CN102570960B - Method for observing rotor magnetic chain based on cross feedback double compensation method - Google Patents
Method for observing rotor magnetic chain based on cross feedback double compensation method Download PDFInfo
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- CN102570960B CN102570960B CN201210015381.1A CN201210015381A CN102570960B CN 102570960 B CN102570960 B CN 102570960B CN 201210015381 A CN201210015381 A CN 201210015381A CN 102570960 B CN102570960 B CN 102570960B
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Abstract
The invention discloses a method for observing a rotor magnetic chain based on a cross feedback double compensation method. The method comprises the following steps of: performing 3s/2s conversion on the three-phase voltage and current of a motor obtained by measuring to obtain voltage and current components on a two-phase static coordinate system alpha-beta<up>; compensating the voltage components respectively, and entering a low-pass filtering procedure; multiplying the current components with respective operation coefficients thereof, subtracting a voltage low-pass filtering output value from a product, and multiplying with an operation coefficient in a rotor magnetic chain observing voltage model to obtain alpha and beta axis basic magnetic chain components; performing point multiplication computation on the alpha and beta magnetic chain component and the voltage component of an axis respectively to obtain an orthogonal coefficient serving as a coefficient used for magnetic chain compensation computation; separating an amplitude from a phase during computation of magnetic chain compensation and only compensating for the amplitude to avoid causing an error on a magnetic chain direction angle; and adding magnetic chain compensation with a basic magnetic chain component to obtain a final output magnetic chain. Due to the adoption of the method, errors of the rotor magnetic chain observing voltage model at a low speed are reduced, response speeds to voltage and current frequency changes are increased, and integral saturation is well suppressed.
Description
Technical field
The invention belongs to asynchronous machine field, relate to a kind of Flux Observation Method of using for threephase asynchronous machine vector control.
Background technology
In traditional Voltage Model Flux Observer, due to the error in the links such as the sampling of voltage, current signal and A/D conversion, to bring being biased in of direct current can cause after integral operation saturated, causes the observed result actual value of drifting about.Commonly after integral element, magnetic linkage is introduced to high-pass filtering link solution, in having realized the saturated inhibition of integration, also brought the error of amplitude and phase place, need to compensate result.Conventional compensation method, because coefficient is fixed, be only applicable in a certain velocity interval, and this coefficient is difficult to determine.Adopt this method, according to the orthogonal degree of magnetic linkage and back electromotive force vector, dynamically carry out error compensation by non-linear Orthogonal Method, solved compensation rate and be difficult to determine and overcompensation or under-compensated problem.Exchange the flux observer after compensation and filtering order, first back electromotive force is compensated, then carry out the method for low-pass filtering, in the time of the frequency discontinuity of input signal, flux observation value can be followed the tracks of exactly it and be changed, and in the response speed of following the tracks of at magnetic linkage, has obtained better effect.
Summary of the invention
The present invention is for solving the problems of the technologies described above, a kind of rotor flux observation procedure based on cross feedback double compensation has been proposed, while there is to realize the direct current biasing that external disturbance error brings, and while needing electric moter voltage, power frequency saltus step due to load, accurately the determining and the quick tracking to measured value in wide velocity interval of flux compensation amount.
The present invention is that the technical scheme that the deficiency that solves the problems of the technologies described above adopts is: a kind of observation procedure of the rotor flux based on cross feedback double compensation method,
The conditioning of step 1, signal: the three-phase voltage, the current component that come from transducer collection, through testing circuit, carry out filtering processing, remove the burr signal disturbing;
The compensation of step 3, component of voltage: component of voltage is compensated, and the voltage of two-phase need to pass through compensation tache I, and this loss is compensated, and the cut-off frequency of low-pass filtering is made as
, stator electric angle frequency is made as
, the computing formula of its penalty coefficient is:
, add amplitude limitation, set
;
Step 4, low-pass filtering: the voltage that carries out overcompensation in step 3 is passed into low-pass filtering, back electromotive force E=u
s-R
si
safter entering integral element, pass through again high-pass filtering link, meet
, to calculating of flux compensation coefficient, calculate flux compensation coefficient by back electromotive force and uncompensated magnetic linkage input,
;
The calculating of step 5, compensation rate: the signal after the low-pass filtering that step 4 is obtained converts by K/P, by amplitude and PHASE SEPARATION, when amplitude is compensated, keeps phase invariant, carries out afterwards K/P inverse transformation again;
The output of step 6, flux compensation: the flux linkage vector calculating in the compensation vector calculating in step 4 and step 5 is synthesized, and as magnetic linkage feed back input in the magnetic linkage adjuster of controller.
Beneficial effect of the present invention is: in traditional Voltage Model Flux Observer, due to the error in the links such as the sampling of voltage, current signal and A/D conversion, to bring being biased in of direct current can cause after integral operation saturated, causes the observed result actual value of drifting about.Commonly after integral element, magnetic linkage is introduced to high-pass filtering link solution, in having realized the saturated inhibition of integration, also brought the error of amplitude and phase place, need to compensate result.Conventional compensation method, because coefficient is fixed, be only applicable in a certain velocity interval, and this coefficient is difficult to determine.Adopt this method, according to the orthogonal degree of magnetic linkage and back electromotive force vector, dynamically carry out error compensation by non-linear Orthogonal Method, solved compensation rate and be difficult to determine and overcompensation or under-compensated problem.Exchange the flux observer after compensation and filtering order, first back electromotive force is compensated, then carry out the method for low-pass filtering, in the time of the frequency discontinuity of input signal, flux observation value can be followed the tracks of exactly it and be changed, and in the response speed of following the tracks of at magnetic linkage, has obtained better effect.
Accompanying drawing explanation
Accompanying drawing 1 is the system block diagram of the rotor flux observer based on cross feedback double compensation method.
The motor vector control schematic diagram that accompanying drawing 2 is applied to for this rotor flux observer.
In figure, 1, the compensation of component of voltage, 2, low-pass filtering, 3, flux compensation coefficient calculations, 4, the calculating of compensation rate, 5, the output of flux compensation.
Embodiment
As shown in the figure, a kind of observation procedure of the rotor flux based on cross feedback double compensation method,
The conditioning of step 1, signal: the three-phase voltage, the current component that come from transducer collection, through testing circuit, carry out filtering processing, remove the burr signal disturbing;
The compensation of step 3, component of voltage: component of voltage is compensated, and the voltage of two-phase need to pass through compensation tache I, and this loss is compensated, and the cut-off frequency of low-pass filtering is made as ω
c, stator electric angle frequency is made as
, the computing formula of its penalty coefficient is:
, add amplitude limitation, set
;
Step 4, low-pass filtering: the voltage that carries out overcompensation in step 3 is passed into low-pass filtering, back electromotive force E=u
s-R
si
safter entering integral element, pass through again high-pass filtering link, meet
, to calculating of flux compensation coefficient, calculate flux compensation coefficient by back electromotive force and uncompensated magnetic linkage input,
;
The calculating of step 5, compensation rate: the signal after the low-pass filtering that step 4 is obtained converts by K/P, by amplitude and PHASE SEPARATION, when amplitude is compensated, keeps phase invariant, carries out afterwards K/P inverse transformation again;
The output of step 6, flux compensation: the flux linkage vector calculating in the compensation vector calculating in step 4 and step 5 is synthesized, and as magnetic linkage feed back input in the magnetic linkage adjuster of controller.
First right
component of voltage on axle compensates.Compensation is mainly worked at motor low-speed stage.Due to when the motor low cruise, can ignore Stator resistance voltage dropping in the high speed operation of motor stage, ratio shared in back electromotive force increases.And motor stator resistance in running is not a fixed value, it can change along with electric machine temperature rise, and the accuracy of observation that therefore stator resistance error causes declines inevitable.Here set a voltage compensation link this loss compensated, penalty coefficient by
determine.The cut-off frequency of low-pass filtering is made as
for stator electric angle frequency is
.When compared with low speed,
less, even close to 0, may there is great instantaneous value in the penalty coefficient calculating, limit by setting threshold.When high-speed, this coefficient just becomes very little, and the impact of component of voltage is become to less, consistent with actual physics situation.
Secondly, in traditional flux compensation method, the difficulty that friction speed scope penalty coefficient is set and feature not directly perceived, can not to reflect relation between physical quantity, a kind of new compensation method that the present invention proposes.Because magnetic linkage and back electromotive force are integral relation, if observation accurately, flux linkage vector is orthogonal with back electromotive force vector certainty so, penalty coefficient
should be just 0, without compensation.If the two is non-orthogonal,
just reflect mistake extent, therefore can carry out to determine the size of compensation rate.By the component of voltage before low-pass filtering link, uncompensated magnetic linkage component with output, carry out the multiplication cross computing of matrix, its value has reflected the orthogonal degree between two vectors, coefficient by way of compensation, can, according to the dynamically amount of compensating calculating of error size in full speed range, determine penalty coefficient without extra work.
During to calculated value after low-pass filtering, when row compensation, carry out K/P conversion, its phase place is separated with amplitude.Uncompensated magnetic linkage feedback is multiplied by penalty coefficient, and amount is added in amplitude by way of compensation, then enters K/P inverse transformation superimposing compensation flux linkage vector with phase angle.Can avoid like this magnetic linkage deflection to introduce error.Finally this compensation vector is added in uncompensated output, as final magnetic linkage output.
Front and back have been carried out twice compensation altogether.Being first after 3s/2s conversion, is mainly that component of voltage compensates during to low velocity, with the very important error that reduces to bring because of other resistance.Compensation is for the second time in the time of output, magnetic linkage to be compensated, to reduce the error of bringing of low-pass filtering link.Exchange the flux observer after voltage compensation and filter sequence, first back electromotive force is compensated, then carry out the method for low-pass filtering, in the time of the frequency discontinuity of input signal, flux observation value can be followed the tracks of exactly it and be changed, and in the response speed of following the tracks of at magnetic linkage, has obtained better effect.
Claims (1)
1. an observation procedure for the rotor flux based on cross feedback double compensation method, is characterized in that:
The conditioning of step 1, signal: the three-phase voltage, the current component that come from transducer collection, through testing circuit, carry out filtering processing, remove the burr signal disturbing;
Step 2, from testing circuit signal out, enter DSP and carry out A/D conversion, carry out 3s/2s conversion after digital quantization, be transformed into two-phase static coordinate from three phase static system and fasten;
The compensation of step 3, component of voltage: component of voltage is compensated, and the voltage of two-phase need to pass through compensation tache I, and this loss is compensated, and the cut-off frequency of low-pass filtering is made as
, stator electric angle frequency is made as
, the computing formula of its penalty coefficient is:
, add amplitude limitation, set
;
Step 4, low-pass filtering: the voltage that carries out overcompensation in step 3 is passed into low-pass filtering, back electromotive force E=u
s-R
si
safter entering integral element, pass through again high-pass filtering link, meet
, to calculating of flux compensation coefficient, calculate flux compensation coefficient by back electromotive force and uncompensated magnetic linkage input
;
The calculating of step 5, compensation rate: the signal after the low-pass filtering that step 4 is obtained converts by K/P, by amplitude and PHASE SEPARATION, when amplitude is compensated, keeps phase invariant, carries out afterwards K/P inverse transformation again;
The output of step 6, flux compensation: the flux linkage vector calculating in the compensation vector calculating in step 4 and step 5 is synthesized, and as magnetic linkage feed back input in the magnetic linkage adjuster of controller.
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| CN103023415B (en) * | 2012-12-27 | 2015-02-18 | 黑龙江大学 | Method for automatically compensating amplitude-modulation-type space vectors and overcoming unstable torque |
| US9966890B2 (en) * | 2016-02-16 | 2018-05-08 | Steering Solutions Ip Holding Corporation | Detection of offset errors in phase current measurement for motor control system |
| CN107154764B (en) * | 2017-04-11 | 2019-07-30 | 卧龙电气集团股份有限公司 | A kind of motor flux observer based on the integral range of decrease and quadrature error compensating module |
| CN113036814B (en) * | 2021-05-08 | 2022-09-13 | 山东大学 | High voltage ride through control method and system considering instantaneous flux linkage compensation coefficient |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2677494B2 (en) * | 1991-09-18 | 1997-11-17 | 三星電子株式会社 | Induction motor control device |
| US6037742A (en) * | 1995-12-07 | 2000-03-14 | Danfoss A/S | Method for the field-oriented control of an induction motor |
| CN101132163A (en) * | 2007-08-21 | 2008-02-27 | 国电南京自动化股份有限公司 | DTC magnetic linkage estimation filtering method with compensation ability |
| EP2026461A2 (en) * | 2007-08-13 | 2009-02-18 | Manfred Schrödl | Method for sensorless control of a three-phase machine |
-
2012
- 2012-01-18 CN CN201210015381.1A patent/CN102570960B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2677494B2 (en) * | 1991-09-18 | 1997-11-17 | 三星電子株式会社 | Induction motor control device |
| US6037742A (en) * | 1995-12-07 | 2000-03-14 | Danfoss A/S | Method for the field-oriented control of an induction motor |
| EP2026461A2 (en) * | 2007-08-13 | 2009-02-18 | Manfred Schrödl | Method for sensorless control of a three-phase machine |
| CN101132163A (en) * | 2007-08-21 | 2008-02-27 | 国电南京自动化股份有限公司 | DTC magnetic linkage estimation filtering method with compensation ability |
Non-Patent Citations (1)
| Title |
|---|
| JP第2677494号B2 1997.11.17 |
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