CN102710205A - Orientation control system and method for asynchronous motor - Google Patents
Orientation control system and method for asynchronous motor Download PDFInfo
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Abstract
The invention provides an orientation control system for an asynchronous motor. The orientation control system for the asynchronous motor comprises a magnetic flux calculation unit, a slip calculation unit, a magnetic flux angle calculation unit and a driving unit, wherein the magnetic flux calculation unit is used for calculating the magnetic flux amplitude evaluation value of the asynchronous motor according to excitation current; the slip calculation unit is used for calculating slip according to the magnetic flux amplitude evaluation value; the magnetic flux angle calculation unit is used for calculating the magnetic flux angle according to the slip and the rotating speed of a motor rotor; and the driving device is used for controlling operation of the motor rotor according to the magnetic flux angle. The invention also provides a corresponding method. according to magnetic flux amplitude evaluation and inductance correction, the slip calculation is precise, so that the orientation precision of the asynchronous motor in the starting, accelerating and decelerating process is guaranteed, the accelerating moment or the decelerating moment of the motor rotor is maximum, and the accelerating or decelerating effect of the motor is improved obviously.
Description
Technical field
The present invention relates to Motor Control Field, more particularly, relate to directed control system of a kind of asynchronous machine and method.
Background technology
In the Vector Control System of Induction Motor technology, rotor field-oriented controlling schemes is because technology realizes simply, and advantage such as torque response is fast has obtained extensive use in the Induction Motor-Driven technical field.In rotor field-oriented control technology implementation procedure; In order to realize the accurate field orientation of rotor; Must obtain the accurate result of calculation of slip, utilize this result to carry out synchronous angle calculation and add up then, thus the torque control of decoupling zero asynchronous machine and magnetic field control respectively.
As shown in Figure 1, be the sketch map of existing rotor field-oriented control technology.In this scheme, only consider that the asynchronous machine magnetic flux is in steady-state process, think that promptly the magnetic flux of motor is constant.Magnetic flux amplitude λ calculates and adopts following formula:
λ=Lm×Isd （1）
Wherein Lm is the motor mutual inductance, and Isd is the exciting current of Electric Machine Control.
With computing formula Wsl=Lm * Isq/ of above-mentioned formula (1) substitution slip Wsl (Tr * λ):
Wsl=Isq/(Tr×Isd) （2）
Wherein Isq is the torque current of Electric Machine Control, and Tr is the rotor time constant.
Can know that according to the asynchronous machine principle magnetic field of asynchronous machine is slowly to change along with the variation of exciting current, change the rotor time constant decision of speed by motor.As shown in Figure 2, adopt in the constant excitation megnet current start process, the magnetic flux amplitude slowly increases from zero.Be in stable state and adopt the current magnetic flux amplitude of existing approximate evaluation asynchronous machine to be only applicable to the motor magnetic flux.When motor-field is set up or change procedure adopts existing program to obtain magnetic flux amplitude and motor actual magnetic flux range error bigger.Because slip obtains by calculation of parameter such as magnetic flux amplitudes, the error of magnetic flux amplitude caused that slip calculates than mistake, finally influenced the field orientation precision of asynchronous machine.
Summary of the invention
The technical problem that the present invention will solve is, when asynchronous machine starts, influences the problem of the field orientation precision of asynchronous machine to above-mentioned in the directed control of asynchronous machine because of the magnetic flux range error, and directed control system of a kind of asynchronous machine and method are provided.
The technical scheme that the present invention solves the problems of the technologies described above is; Provide a kind of asynchronous machine directed control system; Comprise magnetic flux computing unit, slip computing unit, magnetic flux angle calculation unit and driver element; Wherein: said magnetic flux computing unit is used for calculating according to exciting current the magnetic flux amplitude estimation value of said asynchronous machine; Said slip computing unit is used for calculating slip according to said magnetic flux amplitude estimated value; Said magnetic flux angle calculation unit is used for the revolution speed calculating magnetic flux angle according to said slip and rotor; Said driver element is used for according to the operation of said magnetic flux angle control rotor.
In the directed control system of asynchronous machine of the present invention; Said magnetic flux calculates unit pack and draws together the LPF subelement; Said LPF subelement is used for calculating the magnetic flux amplitude estimation value according to following formula, and λ=Lm * (Tr * s+1), wherein Lm is the motor mutual inductance to Isd/, and Isd is an exciting current; S is a Laplacian, and Tr is the rotor time constant.
In the directed control system of asynchronous machine of the present invention, said system also comprises the inductance correcting unit, is used for the time constant according to said magnetic flux amplitude estimation value correction rotor; Said slip computing unit calculates slip according to the time constant of the rotor of said magnetic flux amplitude estimated value and correction.
In the directed control system of asynchronous machine of the present invention; Said magnetic flux computing unit also comprises amplitude siding stopping unit, and said amplitude siding stopping unit is used for that the magnetic flux amplitude estimation value that the LPF subunit computes obtains is carried out minimum and maximum border and limits.
In the directed control system of asynchronous machine of the present invention; Said inductance correcting unit comprises that inductance is corrected subelement and time constant is corrected subelement; Wherein: said inductance is corrected subelement; Be used for correcting the rotor inductance according to said magnetic flux amplitude estimation value, said rotor inductance is along with the increase of magnetic flux amplitude constantly reduces; Said time constant is corrected subelement; Be used to use the time constant of the rotor inductance correction rotor after the rectification; The time constant Tr=Lr/Rr of said rotor, wherein Lr is the rotor inductance after correcting, Rr is a rotor resistance; Said slip computing unit calculates slip according to following formula: slip Wsl=Isq * Rr/ ((Lr * Isd)/(Lr * s/Rr+1)), wherein Isq is the torque current of Electric Machine Control.
The present invention also provides a kind of asynchronous machine directional controlling method, may further comprise the steps:
(a) calculate the magnetic flux amplitude estimation value of said asynchronous machine according to exciting current;
(b) calculate slip according to said magnetic flux amplitude estimated value;
(c) according to said slip calculating flux angle degree and according to said magnetic flux angle drive motors running.
In asynchronous machine directional controlling method of the present invention, said step (a) comprises afterwards: according to the time constant of said magnetic flux amplitude estimation value correction rotor; In the said step (b), calculate slip according to the time constant of the rotor of said magnetic flux amplitude estimated value and correction.
In asynchronous machine directional controlling method of the present invention; λ=Lm * (Tr * s+1), wherein Lm is the motor mutual inductance to Isd/, and Isd is an exciting current to calculate the magnetic flux amplitude estimation value through following formula in the said step (a); S is a Laplacian, and Tr is the rotor time constant.
In asynchronous machine directional controlling method of the present invention, comprise in the said step (a) that said magnetic flux amplitude estimation value is carried out minimum and maximum border to be limited.
In asynchronous machine directional controlling method of the present invention, said step (b) comprising:
(b1) correct the rotor inductance according to said magnetic flux amplitude estimation value, said rotor inductance increases along with the magnetic flux amplitude and constantly reduces;
The time constant of the rotor inductance correction rotor after (b2) use is corrected, the time constant Tr=Lr/Rr of said rotor, wherein Lr is the rotor inductance after correcting, Rr is a rotor resistance;
Slip Wsl=Isq * Rr/ in the said step (c) ((Lr * Isd)/(Lr * s/Rr+1)), wherein Isq is the torque current of Electric Machine Control.
Directed control system of asynchronous machine of the present invention and method; Correct through estimation of magnetic flux amplitude and inductance; It is more accurate to make slip calculate; Thereby guarantee the field orientation precision of asynchronous machine in startup, acceleration and deceleration process, make rotor quicken or the retarding moment maximum, motor quickens or the deceleration obvious results really shows raising.
Description of drawings
Fig. 1 is the sketch map of existing rotor field-oriented controlling schemes.
Fig. 2 is the sketch map of exciting current and actual magnetic flux in the existing rotor field-oriented controlling schemes.
The sketch map of the directed control system embodiment of Fig. 3 asynchronous machine of the present invention.
Fig. 4 is the sketch map of the embodiment of the magnetic flux computing unit among Fig. 3.
Fig. 5 is the sketch map of the magnetic flux amplitude estimation value of the magnetic flux computing unit among Fig. 3.
Fig. 6 is the sketch map of asynchronous machine directional controlling method embodiment of the present invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
As shown in Figure 3, be the sketch map of the directed control system embodiment of asynchronous machine of the present invention.In the present embodiment, system comprises magnetic flux computing unit 31, inductance correcting unit 32, slip computing unit 33, magnetic flux angle calculation unit 34 and driver element 36.Above-mentioned magnetic flux computing unit 31, inductance correcting unit 32, can be integrated in frequency converter or the servo driver of motor, also can be positioned at separate equipment and communicate by letter with frequency converter or servo driver of motor.
Magnetic flux computing unit 31 is used for calculating according to exciting current the magnetic flux amplitude estimation value of asynchronous machine.Particularly; As shown in Figure 2; Above-mentioned magnetic flux computing unit 31 can comprise a LPF subelement 311; This LPF subelement 311 utilizes LPF analog magnetic field change procedure, and to calculate the magnetic flux amplitude estimation value, the following formula of its exciting current substitution with input calculates magnetic flux amplitude estimation value λ:
λ=Lm×Isd/(Tr×s+1) （3）
Wherein Lm is the motor mutual inductance, and Isd is the exciting current of Electric Machine Control, and Tr is the rotor time constant, and s is a Laplacian.
Can be known that by the motor-field characteristic magnetic flux amplitude and exciting current satisfy formula (3) simultaneously in changes of magnetic field and steady-state process, promptly LPF subelement 311 can obtain the magnetic flux amplitude under dynamic and two kinds of situation of stable state comparatively exactly.Therefore when asynchronous machine startup, acceleration and deceleration, the magnetic flux amplitude estimation value λ that LPF subelement 311 obtains is more near the actual value of magnetic flux amplitude, and is as shown in Figure 5.
In actual Project Realization process, be zero some very fractional values that reach owing to magnetic flux amplitude estimation value λ behind the LPF begins a period of time output valve most.Calculate exceptional value that reality appear exceed in slip meeting with this value this moment, therefore must carry out the qualification on minimum and maximum border to the magnetic flux amplitude of estimating.Can in magnetic flux computing unit 21, increase an amplitude siding stopping unit 3 12; This amplitude siding stopping unit 3 12 is used for that LPF subelement 311 is calculated the magnetic flux amplitude estimation value that obtains and carries out the qualification of minimum and maximum border; The magnetic flux amplitude estimation value λ that for example calculate to obtain at formula (3) during less than first set point λ equal this first set point, when λ during greater than second set point λ equal this second set point.Magnetic flux amplitude estimation value λ after above-mentioned process amplitude siding stopping unit 312 is handled sends into inductance correcting unit 32 and slip computing unit 33 again, as its input value.
Time constant is corrected the time constant that subelement is used to use the rotor inductance correction rotor after the rectification, and the time constant Tr of this rotor satisfies following formula:
Tr=Lr/Rr （4）
Wherein Lr is the rotor inductance after correcting, and Rr is a rotor resistance.
Because rotor inductance L r is nonlinear change with motor magnetic flux amplitude.In order to improve slip Wsl computational accuracy, the present invention is in the process of magnetic flux changes in amplitude, and λ corrects inductance L r according to the magnetic flux amplitude estimation value.
Wsl=Isq×Rr/((Lr×Isd)/(Lr×s/Rr+1)) （5）
Wherein Isq is the torque current of Electric Machine Control.
Magnetic flux angle calculation unit 34 is used for the revolution speed calculating magnetic flux angle according to slip and rotor.Driver element 36 is used for according to the operation of magnetic flux angle control rotor.The magnetic flux angle calculation is identical with existing scheme with the rotor control method.
In practical application, said system also can be omitted inductance correcting unit 32, and correspondingly, magnetic flux computing unit 31 only calculates slip according to magnetic flux amplitude estimated value.Certainly, this mode is poor slightly than the slip effect that formula (5) calculates acquisition.
As shown in Figure 6, be the flow chart of asynchronous machine directional controlling method embodiment of the present invention, this method may further comprise the steps:
Step S61: when asynchronous machine starts (or acceleration and deceleration), calculate the magnetic flux amplitude estimation value of asynchronous machine according to exciting current.Particularly, can be through utilizing LPF analog magnetic field change procedure, adopt following formula to calculate magnetic flux amplitude estimation value λ=Lm * Isd/ (Tr * s+1); Wherein Lm is the motor mutual inductance; Isd is an exciting current, and s is a Laplacian, and Tr is the rotor time constant.
And; Owing to magnetic flux amplitude estimation value λ behind the LPF begins a period of time output valve most is zero some very fractional values that reach; Therefore can carry out minimum and maximum border to the magnetic flux amplitude estimation value that LPF obtains limits; The magnetic flux amplitude estimation value λ that for example calculate to obtain at formula (3) during less than first set point λ equal this first set point, when λ during greater than second set point λ equal this second set point.Magnetic flux amplitude estimation value λ after the above-mentioned process amplitude limit processing sends into subsequent step again as new magnetic flux amplitude estimation value λ.
Step S62: according to the time constant of magnetic flux amplitude estimation value correction rotor.Particularly, this step is at first corrected the rotor inductance according to the magnetic flux amplitude estimation value, and wherein the rotor inductance increases along with the magnetic flux amplitude and constantly reduces; The time constant of the rotor inductance correction rotor after use correcting then, the time constant Tr=Lr/Rr of rotor wherein, Lr is the rotor inductance after correcting, Rr is a rotor resistance.
Step S63: the time constant according to the rotor of magnetic flux amplitude estimated value and correction is calculated slip.Particularly, slip Wsl=Isq * Rr/ ((Lr * Isd)/(Lr * s/Rr+1)), wherein Isq is the torque current of Electric Machine Control.
Step S64: turn round according to slip calculating flux angle degree and according to magnetic flux angle drive motors.
Utilize system and method for the present invention, just started to magnetic field at asynchronous machine and set up in the process, because slip counter is calculated accurately really, magnetic field accurately is oriented on the rotor, makes the motor moment of accelerating maximum, and motor quickens the fastest.And get in the acceleration and moderating process in weak magnetic area territory at the asynchronous machine motor, because slip counter is calculated accurately really, magnetic field accurately is oriented on the rotor, makes the motor moment of accelerating maximum, and motor quickens the fastest.
In addition, because field orientation is accurate, voltage control is more accurate, and the present invention can effectively suppress field orientation and forbidden the voltage saturation problem that causes.
In practical application, said method also can be economized step S62, correspondingly, only calculates slip according to magnetic flux amplitude estimated value among the step S63.Certainly, adopt the Electric Machine Control effect of this method poor slightly.
The above; Be merely the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technical staff who is familiar with the present technique field is in the technical scope that the present invention discloses; The variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection range of claim.
Claims (10)
1. the directed control system of an asynchronous machine; It is characterized in that: comprise magnetic flux computing unit, slip computing unit, magnetic flux angle calculation unit and driver element; Wherein: said magnetic flux computing unit is used for calculating according to exciting current the magnetic flux amplitude estimation value of said asynchronous machine; Said slip computing unit is used for calculating slip according to said magnetic flux amplitude estimated value; Said magnetic flux angle calculation unit is used for the revolution speed calculating magnetic flux angle according to said slip and rotor; Said driver element is used for according to the operation of said magnetic flux angle control rotor.
2. the directed control system of asynchronous machine according to claim 1, it is characterized in that: said system also comprises the inductance correcting unit, is used for the time constant according to said magnetic flux amplitude estimation value correction rotor; Said slip computing unit calculates slip according to the time constant of the rotor of said magnetic flux amplitude estimated value and correction.
3. the directed control system of asynchronous machine according to claim 1 and 2; It is characterized in that: said magnetic flux calculates unit pack and draws together the LPF subelement; Said LPF subelement is used for calculating magnetic flux amplitude estimation value λ=Lm * Isd/ (Tr * s+1) according to following formula, and wherein Lm is the motor mutual inductance, and Isd is an exciting current; S is a Laplacian, and Tr is the rotor time constant.
4. the directed control system of asynchronous machine according to claim 3; It is characterized in that: said magnetic flux computing unit also comprises amplitude siding stopping unit, and said amplitude siding stopping unit is used for that the magnetic flux amplitude estimation value that the LPF subunit computes obtains is carried out minimum and maximum border and limits.
5. the directed control system of asynchronous machine according to claim 4; It is characterized in that: said inductance correcting unit comprises that inductance is corrected subelement and time constant is corrected subelement; Wherein: said inductance is corrected subelement; Be used for correcting the rotor inductance according to said magnetic flux amplitude estimation value, said rotor inductance is along with the increase of said magnetic flux amplitude estimation value constantly reduces; Said time constant is corrected subelement, is used to use the time constant of the rotor inductance correction rotor after the rectification, the time constant Tr of said rotor=Lr/Rr, and wherein Lr is the rotor inductance after correcting, Rr is a rotor resistance; Said slip computing unit calculates slip according to following formula: slip Wsl=Isq * Rr/ ((Lr * Isd)/(Lr * s/Rr+1)), wherein Isq is the torque current of Electric Machine Control.
6. asynchronous machine directional controlling method is characterized in that: may further comprise the steps:
(a) calculate the magnetic flux amplitude estimation value of said asynchronous machine according to exciting current;
(b) calculate slip according to said magnetic flux amplitude estimated value;
(c) according to said slip calculating flux angle degree and according to said magnetic flux angle drive motors running.
7. asynchronous machine directional controlling method according to claim 6 is characterized in that: said step (a) comprises afterwards: according to the time constant of said magnetic flux amplitude estimation value correction rotor; In the said step (b), calculate slip according to the time constant of the rotor of said magnetic flux amplitude estimated value and correction.
8. according to claim 6 or 7 described asynchronous machine directional controlling methods; It is characterized in that: calculate magnetic flux amplitude estimation value λ=Lm * Isd/ (Tr * s+1) through following formula in the said step (a); Wherein Lm is the motor mutual inductance; Isd is an exciting current, and s is a Laplacian, and Tr is the rotor time constant.
9. asynchronous machine directional controlling method according to claim 8 is characterized in that: comprise in the said step (a) that said magnetic flux amplitude estimation value is carried out minimum and maximum border to be limited.
10. asynchronous machine directional controlling method according to claim 9 is characterized in that: said step (b) comprising:
(b1) correct the rotor inductance according to said magnetic flux amplitude estimation value, said rotor inductance increases along with the magnetic flux amplitude and constantly reduces;
The time constant of the rotor inductance correction rotor after (b2) use is corrected, the time constant Tr of said rotor=Lr/Rr, wherein Lr is the rotor inductance after correcting, Rr is a rotor resistance;
Slip Wsl=Isq in the said step (c) * Rr/ ((Lr * Isd)/(Lr * s/Rr+1)), wherein Isq is the torque current of Electric Machine Control.
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| CN103051278A (en) * | 2012-12-03 | 2013-04-17 | 深圳市汇川技术股份有限公司 | Rotor time constant online identifying system and method based on flux estimator |
| CN104704738A (en) * | 2012-10-12 | 2015-06-10 | 大陆汽车有限公司 | Motor control system and method for field-oriented control of electric motor |
| CN103326656B (en) * | 2013-06-09 | 2015-09-16 | 深圳市汇川技术股份有限公司 | Asynchronous machine rotor field orientation angle modification system and method |
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| US10498277B2 (en) | 2015-08-26 | 2019-12-03 | Kabushiki Kaisha Toshiba | Drive system and inverter |
| CN111352406A (en) * | 2018-12-20 | 2020-06-30 | 发那科株式会社 | Parameter determination assistance device, parameter determination assistance method, and computer-readable medium |
| CN111352389A (en) * | 2018-12-20 | 2020-06-30 | 发那科株式会社 | Parameter determination assistance device, parameter determination assistance method, and computer-readable medium |
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