CN103795317B - Based on the Controlling System of synchronous machine model - Google Patents

Abstract

The present invention provides a kind of Controlling System based on synchronous machine model, belong to motor control technology field, it is characterized in that, contain: N number of phase voltage is to the conversion branch road of torque, a torque synthesizer, an acceleration proportioning element, an integrated acceleration device, a rate integrating link and N number of opposing electromotance feedback branch road, and N represents the number of phases of synchronous machine. Every phase control voltage is through the conversion branch road of phase voltage to torque, obtain the real-time torque often exported mutually, Driving Torque is synthesized through torque synthesizer, again after acceleration proportioning element, integrated acceleration link and rate integrating link, can obtaining rotor angular aceeleration, circular frequency and angle, position respectively, real-time opposing electromotance feedback is given every phase control voltage by counter-electromotive force link. The present invention introduces real-time angular and speed information, is often accurately controlled respectively mutually by motor, more realistic engineering, has clear physics conception, is easy to design of control law and programming realization, computing real-time advantages of higher.

Description

Based on the Controlling System of synchronous machine model

Technical field

The present invention relates to the mathematical model of synchronous machine and Controlling System, belong to motor control technology field.

Background technology

In order to be controlled by motor, it is necessary to the mathematical model of motor, usually adopting two kinds of mathematical models, a kind of is the mathematical model of balance of voltage equation,It can be good at describing whole motor in clear physics conception, but it is not easy to Controller gain variations, lack the corresponding relation between motor whole mathematical model and each phase mathematical model, make the physical conception between each phase and whole motor unclear, the physical significance of each phase winding can not be given prominence to, therefore it is unfavorable for writing the working control program of each phase winding. Another kind is transport function model, $\left\{\begin{array}{c}\frac{\mathrm{\Ω}\left(s\right)}{U_a\left(s\right)}=\frac{1/K_e}{t_{m}s+1}\\ t_m=\frac{R_{a}J}{K_e{K}_t}\end{array}\right.,$ Though the Input output Relationship of the overall reflection system of its energy, desin speed closed-loop control is conducive to restrain, lack description owing to each phase voltage-electric current of synchronous machine, motor to be exported the relation of moment and each phase current, therefore the Controller gain variations such as vector controlled rule of synchronous machine can not be used for.

Summary of the invention

For the problems referred to above, it is an object of the invention to provide a kind of fast, the mathematical model of clear physics conception, synchronous machine that computing real-time is high and Controlling System.

For achieving the above object, the present invention is by the following technical solutions:

Based on the Controlling System of synchronous machine model, it is characterized in that, contain: N number of phase voltage is to the conversion branch road of torque, a torque synthesizer, an acceleration proportioning element, an integrated acceleration device, a rate integrating link and N number of opposing electromotance feedback branch road, and N represents the number of phases of synchronous machine; Wherein:

Phase voltage comprises a subtractor, an inertia link, a torque proportioning element and a rotation umformer to the conversion branch road of torque; What described subtractor realized control phase voltage and each phase back-emf subtracts each other computing, obtains the voltage difference of generation phase current; Described inertia link is determined by the phase inductance L of motor and resistance R, and its mathematical expression formula is:Above-mentioned voltage difference, after described inertia link, obtains phase current i_X, subscript X represents each phase winding of motor, desirable 1,2 ..., N; Described torque proportioning element is determined by the torque constant of motor, is designated as C_M, described phase current, after described torque proportioning element, obtains every phase torque amplitude T_X=C_Mi_X; Described rotation umformer is comprise motor rotor position angle �� and each phase phase difference with the first phase_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), described every phase torque amplitude, after described rotation umformer, tries to achieve every real-time torque T mutually_X=C_Mi_Xsin(��+��_X-1);

Described each torque in real time mutually is carried out comprehensively by described torque synthesizer, total torque of output motor

Described acceleration proportioning element is determined by the inverse of motor rotor inertia, and its mathematical expression formula isAbove-mentioned total torque, after this acceleration proportioning element, produces the angular acceleration of motor rotor;

Above-mentioned angular aceeleration, after integrated acceleration link, obtains rotor angle of electric machine speed omega;

Above-mentioned rotor angle of electric machine speed, after rate integrating link, obtains motor rotor position angle ��, and it feeds back to torque in real time and rotates umformer and rotating speed rotation umformer;

Described opposing electromotance feedback branch road comprises a counter potential proportioning element and an electromotive force rotates umformer; Described counter potential proportioning element is determined by the counter-electromotive force constant of motor, and its mathematical expression formula is C_e, described rotor velocity ��, after described counter potential proportioning element, obtains counter potential amplitude C_e��; It is comprise motor rotor position angle �� and each phase phase difference with the first phase that described electromotive force rotates umformer_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), to two-phase synchronous machine, �� in formula_2-1=��₁=-pi/2, to N >=3 phase motor ��_X-1=(-2 ��/N) �� (X-1); Described counter potential amplitude rotates after umformer through described electromotive force, obtains every real-time counter potential C mutually_e��sin(��+��_X-1)��

A kind of Controlling System based on synchronous machine model provided by the present invention, have clear physics conception, design of control law is convenient, programming realization is convenient, computing real-time advantages of higher, it is convenient to realize the independence control of every phase winding, it is applicable to very much the separate fault-tolerant motor of each phase winding, especially there is fault at it, it is convenient to control phase place and the amplitude of healthy phases.

The Controlling System based on synchronous machine model that the present invention proposes, it is equally applicable to the polyphase synchronous machine that each phase winding is separate, this invention not only describes the mathematical model of whole motor, and highlight the physical significance of each phase winding, make the physical conception of each phase winding in whole motor more clear, and the design of control law of controller is convenient, therefore very it is convenient to realize the coding work of sequence of control.

Accompanying drawing explanation

Fig. 1: the two-phase synchronous motor control system functional block diagram of the present invention;

Fig. 2: the N >=3 synchronised electric machine control system functional block diagram of the present invention.

Embodiment

Below in conjunction with accompanying drawing and example, the invention will be further described, and accompanying drawing described herein is only used to provide a further understanding of the present invention, is the part of the application, does not form the restriction to the present invention program.

The present invention is for existing common two-phase synchronous machine and N synchronised motor, the Controlling System based on synchronous machine model that the present invention builds is described, pass through the inventive method, the physical significance of whole motor mathematical model can either be described clearly, the physical significance of every phase winding can be given prominence to again, and the design of control law of controller is convenient, the coding being applicable to very much electric machine control program in engineering reality realizes.

Embodiment one: two-phase synchronous machine

Two phase voltages, to the conversion branch road of torque, comprise a phase voltage subtractor, an inertia link, a torque proportioning element and a rotation umformer; What described subtractor realized control phase voltage and each phase back-emf subtracts each other computing, obtains the voltage difference of generation phase current; Described inertia link is determined by the phase inductance L of motor and resistance R, and its mathematical expression formula is:Above-mentioned voltage difference, after described inertia link, obtains two phase control current i₁And i₂; Described torque proportioning element is determined by the torque constant of motor, is designated as C_M, described phase current, after described torque proportioning element, obtains every phase torque amplitude T_X=C_Mi_X; Described rotation umformer is for comprising phase angle between motor rotor position angle �� and two-phaseSinusoidal function, its mathematical expression formula is sin (��+��_X-1), described every phase torque amplitude, after described rotation umformer, tries to achieve every torque in real time mutually

$\left\{\begin{array}{c}{T}_1=C_T{i}_{1}sin\mathrm{\θ}\\ T_2=-C_T{i}_{2}cos\mathrm{\θ}\end{array}\right.;$

Real-time for described two-phase torque is carried out comprehensively by described torque synthesizer, exports total torque T=T of two-phase induction motor₁+T₂;

Described inertia proportioning element is the inverse of motor rotor inertia, and its mathematical expression formula isDescribed total torque, after described inertia proportioning element, produces the angular acceleration of motor rotor;

Described angular aceeleration, after rate integrating link, tries to achieve rotor angle of electric machine speed omega;

Described rotor angle of electric machine speed, after displacement integral element, tries to achieve motor rotor position angle ��, and it feeds back to torque in real time and rotates umformer and rotating speed rotation umformer;

Each counter-electromotive force link described comprises a counter potential proportioning element and an electromotive force rotates umformer; Described counter potential proportioning element is the counter-electromotive force constant of motor, and its mathematical expression formula is C_e, described rotor velocity ��, after described counter-electromotive force proportioning element, tries to achieve counter-electromotive force amplitude C_e��; It is comprise motor rotor position angle �� and each phase phase difference with the first phase that described electromotive force rotates umformer_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), to two-phase synchronous machine, �� in formula_2-1=��₁=-pi/2, described counter-electromotive force amplitude rotates after umformer through described electromotive force, tries to achieve every real-time counter-electromotive force mutually

$\left\{\begin{array}{c}{e}_A=C_e\mathrm{\ω}sin\mathrm{\θ}\\ e_B=-C_e\mathrm{\ω}cos\mathrm{\θ}\end{array}\right.;$

Embodiment two: N >=3 synchronised motor

N number of phase voltage comprises a subtractor, an inertia link, a torque proportioning element and a rotation umformer to the conversion branch road of torque; Described subtractor realizes subtracting each other of every phase control voltage and every phase back-emf, tries to achieve every phase control voltage difference; Described inertia link is made up of every phase inductance L of motor and resistance R, and its mathematical expression formula is:Described every phase control voltage difference, after described inertia link, tries to achieve every phase control current i₁��i₂��...��i_N; Described torque proportioning element is the torque constant of motor, and its mathematical expression formula is C_T, described every phase control electric current, after described torque proportioning element, tries to achieve every phase torque amplitude T_X=C_Ti_X; Described rotation umformer is comprise motor rotor position angle �� and each phase phase difference with the first phase_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), to N >=3 phase motor ��_X-1=(-2 ��/N) �� (X-1), described every phase torque amplitude, after described rotation umformer, tries to achieve every torque in real time mutually $\left\{\begin{array}{c}{T}_1=C_M{i}_1\sin \mathrm{\θ}\\ T_2=C_M{i}_2\sin \left(\mathrm{\θ}-\frac{2\mathrm{\π}}{N}\right)\\ \mathrm{...}\\ T_N=C_M{i}_N\sin \left(\mathrm{\θ}-\left(N-1\right)\frac{2\mathrm{\π}}{N}\right)\end{array}\right.;$

Described each torque in real time mutually is carried out comprehensively by described torque synthesizer, exports total torque of N-phase electric machine

Described inertia proportioning element is the inverse of motor rotor inertia, and its mathematical expression formula isDescribed total torque, after described inertia proportioning element, produces the angular acceleration of motor rotor;

Described angular aceeleration, after rate integrating link, tries to achieve rotor angle of electric machine speed omega;

Described rotor angle of electric machine speed, after displacement integral element, tries to achieve motor rotor position angle ��, and it feeds back to torque in real time and rotates umformer and rotating speed rotation umformer;

Each counter-electromotive force link described comprises a counter potential proportioning element and an electromotive force rotates umformer; Described counter potential proportioning element is the counter-electromotive force constant of motor, and its mathematical expression formula is C_e, described rotor velocity ��, after described counter potential proportioning element, tries to achieve counter-electromotive force amplitude C_e��; It is comprise motor rotor position angle �� and each phase phase difference with the first phase that described electromotive force rotates umformer_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), to N >=3 phase motor ��_X-1=(-2 ��/N) �� (X-1), described counter-electromotive force amplitude rotates after umformer through described electromotive force, tries to achieve every real-time counter-electromotive force mutually

$\left\{\begin{array}{c}{e}_1=C_e\mathrm{\ω}\sin \mathrm{\θ}\\ e_2=C_e\mathrm{\ω}sin\left(\mathrm{\θ}-\frac{2\mathrm{\π}}{N}\right)\\ \mathrm{...}\\ e_N=C_e\mathrm{\ω}\sin \left(\mathrm{\θ}-\left(N-1\right)\frac{2\mathrm{\π}}{N}\right)\end{array}\right..$

Above-described embodiment; the object of the present invention, technical scheme and useful effect have been further described; it is it should be understood that; the foregoing is only the specific embodiment of the present invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment of making, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (1)

1. the Controlling System based on synchronous machine model, it is characterized in that, contain: N number of phase voltage is to the conversion branch road of torque, a torque synthesizer, an acceleration proportioning element, an integrated acceleration device, a rate integrating link and N number of opposing electromotance feedback branch road, and N represents the number of phases of synchronous machine; Wherein:

Phase voltage comprises a subtractor, an inertia link, a torque proportioning element and a rotation umformer to the conversion branch road of torque; What described subtractor realized control phase voltage and each phase back-emf subtracts each other computing, obtains the voltage difference of generation phase current; Described inertia link is determined by the phase inductance L of motor and resistance R, and its mathematical expression formula is:Above-mentioned voltage difference, after described inertia link, obtains phase current i_X, subscript X represents each phase winding of motor, desirable 1,2 ..., N; Described torque proportioning element is determined by the torque constant of motor, is designated as C_M, described phase current, after described torque proportioning element, obtains every phase torque amplitude T_X=C_Mi_X; Described rotation umformer is comprise motor rotor position angle �� and each phase phase difference with the first phase_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), described every phase torque amplitude, after described rotation umformer, tries to achieve every real-time torque T mutually_X=C_Mi_Xsin(��+��_X-1);

Described each torque in real time mutually is carried out comprehensively by described torque synthesizer, total torque of output motor

Described acceleration proportioning element is determined by the inverse of motor rotor inertia, and its mathematical expression formula isAbove-mentioned total torque, after this acceleration proportioning element, produces the angular acceleration of motor rotor;

Above-mentioned angular aceeleration, after integrated acceleration link, obtains rotor angle of electric machine speed omega;

Above-mentioned rotor angle of electric machine speed, after rate integrating link, obtains motor rotor position angle ��, and it feeds back to torque in real time and rotates umformer and rotating speed rotation umformer;

Described opposing electromotance feedback branch road comprises a counter potential proportioning element and an electromotive force rotates umformer; Described counter potential proportioning element is determined by the counter-electromotive force constant of motor, and its mathematical expression formula is C_e, described rotor velocity ��, after described counter potential proportioning element, obtains counter potential amplitude C_e��; It is comprise motor rotor position angle �� and each phase phase difference with the first phase that described electromotive force rotates umformer_X-1Sinusoidal function, its mathematical expression formula is sin (��+��_X-1), to two-phase synchronous machine, �� in formula_2-1=��₁=-pi/2, to N >=3 phase motor ��_X-1=(-2 ��/N) �� (X-1); Described counter potential amplitude rotates after umformer through described electromotive force, obtains every real-time counter potential C mutually_e��sin(��+��_X-1)��