CN103532460A - Synchronous vector control method for two motor linkage systems - Google Patents

Synchronous vector control method for two motor linkage systems Download PDF

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Publication number
CN103532460A
CN103532460A CN201310519941.1A CN201310519941A CN103532460A CN 103532460 A CN103532460 A CN 103532460A CN 201310519941 A CN201310519941 A CN 201310519941A CN 103532460 A CN103532460 A CN 103532460A
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phase
motors
coordinate system
synchronous
motor
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Chinese (zh)
Inventor
毛康宇
宁国云
王怡华
程世国
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DAYU ELECTRIC TECHNOLOGY Co Ltd
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DAYU ELECTRIC TECHNOLOGY Co Ltd
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Abstract

The invention relates to a synchronous vector control method for two motor linkage systems. The method comprises the following steps: synchronously acquiring signals of two motors to convert coordinates; synchronously sampling external signals, and synchronously converting from a three-phase static coordinate system to a two-phase static coordinate system; observing the speed; converting from the two-phase static coordinate system to a two-phase rotating coordinate system; synchronously regulating PI; synchronously converting from the two-phase rotating coordinate system to the two-phase static coordinate system; synchronously implementing the modulation output of SVPWM. The synchronous vector control method has the following benefits: the sampling and the data processing are synchronously implemented for all signals of the two motors; the vector control of movement states of the two motors is implemented only through one algorithm without the coordination of other controllers; the synchronous vector control method can control parameters such as rotating directions, operation speeds and moment output states of the motors.

Description

A kind of synchronous vector control method for two motor linkage systems
Technical field
The present invention relates to Motor Control Field, particularly relate to a kind of synchronous vector control method for two motor linkage systems.
Background technology
In practical application, two linked systems that alternating current machine turns round simultaneously, it is controlled and generally adopts respectively two cover control device, between two cover control device, by the mode of certain communication, is undertaken synchronously, and this method, cannot meet real work demand sometimes.
Summary of the invention
The object of this invention is to provide a kind of synchronous vector control method for two motor linkage systems, to overcome prior art above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
A synchronous vector control method for two motor linkage systems, comprises the following steps:
1) gather the three-phase ac signal of two motors
Figure 2013105199411100002DEST_PATH_IMAGE001
,
Figure 199581DEST_PATH_IMAGE002
,
Figure 2013105199411100002DEST_PATH_IMAGE003
with ,
Figure 2013105199411100002DEST_PATH_IMAGE005
, ;
2) three-phase ac signal of two motors that step 1) obtained synchronously converts by same abc/ α β coordinate simultaneously, transforms to respectively the static α β of same two-phase coordinate system, obtains the electric current of two motors
Figure 2013105199411100002DEST_PATH_IMAGE007
, with ,
Figure 292991DEST_PATH_IMAGE010
;
3) voltage in the static α β of two-phase coordinate system according to a upper computation of Period two motors out
Figure 2013105199411100002DEST_PATH_IMAGE011
,
Figure 302404DEST_PATH_IMAGE012
with ,
Figure 507121DEST_PATH_IMAGE014
, carry out speed observation, estimate respectively the rotating speed of two motors , with rotor angle
Figure 2013105199411100002DEST_PATH_IMAGE017
, ;
4) by step 2) in the electric current of two motors obtaining ,
Figure 371860DEST_PATH_IMAGE008
with
Figure 108872DEST_PATH_IMAGE009
,
Figure 819208DEST_PATH_IMAGE010
, according to rotor angle
Figure 186736DEST_PATH_IMAGE017
,
Figure 428361DEST_PATH_IMAGE018
carry out synchronous α β/dq coordinate transform, current transformation, to same two-phase synchronous rotary dq coordinate system, is obtained
Figure 2013105199411100002DEST_PATH_IMAGE019
,
Figure 890435DEST_PATH_IMAGE020
with
Figure 2013105199411100002DEST_PATH_IMAGE021
,
Figure 658540DEST_PATH_IMAGE022
;
5) by motor given rotating speed
Figure 2013105199411100002DEST_PATH_IMAGE023
,
Figure 931389DEST_PATH_IMAGE024
with the motor speed estimating in step 3)
Figure 660311DEST_PATH_IMAGE015
,
Figure 926076DEST_PATH_IMAGE016
differ from, by the output of adjuster closed loop, draw
Figure 2013105199411100002DEST_PATH_IMAGE025
, , as two motor torque given value of current values; By the motor speed estimating in step 3) ,
Figure 270973DEST_PATH_IMAGE016
by weak magnetic controller, draw ,
Figure 91161DEST_PATH_IMAGE028
, as the exciting current set-point of two motors;
6) by aforementioned torque given value of current value
Figure 630596DEST_PATH_IMAGE025
, with aforementioned currents detected value
Figure 948762DEST_PATH_IMAGE020
,
Figure 556329DEST_PATH_IMAGE022
poor respectively, and obtain by the output of adjuster closed loop
Figure 2013105199411100002DEST_PATH_IMAGE029
,
Figure 966582DEST_PATH_IMAGE030
; By aforementioned exciting current set-point
Figure 80032DEST_PATH_IMAGE027
,
Figure 2013105199411100002DEST_PATH_IMAGE031
with aforementioned currents detected value ,
Figure 354204DEST_PATH_IMAGE021
poor respectively, and obtain by the output of adjuster closed loop
Figure 602652DEST_PATH_IMAGE032
,
Figure 2013105199411100002DEST_PATH_IMAGE033
;
7) will
Figure 11636DEST_PATH_IMAGE029
,
Figure 424163DEST_PATH_IMAGE032
with
Figure 389845DEST_PATH_IMAGE034
,
Figure 571428DEST_PATH_IMAGE033
according to rotor angle
Figure 948051DEST_PATH_IMAGE017
,
Figure 785557DEST_PATH_IMAGE018
, carry out synchronous dq/ α β coordinate transform, it is transformed to same two-phase rest frame from same two-phase rotating coordinate system, obtain two groups of voltages of two motors in two-phase rest frame
Figure 351668DEST_PATH_IMAGE011
, with ,
Figure 712614DEST_PATH_IMAGE014
, the velocity estimation by these two groups of voltages for next cycle step 3); And
8) by two groups of voltages
Figure 82415DEST_PATH_IMAGE011
, with
Figure 894699DEST_PATH_IMAGE013
,
Figure 503535DEST_PATH_IMAGE014
carry out coordinate transform, from the static α β of same two-phase synchronous coordinate transformation, in same three phase static α β/ABC coordinate system, obtain two motors three-phase output voltage separately.
Beneficial effect of the present invention is: gather the signal of two motors simultaneously, carry out coordinate transform; External signal is sampled simultaneously, carries out the conversion that three phase static coordinate is tied to two-phase rest frame simultaneously; Carry out speed observation; Carry out the conversion that two-phase static coordinate is tied to two-phase rotating coordinate system; Carry out PI adjusting simultaneously; Two-phase rotational coordinates is tied to the conversion of two-phase rest frame simultaneously; Carry out the modulation output of SVPWM simultaneously; Data processing is sampled simultaneously, carried out simultaneously to all signals of two motors; The motion state of two motors, only carries out vector control by this algorithm, does not need other controller coordinate; Can control the parameters such as rotation direction, the speed of service and moment output state of motor.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the control flow chart of a kind of synchronous vector control method for two motor linkage systems described in the embodiment of the present invention.
Embodiment
As shown in Figure 1, the control flow chart of a kind of synchronous vector control method for two motor linkage systems described in the embodiment of the present invention, controls for the synchronous vector of two alternating current machine linked systems, and the AC controling signal of motor 2 is three-phase currents
Figure 614711DEST_PATH_IMAGE004
,
Figure 812343DEST_PATH_IMAGE005
, , respectively motor 1 and motor 2 are controlled:
The three-phase current of motor 1
Figure 717982DEST_PATH_IMAGE001
,
Figure 814114DEST_PATH_IMAGE002
,
Figure 712669DEST_PATH_IMAGE003
three-phase current with motor 2
Figure 515540DEST_PATH_IMAGE004
,
Figure 654397DEST_PATH_IMAGE005
,
Figure 424776DEST_PATH_IMAGE035
by same abc/ α β coordinate, synchronously convert simultaneously, the three-phase current of two motors is transformed to respectively to the static α β of same two-phase coordinate system, obtain the electric current of motor 1
Figure 674491DEST_PATH_IMAGE007
, electric current with motor 2
Figure 94157DEST_PATH_IMAGE009
, ;
According to the voltage of the motor 1 in a upper computation of Period static α β of two-phase coordinate system out
Figure 155971DEST_PATH_IMAGE011
,
Figure 995751DEST_PATH_IMAGE012
voltage with motor 2
Figure 663362DEST_PATH_IMAGE013
,
Figure 893486DEST_PATH_IMAGE014
, carry out speed observation, estimate the rotating speed of two motors ,
Figure 631821DEST_PATH_IMAGE016
with rotor angle
Figure 283382DEST_PATH_IMAGE017
,
Figure 266382DEST_PATH_IMAGE018
, by two electric currents
Figure 848541DEST_PATH_IMAGE007
,
Figure 397335DEST_PATH_IMAGE008
with
Figure 423059DEST_PATH_IMAGE009
,
Figure 690093DEST_PATH_IMAGE010
, according to angle
Figure 99381DEST_PATH_IMAGE017
with , carry out synchronous α β/dq coordinate transform, current transformation, to same two-phase synchronous rotary dq coordinate system, is obtained
Figure 699307DEST_PATH_IMAGE019
,
Figure 640587DEST_PATH_IMAGE020
with
Figure 377599DEST_PATH_IMAGE021
,
Figure 838667DEST_PATH_IMAGE022
;
Meanwhile, by given rotating speed
Figure 455462DEST_PATH_IMAGE036
,
Figure 431508DEST_PATH_IMAGE024
with estimation rotating speed
Figure 909894DEST_PATH_IMAGE015
,
Figure 553365DEST_PATH_IMAGE016
differ from, by the output of adjuster closed loop, obtain
Figure 75482DEST_PATH_IMAGE025
,
Figure 742087DEST_PATH_IMAGE026
, as two motor torque given value of current values; Simultaneously estimation rotating speed
Figure 820901DEST_PATH_IMAGE015
,
Figure 505829DEST_PATH_IMAGE016
by weak magnetic controller, obtain
Figure 11897DEST_PATH_IMAGE027
, , as two motor excitation given value of current values.Accordingly, aforementioned currents is given
Figure 235254DEST_PATH_IMAGE025
,
Figure 525421DEST_PATH_IMAGE026
detect with aforementioned currents
Figure 467969DEST_PATH_IMAGE020
,
Figure 92854DEST_PATH_IMAGE022
poor respectively, by the output of adjuster closed loop, obtain
Figure 451154DEST_PATH_IMAGE029
,
Figure DEST_PATH_IMAGE037
;
By aforementioned currents set-point
Figure 110675DEST_PATH_IMAGE027
,
Figure 896228DEST_PATH_IMAGE028
with aforementioned currents detected value
Figure 821459DEST_PATH_IMAGE019
,
Figure 232718DEST_PATH_IMAGE021
poor respectively, by the output of adjuster closed loop, obtain
Figure 497477DEST_PATH_IMAGE032
,
Figure 781828DEST_PATH_IMAGE038
.Will ,
Figure 81408DEST_PATH_IMAGE032
with ,
Figure 905193DEST_PATH_IMAGE038
according to rotor angle
Figure 742699DEST_PATH_IMAGE017
,
Figure 308810DEST_PATH_IMAGE018
, carry out synchronous dq/ α β coordinate transform, it is transformed to same two-phase rest frame from same two-phase rotating coordinate system, obtain two groups of voltages of two motors in two-phase rest frame
Figure 531850DEST_PATH_IMAGE011
,
Figure 95686DEST_PATH_IMAGE012
with
Figure 482805DEST_PATH_IMAGE013
,
Figure DEST_PATH_IMAGE039
, these two groups of voltages carry out velocity estimation for next cycle;
Carry out again coordinate transform, from the static α β of same two-phase synchronous coordinate transformation, in same three phase static α β/ABC coordinate system, obtain two motors three-phase output voltage separately.
The present invention only uses 1 cover control algolithm, two motors is carried out to vector control simultaneously; The parameter of two motors is all saved, receive after action command, control the motion of these two motors simultaneously.
All signals are sampled simultaneously, carry out coordinate transform simultaneously.When controlling, external signal is sampled simultaneously, carries out the conversion that three phase static coordinate is tied to two-phase rest frame simultaneously; Carry out speed observation simultaneously; Carry out the conversion that two-phase static coordinate is tied to two-phase rotating coordinate system simultaneously; Carry out PI adjusting simultaneously; Two-phase rotational coordinates is tied to the conversion of two-phase rest frame simultaneously; Carry out the modulation output of SVPWM simultaneously.
The motion state of two motors, only by this algorithm, coordinated, do not need to coordinate by other controller, a kind of synchronous vector control method for two motor linkage systems of the present invention can be done move toward one another or motion in the same way according to application requirements, and controls motor in the different speeds of service and moment output state.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but do any variation in its shape or structure; every have identical with a application or akin technical scheme, within all dropping on protection scope of the present invention.

Claims (3)

1. for a synchronous vector control method for two motor linkage systems, it is characterized in that, comprise the following steps:
1) gather the three-phase ac signal of two motors
Figure 2013105199411100001DEST_PATH_IMAGE001
,
Figure 30692DEST_PATH_IMAGE002
, with
Figure 311500DEST_PATH_IMAGE004
,
Figure 2013105199411100001DEST_PATH_IMAGE005
,
Figure 46238DEST_PATH_IMAGE006
;
2) three-phase ac signal of two motors that step 1) obtained synchronously converts by same abc/ α β coordinate simultaneously, transforms to respectively the static α β of same two-phase coordinate system, obtains the electric current of two motors ,
Figure 842025DEST_PATH_IMAGE008
with
Figure 2013105199411100001DEST_PATH_IMAGE009
, ;
3) voltage in the static α β of two-phase coordinate system according to a upper computation of Period two motors out
Figure 2013105199411100001DEST_PATH_IMAGE011
,
Figure 150832DEST_PATH_IMAGE012
with
Figure DEST_PATH_IMAGE013
,
Figure 243422DEST_PATH_IMAGE014
, carry out speed observation, estimate respectively the rotating speed of two motors
Figure 2013105199411100001DEST_PATH_IMAGE015
,
Figure 277237DEST_PATH_IMAGE016
with rotor angle ,
Figure 910213DEST_PATH_IMAGE018
;
4) by step 2) in the electric current of two motors obtaining
Figure 978663DEST_PATH_IMAGE007
,
Figure 117520DEST_PATH_IMAGE008
with
Figure 887899DEST_PATH_IMAGE009
,
Figure 75298DEST_PATH_IMAGE010
, according to rotor angle ,
Figure 557281DEST_PATH_IMAGE018
carry out synchronous α β/dq coordinate transform, current transformation, to same two-phase synchronous rotary dq coordinate system, is obtained , with
Figure DEST_PATH_IMAGE021
, ;
5) by motor given rotating speed
Figure DEST_PATH_IMAGE023
,
Figure 583508DEST_PATH_IMAGE024
with the motor speed estimating in step 3) ,
Figure 543560DEST_PATH_IMAGE016
differ from, by the output of adjuster closed loop, draw
Figure DEST_PATH_IMAGE025
,
Figure 525291DEST_PATH_IMAGE026
, as two motor torque given value of current values; By the motor speed estimating in step 3)
Figure 219578DEST_PATH_IMAGE015
, by weak magnetic controller, draw ,
Figure 41089DEST_PATH_IMAGE028
, as the exciting current set-point of two motors; And
6) by aforementioned torque given value of current value
Figure 373982DEST_PATH_IMAGE025
,
Figure 922775DEST_PATH_IMAGE026
with aforementioned currents detected value
Figure 197767DEST_PATH_IMAGE020
, poor respectively, and obtain by the output of adjuster closed loop
Figure DEST_PATH_IMAGE029
,
Figure 335804DEST_PATH_IMAGE030
; By aforementioned exciting current set-point
Figure 191634DEST_PATH_IMAGE027
,
Figure DEST_PATH_IMAGE031
with aforementioned currents detected value ,
Figure 63961DEST_PATH_IMAGE021
poor respectively, and obtain by the output of adjuster closed loop
Figure 4235DEST_PATH_IMAGE032
,
Figure DEST_PATH_IMAGE033
.
2. a kind of synchronous vector control method for two motor linkage systems according to claim 1, is characterized in that, further comprising the steps:
Will
Figure 714571DEST_PATH_IMAGE029
,
Figure 878836DEST_PATH_IMAGE032
with ,
Figure 785798DEST_PATH_IMAGE033
according to rotor angle
Figure 163690DEST_PATH_IMAGE017
,
Figure 702119DEST_PATH_IMAGE018
, carry out synchronous dq/ α β coordinate transform, it is transformed to same two-phase rest frame from same two-phase rotating coordinate system, obtain two groups of voltages of two motors in two-phase rest frame
Figure 165461DEST_PATH_IMAGE011
,
Figure 720243DEST_PATH_IMAGE012
with
Figure 155903DEST_PATH_IMAGE013
,
Figure 661971DEST_PATH_IMAGE014
, the velocity estimation by these two groups of voltages for next cycle step 3).
3. a kind of synchronous vector control method for two motor linkage systems according to claim 2, is characterized in that, further comprising the steps:
By two groups of voltages
Figure 65139DEST_PATH_IMAGE011
,
Figure 947645DEST_PATH_IMAGE012
with
Figure 237812DEST_PATH_IMAGE013
, carry out coordinate transform, from the static α β of same two-phase synchronous coordinate transformation, in same three phase static α β/ABC coordinate system, obtain two motors three-phase output voltage separately.
CN201310519941.1A 2013-10-29 2013-10-29 Synchronous vector control method for two motor linkage systems Pending CN103532460A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101707463A (en) * 2009-11-10 2010-05-12 中国人民解放军海军工程大学 Parallel vector control system of induction motor
CN101931352A (en) * 2010-07-14 2010-12-29 中国人民解放军海军航空工程学院 Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof
CN202085117U (en) * 2011-06-21 2011-12-21 杭州电子科技大学 All-digital AC servo drive for double motors
JP2012005262A (en) * 2010-06-17 2012-01-05 Honda Motor Co Ltd Load controller

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101707463A (en) * 2009-11-10 2010-05-12 中国人民解放军海军工程大学 Parallel vector control system of induction motor
JP2012005262A (en) * 2010-06-17 2012-01-05 Honda Motor Co Ltd Load controller
CN101931352A (en) * 2010-07-14 2010-12-29 中国人民解放军海军航空工程学院 Double-motor cascade system of double Y-shift 30-degree six-phase permanent magnet synchronous motors driven by single inverter and control method thereof
CN202085117U (en) * 2011-06-21 2011-12-21 杭州电子科技大学 All-digital AC servo drive for double motors

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
朱洪志等: "同轴联接双电机驱动系统建模及仿真", 《电机与控制应用》 *

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