CN102013869A - Current control device and current control method for alternating current asynchronous motor - Google Patents
Current control device and current control method for alternating current asynchronous motor Download PDFInfo
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Abstract
A current control device and a current control method for an alternating current motor relate to a device and a method for controlling three-phase stator current of an alternating current asynchronous motor. The current control device comprises a control panel based on a DSP (digital signal processor), a voltage source type frequency converter, a current sensor and an asynchronous motor, wherein the voltage source type frequency converter comprises an uncontrolled rectifier bridge and a three-phase fully controlled inverter bridge; the algorithm part of the alternating current motor current control method is realized based on a TMS320 series Digital Signal Processor (DSP), PWM waves generated by the DSP drive a full-control type switching device of a three-phase full-control inverter bridge of a voltage source type frequency converter, and a rectification part of the frequency converter adopts an uncontrolled rectification bridge. The control method is characterized in that the amplitude and the phase of the stator current are respectively controlled by two PI regulators, the PI regulators generate given signals of a PWM module, the PWM module generates PWM waves, and the stator current is controlled by controlling the stator voltage of the motor.
Description
Technical field
The present invention relates to a kind of AC induction motor current control device and current control method, particularly a kind of AC induction motor current control device and current control method of realizing based on the TMS320 series DSP that utilize.
Technical background
At present, most working voltage source inventers are given asynchronous machine in the vector control governing system, particularly asynchronous motor power supply.In the asynchronous motor speed-regulating system of working voltage source type frequency converter power supply, the PI controller that current controller mainly adopts synchronous coordinate to fasten, synchronously the PI controller can realize that switching frequency fixes, but influence for fear of the integration saturated phenomenon, need to use the anti-saturation pi regulator, cause when rise time of governing system and fall time are very little, asynchronous machine has over-current phenomenon avoidance.So over-current phenomenon avoidance in the time of must searching can eliminating motor speed and change is fast utilized the asynchronous machine current control device and the current control method of voltage-source type inverter supply.
Summary of the invention
The purpose of this invention is to provide a kind of over-current phenomenon avoidance can eliminate motor speed and change fast the time, have the asynchronous machine current control device and the current control method of the voltage-source type inverter supply of less amount of calculation, described asynchronous machine can be AC induction motor, also can be asynchronous motor, more specifically, can be AC asynchronous motor
A kind of AC induction motor current control device of the present invention, it is characterized in that described current control device comprises control board (1), voltage-source type frequency converter (2), current sensor (5), the AC induction motor (6) based on DSP, described voltage-source type frequency converter (2) comprises does not control rectifier bridge (3) and three-phase fully-controlled inverter bridge (4);
Control board (1) produces signal PWM1～PWM6 and links to each other with three-phase fully-controlled inverter bridge (4) in the voltage-source type frequency converter (2); PWM1～PWM6 is six road signals that control board produces;
The input of not controlling rectifier bridge (3) links to each other with electrical network, not controlling rectifier bridge (3) links to each other with three-phase fully-controlled inverter bridge (4) by electric capacity, current sensor (5) is measured the output current of three-phase fully-controlled inverter bridge (4), and the output of three-phase fully-controlled inverter bridge (4) links to each other with AC induction motor (6).
Further, described DSP is a TMS320 series; Described current sensor (5) is the current Hall transducer.
Further, described three-phase fully-controlled inverter bridge (4) is made up of the full-controlled switch device.Described signal PWM1～PWM6 links to each other with described three-phase fully-controlled inverter bridge (4) by isolation optocoupler, IGBT.
A kind of AC induction motor current control method that uses above-mentioned AC induction motor current control device is characterized in that: described AC induction motor current control method asynchronous machine may further comprise the steps:
A. at first with the three-phase current set-point
With
Obtain current phasor amplitude set-point by CLARK conversion, K/P conversion successively | i
S|
*With current phasor angle set-point φ
i, the K/P conversion is rectangular coordinate/polar coordinate transform;
B. the set-point of amplitude control ring and angle control ring is respectively | i
S|
*With 0, value of feedback is respectively | i
S| and θ
Is, produce the voltage vector amplitude signal respectively
Output θ with the angle control ring
Pi
C. the given signal of voltage vector angle is
The PWM module of DSP inside is according to the voltage vector amplitude signal
With the given signal of voltage vector angle
Produce signal PWM1～PWM6, described PWM module is SVPWM module or SPWM module;
D. three-phase fully-controlled inverter bridge (4) realizes stator current i according to the size and Orientation that signal PWM1～PWM6 changes the stator voltage vector
A, i
BAnd i
CControl, make
E. the detected current i of current sensor (5)
A, i
BAnd i
CObtain through CLARK conversion, PARK conversion, K/P conversion successively again | i
S|, the current phasor angle set-point φ among the step a
iConversion obtains θ through PARK
s, | i
S| and θ
sRespectively as the feedback quantity of amplitude control ring and angle control ring;
The power-factor angle estimator of f.DSP inside calculates power factor according to detected stator voltage and stator current
To the θ among the step c
PiCompensate.
Further, described amplitude control ring comprises the first current PI adjuster, and described angle control rascal is drawn together the second current PI adjuster.
Control method of the present invention at first obtains the three-phase current set-point amplitude of given current phasor by CLARK conversion and K/P conversion | i
S|
*Angle phi with vector
i, then, change the amplitude of the voltage vector of asynchronous machine power supply by amplitude control ring and angle control ring
With the phase place set-point
These two set-points do not need just to can be used as through any conversion the set-point of PWM module, have eliminated IPARK conversion and ICLARK conversion, thereby have helped the reduction of amount of calculation.
At formation voltage vector phase set-point
Method is, in addition
Adopt power-factor angle
To θ
PiCompensate is in order to improve the response speed of angle ring, to adopt given current vector angle φ
iTo θ
PiCompensating is that control problem for current vector angle is converted into the DC control problem, makes it possible to utilize pi regulator can realize control to current vector angle.
Because in the method, directly utilize voltage magnitude to realize current amplitude is controlled, as long as current amplitude is greater than set-point, the amplitude control ring can utilize pi regulator to reduce the output of stator voltage amplitude rapidly, thereby can effectively avoid over control.
Description of drawings
Fig. 1 is the structural representation of asynchronous machine current control device of the present invention; Fig. 2 is that described invention is at the inner control algolithm block diagram of realizing of TMS320 series DSP.
Embodiment
As shown in Figure 1, the AC induction motor current control device that utilizes this control method to realize, it is characterized in that described current control device comprises control board 1, voltage-source type frequency converter 2, current sensor 5, the AC induction motor 6 based on DSP, described voltage-source type frequency converter 2 comprises does not control rectifier bridge 3 and three-phase fully-controlled inverter bridge 4; Control board 1 produces signal PWM1～PWM6 and links to each other with three-phase fully-controlled inverter bridge 4 in the voltage-source type frequency converter 2; The input of not controlling rectifier bridge 3 links to each other with electrical network, does not control rectifier bridge 3 and links to each other with three-phase fully-controlled inverter bridge 4 by electric capacity, and current sensor 5 is measured the output current of three-phase fully-controlled inverter bridge 4, and the output of three-phase fully-controlled inverter bridge 4 links to each other with AC induction motor 6.
Fig. 2 is the control algolithm block diagram of described invention in the inner realization of TMS320 series DSP, can progressively realize according to the following procedure by its course of work:
The described method that the electric current of asynchronous machine is controlled may further comprise the steps:
A. at first with the three-phase current set-point
With
Obtain current phasor amplitude set-point by CLARK conversion, K/P conversion successively | i
S|
*With current phasor angle set-point φ
i
B. the set-point of two current PI adjusters is respectively | i
S|
*With 0, value of feedback is respectively | i
S| and θ
Is, produce signal respectively by two pi regulators
Be used for realizing control, θ to current amplitude
PiBe used for realizing control to level angle;
C. voltage vector angle set-point is
The PWM module is according to the voltage vector amplitude signal
With the given signal of angle
Produce signal PWM1-6, the PWM module can be used SVPWM algorithm or SPWM algorithm, can improve voltage utilization with the SVPWM algorithm.
D. inverter bridge realizes three-phase current i according to the size and Orientation that PWM1-6 changes the stator voltage vector
A, i
BAnd i
CControl, make
E. the current i that arrives of current Hall sensor
A, i
BAnd i
C, obtain through CLARK, PARK, K/P conversion again | i
S|, θ
IsFeedback quantity as two pi regulators;
F. the power-factor angle estimator estimates power factor according to detected stator voltage and stator current
To θ
PiCompensate.
In the present embodiment, DSP control chip in the control board adopts the DSP of TMS320 series, this serial DSP has very strong operational capability, A/D on the sheet of A/D conversion employing DSP, the PWM module adopts the SVPWM algorithm to produce the PWM ripple, the dead band mechanism that the DSP of TMS320 series carries, Dead Time is set at 5 microseconds, and switching frequency is set at the 6K hertz.Pwm pulse links to each other with the three-phase fully-controlled inverter bridge by isolation optocoupler, IGBT, realizes the Current Control to asynchronous machine.
Programming software adopts the CCS3.1 programmed environment, and programming language adopts the C language, and the initial work of system realizes in principal function, and initial work mainly comprises the initialization, initialization interrupt cycle, I/O initialization of pi regulator parameter etc.After realizing initialization, main program carries out recurrent state, control algolithm realizes in the underflow interrupt service subroutine of timer 1, as long as comprise in the interrupt service subroutine, current sample subprogram, pi regulator subprogram, SPWM subprogram, power angle estimator program, CLARK varitron program, PARK varitron program etc.
In implementation procedure, two pi regulator parameters can adopt the engineering design method to adjust, the power factor estimation module is if desired to using the stator voltage signal, can adopt the method for direct measurement, also can adopt the method for estimating stator voltage, if employing is carried out estimation approach to voltage and need be considered the influence of dead band to the voltage estimated value, if noise content is bigger in the power-factor angle output signal, can use low pass filter that the estimated value of power-factor angle is carried out filtering, can effectively improve the performance of system behind the use low pass filter.
Claims (6)
1. AC induction motor current control device, it is characterized in that described current control device comprises control board (1), voltage-source type frequency converter (2), current sensor (5), the AC induction motor (6) based on DSP, described voltage-source type frequency converter (2) comprises does not control rectifier bridge (3) and three-phase fully-controlled inverter bridge (4);
Control board (1) produces signal PWM1～PWM6 and links to each other with three-phase fully-controlled inverter bridge (4) in the voltage-source type frequency converter (2);
The input of not controlling rectifier bridge (3) links to each other with electrical network, not controlling rectifier bridge (3) links to each other with three-phase fully-controlled inverter bridge (4) by electric capacity, current sensor (5) is measured the output current of three-phase fully-controlled inverter bridge (4), and the output of three-phase fully-controlled inverter bridge (4) links to each other with AC induction motor (6).
2. AC induction motor current control device according to claim 1 is characterized in that: described DSP is a TMS320 series; Described current sensor (5) is the current Hall transducer.
3. AC induction motor current control device according to claim 1 and 2 is characterized in that: described three-phase fully-controlled inverter bridge (4) is made up of the full-controlled switch device.
4. AC induction motor current control method that uses the arbitrary described AC induction motor current control device of claim 1-3, it is characterized in that: described AC induction motor current control method may further comprise the steps:
A. at first with the three-phase current set-point
With
Obtain current phasor amplitude set-point by CLARK conversion, K/P conversion successively | i
S|
*With current phasor angle set-point φ
i
B. the set-point of amplitude control ring and angle control ring is respectively | i
S|
*With 0, value of feedback is respectively | i
S| and θ
s, amplitude control ring and angle control ring produce the voltage vector amplitude signal respectively
Output θ with the angle control ring
Pi
C. the given signal of voltage vector angle is
The PWM module of DSP inside is according to the voltage vector amplitude signal
With the given signal of voltage vector angle
Produce signal PWM1～PWM6;
D. three-phase fully-controlled inverter bridge (4) realizes stator current i according to the size and Orientation that signal PWM1～PWM6 changes the stator voltage vector
A, i
BAnd i
CControl, make
E. the detected current i of current sensor (5)
A, i
BAnd i
CObtain through CLARK conversion, PARK conversion, K/P conversion successively again | i
S|, the current phasor angle set-point φ among the step a
iConversion obtains θ through PARK
s, | i
S| and θ
sRespectively as the feedback quantity of amplitude control ring and angle control ring;
The power-factor angle estimator of f.DSP inside calculates power factor according to detected stator voltage and stator current
To the θ among the step c
PiCompensate.
5. AC induction motor current control method according to claim 4 is characterized in that: described PWM module is SVPWM module or SPWM module.
6. according to claim 4 or 5 described AC induction motor current control methods, it is characterized in that: described amplitude control ring comprises the first current PI adjuster, and described angle control ring comprises the second current PI adjuster.
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|---|---|---|---|
| CN2010105108974A CN102013869A (en) | 2010-10-19 | 2010-10-19 | Current control device and current control method for alternating current asynchronous motor |
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|---|---|---|---|
| CN2010105108974A CN102013869A (en) | 2010-10-19 | 2010-10-19 | Current control device and current control method for alternating current asynchronous motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236815A (en) * | 2013-05-23 | 2013-08-07 | 中颖电子股份有限公司 | Method for modulating space vector impulse width of frequency converter |
| CN108599260A (en) * | 2018-06-22 | 2018-09-28 | 合肥为民电源有限公司 | A kind of generated output power control method and device inhibiting harmonic current |
| CN110495092A (en) * | 2016-12-16 | 2019-11-22 | 意大利科技研究基金会 | For controlling the method and system of brushless motor |
| CN113086124A (en) * | 2021-05-07 | 2021-07-09 | 重庆锕维科技有限公司 | Underwater robot for cleaning attachments on ship body |
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| CN101022262A (en) * | 2007-01-12 | 2007-08-22 | 清华大学 | Clamping five level variable frequency driving device utilizing internal and external ring double-group rectifier bridge |
| CN101039094A (en) * | 2007-02-02 | 2007-09-19 | 清华大学 | Multi-level frequency conversion driving apparatus with energy conservation unit |
| CN101093033A (en) * | 2007-07-20 | 2007-12-26 | 孙力 | Frequency conversion type intellective electromotion unit for valve |
| CN101123415A (en) * | 2007-09-27 | 2008-02-13 | 广东华拿东方能源有限公司 | Middle voltage electromotor cutting wave dual DSP digital speed adjusting system for IGBT reverser |
| CN101295935A (en) * | 2007-12-10 | 2008-10-29 | 西北工业大学 | Optimizing PWM modulation method capable of restraining harmonic wave |
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2010
- 2010-10-19 CN CN2010105108974A patent/CN102013869A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101022262A (en) * | 2007-01-12 | 2007-08-22 | 清华大学 | Clamping five level variable frequency driving device utilizing internal and external ring double-group rectifier bridge |
| CN101039094A (en) * | 2007-02-02 | 2007-09-19 | 清华大学 | Multi-level frequency conversion driving apparatus with energy conservation unit |
| CN101093033A (en) * | 2007-07-20 | 2007-12-26 | 孙力 | Frequency conversion type intellective electromotion unit for valve |
| CN101123415A (en) * | 2007-09-27 | 2008-02-13 | 广东华拿东方能源有限公司 | Middle voltage electromotor cutting wave dual DSP digital speed adjusting system for IGBT reverser |
| CN101295935A (en) * | 2007-12-10 | 2008-10-29 | 西北工业大学 | Optimizing PWM modulation method capable of restraining harmonic wave |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103236815A (en) * | 2013-05-23 | 2013-08-07 | 中颖电子股份有限公司 | Method for modulating space vector impulse width of frequency converter |
| CN103236815B (en) * | 2013-05-23 | 2015-03-11 | 中颖电子股份有限公司 | Method for modulating space vector impulse width of frequency converter |
| CN110495092A (en) * | 2016-12-16 | 2019-11-22 | 意大利科技研究基金会 | For controlling the method and system of brushless motor |
| CN108599260A (en) * | 2018-06-22 | 2018-09-28 | 合肥为民电源有限公司 | A kind of generated output power control method and device inhibiting harmonic current |
| CN113086124A (en) * | 2021-05-07 | 2021-07-09 | 重庆锕维科技有限公司 | Underwater robot for cleaning attachments on ship body |
| CN113086124B (en) * | 2021-05-07 | 2022-08-09 | 山东金塘电子科技有限公司 | Underwater robot for cleaning attachments on ship body |
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Application publication date: 20110413 |