor torque, and curve 2 is the measured value of motor torque; Curve 3 among Fig. 8 is the measured value of control side rotor magnetic linkage for the set-point of control side rotor magnetic linkage amplitude, curve 4; Curve 5 among Fig. 9 is the direct axis component of control side rotor magnetic linkage, and curve 6 is the quadrature axis component of control side rotor magnetic linkage; Figure 10 is a speed waveform; Figure 11 power side motor stator electric current A phase waveform; Figure 12 is a control side motor stator electric current A phase waveform.By Fig. 7～Figure 12 as can be seen, the control method that provides of the embodiment of the invention has realized under brushless dual-feed motor dynamic process and the limit the effective control to magnetic linkage and torque.

A kind of application of Control Methods on Brushless Doubly-Fed Machine, Control Methods on Brushless Doubly-Fed Machine can be applied in frequency control, variable speed constant frequency constant voltage, variable-frequency variable-voltage control system of brushless dual-feed motor and products thereof.

The embodiment sequence number of the invention described above is not represented the quality of embodiment.Simultaneously, the embodiment of the recommendation of the invention described above can not be in order to restriction other embodiments of the invention, and is within the spirit and principles in the present invention all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (5)

1. a Control Methods on Brushless Doubly-Fed Machine is characterized in that, said method comprising the steps of:

(a) constitute according to the basic principle of FEEDBACK CONTROL, looking power side motor is disturbance to the influence of control side motor, and amplitude by flux observer and the controlled side motor of torque observer magnetic linkage and motor torque are as the feedback quantity of magnetic linkage and torque outer shroud;

(b) amplitude of described control side motor magnetic linkage is compared with the set-point of magnetic linkage, error obtains the synchronous coordinate system following direct axis component set-point of controlling side motor stator electric current in magnetic field in the current inner loop through the magnetic linkage adjuster, the direct axis component set-point of described control side motor stator electric current is compared with the direct axis component measuring amount of control side motor stator electric current, and error obtains the direct axis component set-point of control side motor stator voltage under the synchronous coordinate system through the direct-axis current adjuster;

(c) described motor torque is compared with the torque set-point, error obtains the synchronous coordinate system following quadrature axis component set-point of controlling side motor stator electric current in magnetic field in the current inner loop through torque controller, the quadrature axis component set-point of described control side motor stator electric current is compared with the quadrature axis component measuring amount of control side motor stator electric current, and error obtains the quadrature axis component set-point of control side motor stator voltage under the synchronous coordinate system through handing over the shaft current adjuster;

(d) the direct axis component set-point of described control side motor stator voltage and the quadrature axis component set-point of described control side motor stator voltage are passed through rotation transformation and 2/3 conversion, obtain control side motor stator voltage set-point under the rest frame, the inverter voltage of control inverter is loaded on the control side motor stator winding of double feedback electric engine, realizes the control to control side motor magnetic linkage amplitude and motor torque.

2. Control Methods on Brushless Doubly-Fed Machine according to claim 1 is characterized in that, described flux observer is the electric current observer under the rotor coordinate system or electric current rotating speed observer under the rest frame or the electric current and voltage observer under the rest frame.

3. Control Methods on Brushless Doubly-Fed Machine according to claim 1, it is characterized in that described magnetic linkage adjuster, described torque controller and described d-axis and friendship shaft current adjuster are specially linear regulator or dead-band regulator or automatic disturbance rejection controller or fuzzy controller or feedforward decoupling controller.

4. Control Methods on Brushless Doubly-Fed Machine according to claim 1 is characterized in that, described magnetic linkage and torque outer shroud and current inner loop are realizing under the control side rotor field orientation coordinate system or under the control side motor stator field orientation coordinate system.

5. the application of a Control Methods on Brushless Doubly-Fed Machine is characterized in that, Control Methods on Brushless Doubly-Fed Machine is applied in frequency control, variable speed constant frequency constant voltage, variable-frequency variable-voltage control system of brushless dual-feed motor and products thereof.

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