CN102195547B - Indirect torque control method for cage-rotor brushless doubly-fed machine (BDFM) - Google Patents

Indirect torque control method for cage-rotor brushless doubly-fed machine (BDFM) Download PDF

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CN102195547B
CN102195547B CN201110135710A CN201110135710A CN102195547B CN 102195547 B CN102195547 B CN 102195547B CN 201110135710 A CN201110135710 A CN 201110135710A CN 201110135710 A CN201110135710 A CN 201110135710A CN 102195547 B CN102195547 B CN 102195547B
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magnetic linkage
controling winding
winding
controling
feed motor
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CN102195547A (en
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张爱玲
贾文霞
赵荣理
路秀芬
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Taiyuan University of Technology
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Abstract

A kind of Indirect UV detection method for cage-type rotor brushless dual-feed motor, including cage-type rotor brushless dual-feed motor Indirect UV detection method, the especially calculation method of control winding magnetic linkage variation angle Δ X, control winding frequency is first obtained by revolving speed, and then dwell angle Δ Xst is calculated by control winding frequency, dynamic angular Δ Xd is obtained by PI torque controller, the control winding magnetic linkage in sum of the two, that is, Tpwm of next sampling period changes angle Δ X. The present invention solves the problems, such as that control winding current harmonic wave is big when brushless dual-feed motor Direct Torque Control low frequency and torque pulsation is big, this control system only needs the resistance of two stator winding, and the required parameter of electric machine is few, is not necessarily to rotating coordinate transformation, The control of cage-type rotor brushless dual-feed motor electromagnetic torque and magnetic linkage is realized under rest frame, control method is simple, and effect is obvious.

Description

A kind of Indirect UV detection method for cage-type rotor brushless dual-feed motor
Technical field
It is of the invention relevant with a kind of Indirect UV detection method of cage-type rotor brushless dual-feed motor, be in more detail it is a kind of based on SVPWM can be
Figure 569167DEST_PATH_IMAGE001
The method for the brushless dual-feed motor Indirect UV detection realized under rest frame.
Background technology
Brushless dual-feed motor is a kind of New-type electric machine received a lot of attention in recent years, and its structure is that have double winding on stator, i.e. power winding and controling winding, respectively by power network and inverter supply；Rotor is using special cage modle either magnetoresistive structures rotor.The motor is particularly suitable for large-scale AC speed regulating energy conserving system and variable-speed constant-frequency wind power generation field, with brushless, required frequency inverter capacity is small, the adjustable advantage of power factor.With the solution of many problems in brushless dual-feed motor structure, in terms of the research emphasis of people has gradually been transferred to control strategy.Asynchronous machine has many successful control methods, such as vector controlled, Direct Torque Control and Indirect UV detection.But it is due to the particularity of brushless dual-feed motor structure, operation principle and Mathematical Modeling, it is impossible to these control methods of direct copying, it is necessary to which the control effect of satisfaction could be obtained by being combined itself and control strategy.Vector controlled, Direct Torque Control have all been applied in brushless dual-feed motor control system in existing literature, and wherein vector controlled needs to carry out rotating coordinate transformation, make system architecture complicated；Direct Torque Control can just realize the direct control of torque under rest frame, it is to avoid rotation transformation, and system architecture is concise.But it is due to that only with a space vector of voltage within a sampling period, torque pulsation is larger when causing low-frequency operation, controling winding current harmonics is also larger.Indirect UV detection is proposed to solve this big problem of direct Torque Control low-frequency torque pulsation, with simple without rotating coordinate transformation, system architecture, the excellent advantage of quiet, dynamic property, the application succeeded in asynchronous machine, but the application in brushless dual-feed motor must solve motor operation principle, Mathematical Modeling with control method be combined and system realize etc. key issue.
The content of the invention
The proposition of problem：Have the shortcomings that controling winding current harmonics is big and torque pulsation is larger during for brushless dual-feed motor direct Torque Control low frequency, propose a kind of method for cage-type rotor brushless dual-feed motor Indirect UV detection.
In order to solve the problem of above-mentioned brushless dual-feed motor direct Torque Control is present, what the present invention took is a kind of based on SVPWM
Figure 804976DEST_PATH_IMAGE001
The Indirect UV detection method of cage-type rotor brushless dual-feed motor under rest frame, realizes that the control method is carried out through the following steps：
（One）Observe controling winding, power winding voltages, the A phases of electric current and B phase components respectively under three-phase static coordinate systemu ac 、u bc 、u ap 、u bp 、i ac 、i bc 、i ap 、i bp , coordinate transform is carried out by 3/2 converter module to above-mentioned physical quantity, controling winding and power winding is obtained each
Figure 815658DEST_PATH_IMAGE001
Voltage and current under rest frame
Figure 783614DEST_PATH_IMAGE002
、
Figure 879746DEST_PATH_IMAGE003
、
Figure 138820DEST_PATH_IMAGE004
、
Figure 269587DEST_PATH_IMAGE005
、i αc 、i βc 、i αp 、i βp。
（Two）Utilize
Figure 408444DEST_PATH_IMAGE002
、
Figure 54189DEST_PATH_IMAGE003
、
Figure 303905DEST_PATH_IMAGE004
、
Figure 289179DEST_PATH_IMAGE005
、i αc 、i βc 、i αp 、i βp   Controling winding magnetic linkage component is calculated by electromagnetic torque and power winding, controling winding flux linkage calculation module
Figure 598937DEST_PATH_IMAGE006
、
Figure 981246DEST_PATH_IMAGE007
With power winding magnetic linkage component
Figure 34652DEST_PATH_IMAGE008
、
Figure 874433DEST_PATH_IMAGE009
, according to
Figure 417409DEST_PATH_IMAGE006
With
Figure 709850DEST_PATH_IMAGE007
Calculate controling winding magnetic linkage amplitude
Figure 566948DEST_PATH_IMAGE010
。
（Three）Electromagnetic torque is calculated under controling winding and the respective rest frame of power winding by electromagnetic torque and power winding, controling winding flux linkage calculation module respectively, sum of the two is exactly total electromagnetic torque.
（Four）Dwell angle Δ is obtained by controling winding magnetic linkage dwell angle computing moduleX st,, magnetic linkage dynamic angular Δ is obtained by PI torque controllerX d , sum of the two is next sampling periodT pwm Interior controling winding magnetic linkage change angle ΔX。
（Five）It is given using controling winding magnetic linkage amplitude
Figure 261234DEST_PATH_IMAGE011
And calculated value
Figure 725845DEST_PATH_IMAGE010
Exported through magnetic linkage pi regulator
Figure 771161DEST_PATH_IMAGE012
.Controling winding magnetic linkage、
Figure 777481DEST_PATH_IMAGE013
And
Figure 865522DEST_PATH_IMAGE012
Change angle Δ with controling winding magnetic linkageXPass through controling winding magnetic linkage increment
Figure 132556DEST_PATH_IMAGE014
Computing module calculates controling winding magnetic linkage increment
Figure 377461DEST_PATH_IMAGE015
、
Figure 46340DEST_PATH_IMAGE016
。
（Six）Utilize controling winding magnetic linkage increment、, pass through controling winding voltage、
Figure 382326DEST_PATH_IMAGE003
Computing module, calculates next cycleT pwm Interior required voltage vector、。
（Seven）The basis of SVPWM generators 4
Figure 141969DEST_PATH_IMAGE018
With
Figure 519860DEST_PATH_IMAGE003
Modulated signal is generated, and passes through the controling winding of inverter control brushless dual-feed motor.
A kind of method for cage-type rotor brushless dual-feed motor Indirect UV detection, compared with prior art, the parameter of electric machine that this control system is used is only two stator winding resistances, the parameter of electric machine used is few, without rotating coordinate transformation, brushless dual-feed motor torque and the control of magnetic linkage are realized in rest frame, system control method is simple.Use output quantity that torque and magnetic linkage are adjusted respectively for continuous pi regulator, inverter is controlled using phase and amplitude variable resultant vector, the problem of control winding current harmonic wave is big when can efficiently solve brushless dual-feed motor Direct Torque Control low frequency, torque pulsation is big.
Brief description of the drawings
Fig. 1 is the apparatus structure schematic diagram that the inventive method is based on.
Fig. 2 is the inventive method brushless dual-feed motor Indirect Stator-Quantities Control System given rotating speed from 705r/min (metasynchronism 3Hz) Spline smoothing to 795r/min (supersynchronous 3Hz) simulation result.
Fig. 3 and Fig. 4 are controling winding current simulations result under brushless dual-feed motor Direct Torque and the supersynchronous 3Hz stable situations of Indirect Stator-Quantities Control System respectively.
Fig. 5 and Fig. 6 are the simulation result before and after brushless dual-feed motor Direct Torque and Indirect Stator-Quantities Control System load torque Spline smoothing respectively.
Embodiment
The embodiment to the present invention is further detailed below：
Such as Fig. 1, realize that a kind of method for cage-type rotor brushless dual-feed motor Indirect UV detection of the present invention is the device based on brushless dual-feed motor Indirect Stator-Quantities Control System, the device is by diode rectifier 1, filter capacitor 2, inverter 3, SVPWM generators 4, comparator 5, speed pi regulator 6, comparator 7, PI torque controller 8, controling winding magnetic linkage dwell angle calculates 9, adder 10, comparator 11, magnetic linkage pi regulator 12, controling winding magnetic linkage increment
Figure 182923DEST_PATH_IMAGE014
Calculate 13, controling winding voltage
Figure 646265DEST_PATH_IMAGE017
、
Figure 990659DEST_PATH_IMAGE003
Calculating 14, electromagnetic torque and power winding, the converter 16 of controling winding flux linkage calculation 15,3/2, brushless dual-feed motor 17 are constituted；Six output ends of SVPWM generators 4 connect the control end of inverter 3, the output of speed pi regulator 6With electromagnetic torque and power winding, the output of controling winding flux linkage calculation 15
Figure 306289DEST_PATH_IMAGE020
It is connected through comparator 7 with the input of PI torque controller 8,8 output end is connected in a positive input of adder 10, another positive input of adder 10 is the output that controling winding magnetic linkage dwell angle calculates 9, and the output end of adder 10 is controling winding magnetic linkage increment
Figure 522506DEST_PATH_IMAGE014
Calculate 13 one inputs, and 13 other 3 inputs are electromagnetic torque and power, the output of controling winding flux linkage calculation 15 respectively
Figure 405012DEST_PATH_IMAGE006
、
Figure 819812DEST_PATH_IMAGE007
With the output of magnetic linkage pi regulator 12
Figure 496781DEST_PATH_IMAGE012
, 12 input is that controling winding magnetic linkage amplitude gives
Figure 934716DEST_PATH_IMAGE011
With by electromagnetic torque and power winding, the output of controling winding flux linkage calculation 15Through the value after comparator 11, controling winding magnetic linkage increment
Figure 640952DEST_PATH_IMAGE014
The output of calculating 13 and controling winding voltage
Figure 754402DEST_PATH_IMAGE017
、
Figure 679632DEST_PATH_IMAGE003
The input for calculating 14 is connected, 14 output is connected with the input of SVPWM generators 4, the signal output part of 3/2 converter 16 is connected with electromagnetic torque and power winding, the input of controling winding flux linkage calculation 15, inverter 3 is connected with the controling winding of brushless dual-feed motor 17, the rotating speed and speed preset of the brushless dual-feed motor 17 detected by code-disc
Figure 966257DEST_PATH_IMAGE021
It is connected after comparator 5 with the input of speed pi regulator 6.
Realize that a kind of above-mentioned control method for cage-type rotor brushless dual-feed motor Indirect Torque is carried out by following step：
Step one：Controling winding, the A phases of power winding voltages electric current and B phase components are observed under three-phase static coordinate systemu ac 、u bc 、u ap 、u bp 、i ac 、i bc 、i ap 、i bp , three-phase/two-phase coordinate transform is carried out by 3/2 converter to above-mentioned physical quantity, controling winding and power winding is obtained each
Figure 293333DEST_PATH_IMAGE001
Voltage and current under rest frame
Figure 577684DEST_PATH_IMAGE002
、
Figure 36216DEST_PATH_IMAGE003
、
Figure 64215DEST_PATH_IMAGE004
、
Figure 245798DEST_PATH_IMAGE005
、i αc 、i βc 、i αp 、i βp。
Step 2：Utilize
Figure 763367DEST_PATH_IMAGE002
、
Figure 663189DEST_PATH_IMAGE003
、
Figure 229300DEST_PATH_IMAGE004
、
Figure 265389DEST_PATH_IMAGE005
、i αc 、i βc 、i αp 、i βp   Withu-iModel calculates controling winding magnetic linkage component by electromagnetic torque and power winding, controling winding flux linkage calculation 15
Figure 704592DEST_PATH_IMAGE006
、
Figure 826132DEST_PATH_IMAGE007
With power winding magnetic linkage component
Figure 195933DEST_PATH_IMAGE008
、
Figure 414425DEST_PATH_IMAGE009
, according to
Figure 211480DEST_PATH_IMAGE006
With
Figure 820315DEST_PATH_IMAGE007
Calculate controling winding magnetic linkage amplitude
Figure 728229DEST_PATH_IMAGE010
.Formula is as follows：
Figure 114582DEST_PATH_IMAGE024
                                                           
Wherein
Figure 888503DEST_PATH_IMAGE025
、
Figure 19270DEST_PATH_IMAGE026
Respectively controling winding and the phase resistance of power winding one；
Figure 158128DEST_PATH_IMAGE006
、
Figure 475977DEST_PATH_IMAGE007
It is controling winding
Figure 804321DEST_PATH_IMAGE001
Magnetic linkage component under rest frame；
Figure 789594DEST_PATH_IMAGE010
It is controling windingMagnetic linkage amplitude under rest frame； 
Figure 904498DEST_PATH_IMAGE008
、
Figure 20221DEST_PATH_IMAGE009
It is power windingMagnetic linkage component under rest frame； 
Step 3：Electromagnetic torque is calculated under controling winding and the respective rest frame of power winding by electromagnetic torque and power winding, controling winding flux linkage calculation 15 respectively.Formula is as follows：
Figure 340661DEST_PATH_IMAGE027
                  
Wherein
Figure 210266DEST_PATH_IMAGE028
、
Figure 801785DEST_PATH_IMAGE029
Respectively power winding and controling winding number of pole-pairs.
Step 4：Controling winding magnetic linkage changes angle ΔXCalculate, calculating 9 by controling winding magnetic linkage dwell angle first calculates dwell angle.Controling winding frequency is obtained by rotor speedf c, i.e.,
Figure 761650DEST_PATH_IMAGE030
。
Wherein
Figure 413211DEST_PATH_IMAGE031
For rotor speed,
Figure 255266DEST_PATH_IMAGE032
It is power around class frequency,For rotor windings number of pole-pairs,
Figure 464847DEST_PATH_IMAGE034
Above "+" number represents metasynchronism state, and "-" number represents supersynchronous state；Dwell angle ΔX st Calculated by following formula
                     
Figure 100359DEST_PATH_IMAGE035
Wherein
Figure 367392DEST_PATH_IMAGE036
For controling winding angular frequency.Controling winding magnetic linkage dynamic angular ΔX d ByT e *-T e Obtained by pi regulator 8, then controling winding magnetic linkage change angle
                
Figure 566292DEST_PATH_IMAGE037
 
Step 5：Utilize controling winding flux linkage set amplitude
Figure 235171DEST_PATH_IMAGE011
And calculated value
Figure 290852DEST_PATH_IMAGE010
Exported through magnetic linkage pi regulator 12
Figure 45181DEST_PATH_IMAGE012
.Controling winding magnetic linkage
Figure 47772DEST_PATH_IMAGE006
、
Figure 882742DEST_PATH_IMAGE007
And
Figure 47007DEST_PATH_IMAGE012
Change angle Δ with controling winding magnetic linkageXPass through controling winding magnetic linkage increment
Figure 288632DEST_PATH_IMAGE014
Calculate 13 and calculate controling winding magnetic linkage increment
Figure 829335DEST_PATH_IMAGE015
、
Figure 269544DEST_PATH_IMAGE016
, formula is as follows：
Figure 870289DEST_PATH_IMAGE038
Step 6：Utilize controling winding magnetic linkage increment
Figure 333632DEST_PATH_IMAGE015
、
Figure 491075DEST_PATH_IMAGE016
Pass through controling winding voltage
Figure 723473DEST_PATH_IMAGE017
、
Figure 495120DEST_PATH_IMAGE003
14 are calculated, next cycle is calculatedT pwm Interior required voltage vector
Figure 445758DEST_PATH_IMAGE018
、
Figure 390581DEST_PATH_IMAGE003
, formula is as follows：
Figure 743065DEST_PATH_IMAGE039
Step 7：The basis of SVPWM generators 4
Figure 997197DEST_PATH_IMAGE018
WithModulated signal is generated, and passes through the controling winding of the control brushless dual-feed motor 17 of inverter 3. 
Using such scheme simulation result of the present invention as shown in Fig. 2~Fig. 6.Model machine parameter：Power winding is 6 poles, and controling winding is 2 poles, and power winding power 3KW, power winding connects 380V/50Hz power frequency supplies, controling winding power 1.5KW, the phase resistance of power winding oneR p =3.2 Ω, the phase resistance of controling winding oneR c =5.32 Ω, the phase resistance of rotor oneR r =0.173m Ω, inductance parameters：Power winding self-inductionL sp =292mH, power winding and rotor windings mutual inductanceL pr =2.16mH, controling winding self-induction L sc =642mH, controling winding and rotor windings mutual inductanceL cr =4mH, rotor windings self-induction L r =0.048mH, rotary inertiaJ=0.064kg·m2, flux linkage set
Figure 121328DEST_PATH_IMAGE040
.Fig. 2 be the inventive method brushless dual-feed motor Indirect Stator-Quantities Control System given rotating speed from 705r/min (metasynchronism 3Hz) Spline smoothing to 795r/min (supersynchronous 3Hz) simulation result, show the feasibility of the inventive method.Fig. 3 and Fig. 4 are controling winding current simulations result under brushless dual-feed motor Direct Torque and the supersynchronous 3Hz stable situations of Indirect Stator-Quantities Control System respectively.The harmonic content that the visible frequency temporal of comparison diagram 3, Fig. 4 connects torque system controling winding electric current is substantially fewer than direct Torque Control.Fig. 5 and Fig. 6 be respectively brushless dual-feed motor Direct Torque and the supersynchronous 3Hz of Indirect Stator-Quantities Control System from zero load to load torque Spline smoothing before and after simulation result, the visible frequency temporal of comparison diagram 5, Fig. 6 connects moment controlling system torque pulsation and is obviously reduced.
Above-mentioned dynamic and static Simulation result shows the feasibility of brushless dual-feed motor Indirect UV detection method proposed by the present invention, compared with direct Torque Control, torque and the pulsation of rotating speed are significantly reduced during low frequency, and controling winding electric current is more preferable to sinusoidal approximation ratio, system has good follow and Immunity Performance. 

Claims (1)

1. a kind of Indirect UV detection method for cage-type rotor brushless dual-feed motor, it is to carry out through the following steps to realize the control method：
（One）Observe controling winding, power winding voltages, the A phases of electric current and B phase components respectively under three-phase static coordinate systemu ac 、u bc 、u ap 、u bp 、i ac 、i bc 、i ap Withi bp；3/2 converter is passed through to above-mentioned physical quantity（16）Coordinate transform is carried out, controling winding and power winding is obtained each
Figure 2011101357101100001DEST_PATH_IMAGE001
Voltage and current under rest frame
Figure 905702DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE003
、
Figure 697946DEST_PATH_IMAGE004
、
Figure DEST_PATH_IMAGE005
、i αc 、i βc 、i αp Withi βp；
（Two）Utilize
Figure 131332DEST_PATH_IMAGE002
、
Figure 722851DEST_PATH_IMAGE003
、
Figure 682717DEST_PATH_IMAGE004
、
Figure 334278DEST_PATH_IMAGE005
、i αc 、i βc 、i αp Withi βp   Pass through electromagnetic torque and power winding, controling winding flux linkage calculation（15）Calculate controling winding magnetic linkage component、
Figure DEST_PATH_IMAGE007
With power winding magnetic linkage component
Figure 571541DEST_PATH_IMAGE008
、
Figure DEST_PATH_IMAGE009
, according toWith
Figure 543398DEST_PATH_IMAGE007
Calculate controling winding magnetic linkage amplitude
Figure 872748DEST_PATH_IMAGE010
；
（Three）Pass through electromagnetic torque and power winding, controling winding flux linkage calculation（15）Electromagnetic torque is calculated under controling winding and the respective rest frame of power winding respectively, sum of the two is total electromagnetic torque；
（Four）Calculated by controling winding magnetic linkage dwell angle（9）Dwell angle Δ Xst is obtained, passes through PI torque controller（8）Magnetic linkage dynamic angular Δ Xd is obtained, sum of the two is the controling winding magnetic linkage change angle Δ X in next sampling period Tpwm；
（Five）It is given using controling winding magnetic linkage amplitude
Figure DEST_PATH_IMAGE011
And calculated value
Figure 71648DEST_PATH_IMAGE012
Through magnetic linkage pi regulator（12）Output
Figure DEST_PATH_IMAGE013
；Controling winding magnetic linkage
Figure 553576DEST_PATH_IMAGE014
、And
Figure 609257DEST_PATH_IMAGE013
Pass through controling winding magnetic linkage increment with controling winding magnetic linkage change angle Δ X
Figure 363586DEST_PATH_IMAGE016
Calculate（13）Calculate controling winding magnetic linkage increment、
Figure 677762DEST_PATH_IMAGE018
；
（Six）Utilize controling winding magnetic linkage increment
Figure DEST_PATH_IMAGE019
、, pass through controling winding voltage
Figure 427729DEST_PATH_IMAGE020
、
Figure 669354DEST_PATH_IMAGE003
Calculate（14）, calculate next cycleT pwm Interior required voltage vector、
Figure 23107DEST_PATH_IMAGE003
；
（Seven）SVPWM generators（4）According to
Figure 400998DEST_PATH_IMAGE021
With
Figure 1744DEST_PATH_IMAGE003
Modulated signal is generated, and passes through inverter（3）Control brushless dual-feed motor（17）Controling winding；
The controling winding magnetic linkage changes angle ΔXIt is calculated as follows：
Calculated first by controling winding magnetic linkage dwell angle（9）Calculate dwell angle；Controling winding frequency is obtained by rotor speedf c, i.e.,
Figure 527403DEST_PATH_IMAGE022
Wherein：For rotor speed,
Figure 871797DEST_PATH_IMAGE024
It is power around class frequency,
Figure DEST_PATH_IMAGE025
For rotor windings number of pole-pairs,
Figure 415780DEST_PATH_IMAGE026
Above "+" number represents metasynchronism state, and "-" number represents supersynchronous state；Dwell angle ΔX st Calculated by following formula：
                     
Figure DEST_PATH_IMAGE027
Wherein：
Figure 249743DEST_PATH_IMAGE028
For controling winding electric angle frequency, controling winding magnetic linkage dynamic angular ΔX d ByT e *-T e By pi regulator（8）Obtain, then controling winding magnetic linkage change angle：
                
Figure DEST_PATH_IMAGE029
 。
CN201110135710A 2011-05-25 2011-05-25 Indirect torque control method for cage-rotor brushless doubly-fed machine (BDFM) Expired - Fee Related CN102195547B (en)

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CN102738812B (en) * 2012-07-13 2014-08-06 太原理工大学 Indirect torque control cage type rotor brushless double-fed motor reactive power control method
CN103516286B (en) * 2013-08-09 2015-09-30 天津大学 A kind of MC direct torque control improving input and output performance
CN104518713B (en) * 2014-12-17 2017-02-22 华中科技大学 Position-sensor-free speed regulating control method for brushless doubly-fed motor
CN104579060B (en) * 2015-01-30 2017-10-24 太原理工大学 The indirect power control method of cage-type rotor brushless dual-feedback wind power generator
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