CN103337996B - The method of cage induction motor rotating speed is controlled with stator voltage space vector - Google Patents
The method of cage induction motor rotating speed is controlled with stator voltage space vector Download PDFInfo
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- CN103337996B CN103337996B CN201310245262.XA CN201310245262A CN103337996B CN 103337996 B CN103337996 B CN 103337996B CN 201310245262 A CN201310245262 A CN 201310245262A CN 103337996 B CN103337996 B CN 103337996B
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Abstract
The invention discloses a kind of stator voltage space vector to control the method for cage induction motor rotating speed, deviation signal is carried out proportional integral computing and obtains slip angular frequency control signal, amplitude and the argument of stator voltage space vector is calculated by certain algorithm, and calculate by its control SVPWM module and produce 6 road pulse-width modulation control signals, break-make control is carried out to 6 switching tubes in inverter, to realize the torque controlling again motor while controlling motor field, finally reach the object controlling motor speed.By the way, the present invention can provide a kind of structure existingly to encourage the same control performance of direct-current motor control system with it, can overcome again because variations in temperature causes motor winding resistance to change the impact caused performance, be easy to adjustment, the method for working stability cage induction motor revolution speed control system.
Description
Technical field
The present invention relates to inductance motor control field, particularly relate to a kind of stator voltage space vector to control the method for cage induction motor rotating speed.
Background technology
Cage induction motor is also known as cage type asynchronous motor or squirrel-cage asynchronous motor, that three-phase or two-phase alternating current are converted to the electromechanical assembly of rotor turns by a kind of electromagnetic induction principle that utilizes, the advantages such as it is firm with it, reliable, cheap, efficient, obtain a wide range of applications in industrial drives controls, cage induction motor revolution speed control system just progressively replaces it and encourages DC motor rotation speed control system and the main flow that becomes High-performance power dragging system.
Perceived control induction motor rotating speed is the key technical problem in cage induction motor application, is related to performance and the level of induction motor dragging system.
At present, cage induction motor rotor speed control technology has multiple, except some traditional methods due to consume energy large, efficiency is low and except being eliminated gradually, mainly contain variable voltage variable frequency control, slip frequency controlled, vector control and Direct Torque Control.
Variable voltage variable frequency control and slip frequency controlled are all frequency conversion method for controlling number of revolution of the steady-state model based on cage induction motor, its basic point of departure is in conversion process, motor air gap magnetic flux is made to keep substantially constant, it is based on the steady-state model of motor and steady-state analysis method, the impact of dynamic factor on systematic function cannot be considered, as caused undercompensation to then have ignored current amplitude change in the compensation of stator voltage; Do not consider how the phase place of stator voltage controls to ensure magnetic field smooth transition when change of external conditions (as impact given rotating speed, shock load), and the control method produced under this technical background certainly will cause the dynamic property of corresponding control system poor yet.Vector control method is mainly by being positioned the control of component in stator voltage vector under a certain flux linkage vector rotating coordinate system of motor or current phasor both direction to one, uneoupled control is carried out to its excitation and torque, obtaining as it encourages DC motor can the performance of independent controlling magnetic field and torque, realizes induction motor to the quick response controlled.Though this can improve the performance of induction motor control system greatly, carry out repeatedly coordinate transform, algorithm realization is comparatively complicated; In addition, vector control system will obtain the actual value that fast and accurate rotating speed response depends on motor inductance, resistance accurately.Although inductance value can be measured in advance and be adjusted according to motor excitation horizontal size; But stator and rotor resistance parameters is due to the impact by temperature and kelvin effect, and actual value during operation is more difficult accurately to be obtained, and consequent coordinate directional bias can cause the mutual coupling of excitation, torque current, makes poor system performance.To be more complicated to head it off system preferably.Torque in Direct Torque method and magnetic linkage all adopt the double site type of directly feedback bang-bang control, thus avoid stator current resolved into torque and excitation component, save rotating coordinate transformation, simplify the structure of controller.But bring torque pulsation, thus limit speed adjustable range.The method selects stator magnetic linkage as controlled magnetic linkage, and unlike vector control system, select rotor flux, control performance can be made so not by the impact of rotor windings resistance variations, but in the process detecting stator magnetic linkage, vary with temperature with attending the meeting and the stator resistance changed, its control performance still can be subject to the impact of variations in temperature.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of stator voltage space vector to control the method for cage induction motor rotating speed, a kind of structure can be provided existingly to encourage the same control performance of direct-current motor control system with it, can overcome again because variations in temperature causes motor winding resistance to change the impact caused performance, be easy to adjustment, the method for working stability cage induction motor revolution speed control system.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of stator voltage space vector to control the method for cage induction motor rotating speed, its method is: first by given angular velocity signal
subtract motor actual angular speed signal
obtain deviation signal
, then deviation signal is carried out PID arithmetic obtain slip angular frequency control signal
, then by slip angular frequency control signal
, motor actual angular speed signal
, given exciting current signal
, motor magnetic pole logarithm
, motor stator winding D.C. resistance
, rotor windings equivalent d.c. resistance
, stator winding equivalent inductance
, rotor windings equivalent inductance
and fixed, turn around equivalent mutual inductance between group
by following setting formula:
Carry out computing and obtain stator voltage space vector
real-time amplitude
and argument
; Last stator voltage space vector
real-time amplitude
and argument
direct input SVPWM functional module calculates and produces 6 road pulse-width modulation control signals, carries out break-make control to 6 switching tubes in inverter.
The invention has the beneficial effects as follows: the present invention's stator voltage space vector is to control the method for cage induction motor rotating speed, a kind of structure can be provided existingly to encourage the same control performance of direct-current motor control system with it, can overcome again because variations in temperature causes motor winding resistance to change the impact caused performance, be easy to adjustment, the method for working stability cage induction motor revolution speed control system.
Accompanying drawing explanation
Fig. 1 is that the present invention's stator voltage space vector is to control the method skeleton diagram of cage induction motor rotating speed;
Fig. 2 is that the present invention's stator voltage space vector is to control the embodiment of the method schematic diagram of cage induction motor rotating speed.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Refer to Fig. 1 and Fig. 2, the embodiment of the present invention comprises:
Stator voltage space vector controls a method for cage induction motor rotating speed, and its method is: first by given angular velocity signal
subtract motor actual angular speed signal
obtain deviation signal
, then deviation signal is carried out PID arithmetic obtain slip angular frequency control signal
, then by slip angular frequency control signal
, motor actual angular speed signal
, given exciting current signal
, motor magnetic pole logarithm
, motor stator winding D.C. resistance
, rotor windings equivalent d.c. resistance
, stator winding equivalent inductance
, rotor windings equivalent inductance
and fixed, turn around equivalent mutual inductance between group
by following setting formula:
Carry out computing and obtain stator voltage space vector
real-time amplitude
and argument
; Last stator voltage space vector
real-time amplitude
and argument
direct input SVPWM functional module calculates and produces 6 road pulse-width modulation control signals, carries out break-make control to 6 switching tubes in inverter.
A kind of method of stator voltage Frequency conversion control cage induction motor rotor speed.It forms system with a main circuit, control circuit controlled main circuit, cage induction motor speed probe coaxial with motor and man-machine interface.Main circuit comprises a rectification circuit, rectification circuit is made up of rectifier diode, rectification circuit input end is three phase mains, output access filter circuit, electric capacity is filter element, accesses inverter afterwards, and inverter is the electronic switch set be made up of 6 full-control type power transistors, 6 diodes, inverter output end connects three-phase cage induction motor, and the control end of inverter is connected with control circuit.
Control circuit shown in its Fig. 2 includes DSP chip, signal coupling chip, driving chip and accessory circuit thereof.The signal input control circuit that speed probe exports, the control signal that control circuit exports is connected with inverter control end, and in control circuit, DSP chip is connected with man-machine interface by order wire.Be mounted with the program realizing controller function in DSP chip, realize the program of stator space vector generator function, realize SVPWM control signal generator function program, realize motor speed calculate program and carry out the signal procedure of exchanges data with man-machine interface.These programs are combined in an interrupt service routine successively.
Motor speed controls to have been come by the interrupt service routine that reruns under some cycles of the CPU in digital signal processor.The triangular wave that the forward-backward counter that cycle is driven by timing pulse signal produces is determined, starts interrupt service routine when numerical value in timer returns 0.In an interrupt service routine implementation, under the effect of director demon, obtain when the last time is interrupted give fixed angular speed digital signal
with motor actual angular speed digital signal
subtract each other and obtain deviation digital signal
, and deviation digital signal is carried out PID arithmetic and obtain slip angular frequency control figure signal
.Under the effect of program realizing stator voltage space vector generator function, realize
Computing, obtains the real-time amplitude of stator voltage space vector
and argument
stored in relevant variable.Under the program effect realizing SVPWM control signal generator function, call real-time amplitude and argument data, calculate 3 switching times
,
,
, will
,
,
three comparand registers in digital signal processor in task manager are loaded after being converted to 3 corresponding integers.During operation, the triangular wave that numeral in three comparand registers produces with above-mentioned forward-backward counter respectively compares, when the numeral in a comparand register is equal with the numeral in forward-backward counter, task manager control logic makes 2 corresponding road pulse-width modulation control signals produce contrary saltus step, three raw 6 road pulse-width modulation control signals of comparand register common property, this 6 road pulse-width modulation control signal exports inverter control end to, carries out break-make control to 6 full-controlled switch pipes in inverter.The motor actual speed signal that speed probe exports enters DSP chip through filtering by dedicated terminals, and the Program transformation calculated through motor speed is angular speed digital signal
with angular rate digital signal
,
.Given rotating speed signal is inputted by man-machine interface, under the effect of signal procedure, enters DSP chip through order wire, and is converted to angular speed digital signal
.This interruption obtains
,
with
will upper once interrupt time call.Above process reruns, and realizes the continuous control to motor.
The present invention's stator voltage space vector controls the method for cage induction motor rotating speed, a kind of structure can be provided existingly to encourage the same control performance of direct-current motor control system with it, can overcome again because variations in temperature causes motor winding resistance to change the impact caused performance, be easy to adjustment, the method for working stability cage induction motor revolution speed control system.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent formulation, equivalent structure or equivalent flow process conversion utilizing specification of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (1)
1. work under dynamic environment and control a method for cage induction motor rotating speed with stator voltage space vector, it is characterized in that: the step of described method is as follows:
A) first by given angular velocity signal ω
*subtract motor actual angular speed signal ω and obtain deviation signal Δ ω, then deviation signal is carried out PID arithmetic obtain slip angular frequency control signal ω
f,
B) then by slip angular frequency control signal ω
f, motor actual angular speed signal ω, given exciting current signal
the magnetic pole logarithm p of motor
n, motor stator winding D.C. resistance R
s, rotor windings equivalent d.c. resistance R
r, stator winding equivalent inductance L
s, rotor windings equivalent inductance L
rand fixed, turn around equivalent mutual inductance L between group
mby following setting formula:
ω
r＝p
nω
ω
s＝ω
r+ω
f
Carry out computing and obtain stator voltage space vector u
sreal-time amplitude
with argument θ
m(t)+θ
u; Last stator voltage space vector u
sreal-time amplitude
with argument θ
m(t)+θ
udirect input SVPWM functional module calculates and produces 6 road pulse-width modulation control signals, carries out break-make control to 6 switching tubes in inverter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310245262.XA CN103337996B (en) | 2013-06-19 | 2013-06-19 | The method of cage induction motor rotating speed is controlled with stator voltage space vector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310245262.XA CN103337996B (en) | 2013-06-19 | 2013-06-19 | The method of cage induction motor rotating speed is controlled with stator voltage space vector |
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| CN103337996A CN103337996A (en) | 2013-10-02 |
| CN103337996B true CN103337996B (en) | 2016-04-20 |
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| CN111841362A (en) * | 2020-07-24 | 2020-10-30 | 广州狸园科技有限公司 | Stirring device rotating speed control system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6008618A (en) * | 1997-11-26 | 1999-12-28 | General Motors Corporation | Zero speed start-up for a speed sensorless induction motor drive |
| CN101425777A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Voltage orienting frequency conversion controller for open loop non-speed sensor |
| CN101615876A (en) * | 2009-08-07 | 2009-12-30 | 北京和利时电机技术有限公司 | A kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor and method |
-
2013
- 2013-06-19 CN CN201310245262.XA patent/CN103337996B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6008618A (en) * | 1997-11-26 | 1999-12-28 | General Motors Corporation | Zero speed start-up for a speed sensorless induction motor drive |
| CN101425777A (en) * | 2008-12-09 | 2009-05-06 | 哈尔滨工业大学 | Voltage orienting frequency conversion controller for open loop non-speed sensor |
| CN101615876A (en) * | 2009-08-07 | 2009-12-30 | 北京和利时电机技术有限公司 | A kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor and method |
Non-Patent Citations (2)
| Title |
|---|
| 基于矢量控制原理的异步电机调速系统的研究与设计;江辉建;《中国优秀博硕士学位论文全文数据库》;20040315;第15-17页、第24页 * |
| 转差率控制的异步电动机调速系统的设计;刘军华等;《电气传动》;20080531;第38卷(第5期);第22-24页 * |
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| CN103337996A (en) | 2013-10-02 |
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Inventor after: Ye Guoping Inventor after: Feng Ti Inventor before: Feng Ti Inventor before: Ye Guoping |
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