CN103872961A - Induction motor rotor magnetic link control method and circuit, and induction motor - Google Patents

Abstract

The invention provides an induction motor rotor magnetic link control method, an induction motor rotor magnetic link control circuit and an induction motor. The method comprises the following steps of acquiring a stator current value, a stator voltage value and a rotor angular speed value of the induction motor; calculating a rotor magnetic link value of the induction motor by using a first processor; calculating a feedback current value by using a second processor, and feeding the feedback current value as the feedback current value at the next sampling time back to the first processor; according to the rotor magnetic link value, calculating a control current signal and a control voltage signal, thus adjusting the output stator current value and stator voltage value. According to the induction motor rotor magnetic link control method provided by the invention, the feedback current value is calculated by using the second processor and is fed back to the first processor to participate in the calculation of the first processor, and the induction motor rotor magnetic link value at the next sampling time is output, so that the rotation speed and the torque value of the induction motor at the next sampling time is adjusted, the observation precision of a rotor magnetic link obtained when the induction motor is low in speed is improved, and the low-speed control precision of the induction motor is improved.

Description

Induction electromotor rotor magnetic linkage control method and control circuit and induction machine

Technical field

The present invention relates to a kind of electric machines control technology, relate in particular to a kind of induction electromotor rotor magnetic linkage control method and control circuit and induction machine.

Background technology

High-performance AC speed regulating control is widely used in the fields such as communications and transportation, and wherein, vector control is induction machine high performance control applications control method the most widely.In vector control, the vector control based on rotor field-oriented can realize the decoupling zero control of induction machine, and its control performance can compare favourably with direct current machine.In Induction Motor Vector Control System, flux observation is to realize the accurately key link of orientation of magnetic field, directly affects the performance of control system.

In actual applications, conventionally adopt the method for indirect operation, the physical quantitys such as stator voltage, stator current and the motor speed of detection motor, then according to the Mathematical Modeling of the motor real-time amplitude that calculates required magnetic linkage and phase place.

In prior art, often use voltage model method to calculate amplitude and the phase place of magnetic linkage.But voltage model method is subject to the impact of stator resistance deviation, low regime precision is lower.In addition, owing to having introduced low-pass first order filter in voltage model, thereby can bring the error of magnetic linkage in amplitude and phase place, particularly serious when low speed, even lost efficacy.

Summary of the invention

The invention provides a kind of induction electromotor rotor magnetic linkage control method and control circuit and induction machine, rotor flux observation accuracy when improving induction machine low speed.

The invention provides a kind of induction electromotor rotor magnetic linkage control method, comprising:

Gather stator current value, stator voltage value and the rotor velocity value of induction machine;

Adopt first processor, utilize the feedback current value of a upper sampling instant to revise described stator current value, obtain described correcting current value;

Utilize described correcting current value and stator voltage value, calculate the rotor flux value of described induction machine;

Adopt the second processor, utilize rotor flux value and the described rotor velocity value of first processor output, calculate feedback current value, and feed back to described first processor, as the feedback current value of next sampling instant;

Calculate control current signal and control voltage signal according to described rotor flux value and described rotor velocity value;

According to stator current value and the stator voltage value of described control current signal and control voltage signal adjustment output, and then rotating speed and the torque value of control induction machine.

The invention provides a kind of induction machine inverter control circuit, comprising:

Sensor unit, for obtaining stator current value, stator voltage value and the rotor velocity value of induction machine;

First processor, comprise input, feedback end and output, this input is connected with described sensor unit, to obtain described stator current value and stator voltage value, described feedback end is connected with the second processor, for obtaining the feedback current value of a sampling instant, described first processor is for utilizing the feedback current value of a sampling instant to revise described stator current value, obtain correcting current value, and utilize described correcting current value and stator voltage value, calculate the rotor flux value of described induction machine;

The second processor, comprise input and output, this input is connected with the output of described sensor unit and first processor, to obtain described rotor velocity value and described rotor flux value, described output is connected with the feedback end of described first processor, described the second processor is for utilizing described rotor flux value and the described rotor velocity value of first processor output, calculate described feedback current value, and feed back to described first processor, as the feedback current value of next sampling instant;

Controller, be connected with the output of described first processor and described sensor unit, to obtain rotor flux value and rotor velocity value, and for calculating and export control current signal and control voltage signal according to described rotor flux value and described rotor velocity value;

Inverter, is connected with described controller, for receiving described control current signal and controlling voltage signal, and adjusts stator current value and the stator voltage value of output, controls rotating speed and the torque value of induction machine.

The invention provides a kind of induction machine, comprise stator, rotor and inverter control circuit; Described stator is for generation of rotating magnetic field; Described rotor is for generation of electromagnetic torque; Inverter control circuit adopts induction machine inverter control circuit, for controlling, adjust rotating speed and the torque value of induction machine.

Induction electromotor rotor magnetic linkage control method provided by the invention, by adopting the second processor to calculate feedback current value, and feed back to first processor, participate in the calculating of first processor, export the induction electromotor rotor magnetic linkage value of next sampling instant, thereby adjust rotating speed and the torque value of next sampling instant induction machine, the accuracy of observation of rotor flux while having improved induction machine low speed, and then improved the low speed control precision of induction machine.

Brief description of the drawings

The induction electromotor rotor magnetic linkage control method flow diagram that Fig. 1 provides for the embodiment of the present invention;

The schematic diagram of the induction electromotor rotor magnetic linkage control method that Fig. 2 provides for the embodiment of the present invention;

The control principle block diagram of the induction machine inverter control circuit that Fig. 3 provides for the embodiment of the present invention;

The theory diagram of the induction machine inverter control circuit that Fig. 4 provides for the embodiment of the present invention.

Embodiment

The induction electromotor rotor magnetic linkage control method flow diagram that Fig. 1 provides for the embodiment of the present invention, the schematic diagram of the induction electromotor rotor magnetic linkage control method that Fig. 2 provides for the embodiment of the present invention.In conjunction with Fig. 1 and Fig. 2, the induction electromotor rotor magnetic linkage control method that the present embodiment provides comprises:

Stator current value, stator voltage value and the rotor velocity value of step 101, collection induction machine.

Particularly, use transducer to gather stator current value, fixed value voltage value and the rotor velocity value of induction machine.

Step 102, employing first processor, utilize the feedback current value of a upper sampling instant to revise stator current value, obtains correcting current value.

Particularly, the feedback current value of a upper sampling instant by the second processor by calculating, feed back to first processor, in first processor, utilize this feedback current value to revise the stator current value detecting, specifically by the proportional integral link 1 in Fig. 2, stator current value is revised, made to participate in this feedback current value of stator current value infinite approach that first processor calculates, this revised stator current value is correcting current value.

Step 103, utilize correcting current value and stator voltage value, calculate the rotor flux value of induction machine.

In this step, the stator current value that adopts correcting current value and detect, by adopting following formula to calculate α, the beta-axis component ψ of rotor flux value _{r α}, ψ _{r β}:

${\mathrm{\ψ}}_{\mathrm{r\α}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\α}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\α}}]$

${\mathrm{\ψ}}_{\mathrm{r\β}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\β}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\β}}],$

In formula, R _sfor the rotor winding resistance of induction machine, L _rdfor the equivalent rotor self-induction of induction machine, L _sdfor the equivalent stator self-induction of induction machine, L _mdfor the equivalent mutual inductance of induction machine, u _{s α}for the α axle component of stator voltage, u _{s β}for the beta-axis component of stator voltage, i _{s α}for the α axle component of correcting current, i _{s β}for the beta-axis component of correcting current, p is differential operator, and σ is magnetic leakage factor,

Step 104, employing the second processor, rotor flux value and the rotor velocity value of utilizing first processor to export, calculate feedback current value, and feed back to first processor, as the feedback current value of next sampling instant.

Particularly, the rotor flux value of the second processor adopting first processor output and the rotor velocity detecting, calculate α, the beta-axis component i of the feedback current value of next sampling instant according to following formula _{s α f}, i _{s β f}:

$i_{\mathrm{s\αf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\α}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\β}}}{L_{\mathrm{md}}}$

$i_{\mathrm{s\βf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\α}}}{L_{\mathrm{md}}},$

In formula, ψ _{r α}for the α axle component of rotor flux, ψ _{r β}for the beta-axis component of rotor flux, T _rfor rotor time constant, p is differential operator, ω _rfor rotor velocity, L _mdfor equivalent mutual inductance.

Step 105, calculate and control current signal and control voltage signal according to rotor flux value and rotor velocity value.

Particularly, control current signal and control voltage signal for adjusting, control stator current value and the stator voltage value of induction machine output.

Step 106, according to controlling current signal and controlling stator current value and the stator voltage value of voltage signal adjustment output, and then control rotating speed and the torque value of induction machine.

The induction electromotor rotor magnetic linkage control method that the present embodiment provides, by gathering stator current value, stator voltage value and rotor velocity value, and adopt first processor, the stator current value collecting according to the feedback current value correction of a upper sampling instant, obtain correcting current value, and by this correcting current value and the stator voltage value collecting, calculate the rotor flux value of induction machine, rotor flux value is input to the second processor, calculated the feedback current value of next sampling instant by the second processor, and feed back to first processor.The rotor flux value of simultaneously first processor output can controlled current signal and control voltage signal by calculating, by controlling current signal and controlling voltage signal and adjust stator current value and stator voltage value, and then control rotating speed and the torque value of induction machine.

From the above, the induction electromotor rotor magnetic linkage control method that the present embodiment provides, by adopting the second processor to calculate feedback current value, and feed back to first processor, participate in the calculating of first processor, export the induction electromotor rotor magnetic linkage value of next sampling instant, thereby adjust rotating speed and the torque value of next sampling instant induction machine, the accuracy of observation of rotor flux while having improved induction machine low speed, and then improved the low speed control precision of induction machine.

The control principle block diagram of the induction machine inverter control circuit that Fig. 3 provides for the embodiment of the present invention, the theory diagram of the induction machine inverter control circuit that Fig. 4 provides for the embodiment of the present invention.

Incorporated by reference to Fig. 3 and Fig. 4, the induction machine inverter control circuit that the present embodiment provides, comprises sensor unit, first processor 11, the second processor 12, controller 13 and inverter 14.

Sensor unit, for obtaining stator current value, stator voltage value and the rotor velocity value of induction machine 17;

First processor 11, comprise input, feedback end and output, this input is connected with sensor unit, to obtain stator current value and stator voltage value, feedback end is connected with the second processor 12, for obtaining the feedback current value of a upper sampling instant, first processor 11 is revised stator current value for the feedback current value of utilizing a upper sampling instant, obtain correcting current value, and utilize correcting current value and stator voltage value, calculate the rotor flux value of induction machine 17;

The second processor 12, comprise input and output, this input is connected with the output of first processor 11 with sensor unit, to obtain rotor velocity value and rotor flux value, output is connected with the feedback end of first processor 11, and rotor flux value and rotor velocity value that the second processor 12 is exported for utilizing first processor 11, calculate feedback current value, and feed back to first processor 11, as the feedback current value of next sampling instant;

Controller 13, is connected with the output of first processor 11 and sensor unit, to obtain rotor flux value and rotor velocity value, and for calculating and export control current signal and control voltage signal according to rotor flux value and rotor velocity value;

Inverter 14, is connected with controller 13, controls current signal and controls voltage signal, and adjust stator current value and the stator voltage value of output for receiving, and controls rotating speed and the torque value of induction machine 17.

Particularly, sensor unit obtains after stator current value, stator voltage value and the rotor velocity value of induction machine 17, and by stator current value and stator voltage value input first processor 11, rotor velocity value outputs to the second processor 12 and controller 13, first processor 11 utilizes the feedback current value of a upper sampling instant to revise stator current value, obtains correcting current value, and utilizes this correcting current value and stator voltage value, calculates the rotor flux value of induction machine 17, the rotor flux value of this induction machine 17 outputs to the second processor 12 and controller 13 simultaneously, the second processor 12 utilizes this rotor flux value and rotor velocity value to calculate feedback current value, and feed back to first processor 11, controller 13 utilizes rotor flux value that first processor 11 exports and the rotor velocity value of sensor unit output, calculate and export and control current signal and control voltage signal to inverter 14, inverter 14 is according to this control current signal and control stator current value and the stator voltage value that voltage signal adjustment induction machine 17 is exported, and then rotating speed and the torque value of control induction machine 17.

The induction machine inverter control circuit that the present embodiment provides, by adopting the second processor to calculate feedback current value, and feed back to first processor, participate in the calculating of first processor, export the induction electromotor rotor magnetic linkage value of next sampling instant, thereby adjust rotating speed and the torque value of next sampling instant induction machine, the accuracy of observation of rotor flux while having improved induction machine low speed, and then improved the low speed control precision of induction machine.

On the basis of such scheme, in the induction machine inverter control circuit providing at the present embodiment, sensor unit specifically can comprise current sensor 15, voltage sensor 16 and velocity transducer 18.

On the basis of such scheme, in the induction machine inverter control circuit providing at the present embodiment, first processor 11 adopts following formula to calculate α, the beta-axis component ψ of described rotor flux value _{r α}, ψ _{r β}:

${\mathrm{\ψ}}_{\mathrm{r\α}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\α}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\α}}]$

${\mathrm{\ψ}}_{\mathrm{r\β}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\β}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\β}}],$

In formula, R _sfor the rotor winding resistance of induction machine, L _rdfor the equivalent rotor self-induction of induction machine, L _sdfor the equivalent stator self-induction of induction machine, L _mdfor the equivalent mutual inductance of induction machine, u _{s α}for the α axle component of stator voltage, u _{s β}for the beta-axis component of stator voltage, i _{s α}for the α axle component of correcting current, i _{s β}for the beta-axis component of correcting current, p is differential operator, the magnetic leakage factor that σ is induction machine,

On the basis of such scheme, in the induction machine inverter control circuit providing at the present embodiment, the second processor 12 adopts following formula to calculate α, the beta-axis component i of the feedback current value of next sampling instant _{s α f}, i _{s β f}:

$i_{\mathrm{s\αf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\α}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\β}}}{L_{\mathrm{md}}}$

$i_{\mathrm{s\βf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\α}}}{L_{\mathrm{md}}},$

In formula, ψ _{r α}for the α axle component of rotor flux, ψ _{r β}for the beta-axis component of rotor flux, T _rfor rotor time constant, p is differential operator, ω _rfor rotor velocity, L _mdfor equivalent mutual inductance.

The course of work of the induction machine inverter control circuit that the present embodiment provides can, with reference to the associated description of the induction machine inverter control circuit of above-described embodiment two, not repeat them here.

The present embodiment provides a kind of induction machine 17, comprises stator, rotor and inverter control circuit; Stator is for generation of rotating magnetic field; Rotor is for generation of electromagnetic torque; Inverter control circuit adopts induction machine inverter control circuit as above, for controlling, adjust rotating speed and the torque value of induction machine 17.

The induction machine that the present embodiment provides, by adopting induction machine inverter control circuit, has realized the accuracy of observation of rotor flux while improving induction machine low speed, has improved the low speed control precision of induction machine.

Finally it should be noted that: above each embodiment, only in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to aforementioned each embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or some or all of technical characterictic is wherein equal to replacement; And these amendments or replacement do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (8)

1. an induction electromotor rotor magnetic linkage control method, is characterized in that, comprising:

Gather stator current value, stator voltage value and the rotor velocity value of induction machine;

Adopt first processor, utilize the feedback current value of a upper sampling instant to revise described stator current value, obtain correcting current value;

Utilize described correcting current value and stator voltage value, calculate the rotor flux value of described induction machine;

Adopt the second processor, utilize rotor flux value and the described rotor velocity value of first processor output, calculate feedback current value, and feed back to described first processor, as the feedback current value of next sampling instant;

Calculate control current signal and control voltage signal according to described rotor flux value and described rotor velocity value;

According to stator current value and the stator voltage value of described control current signal and control voltage signal adjustment output, and then rotating speed and the torque value of control induction machine.

2. method according to claim 1, is characterized in that, described described correcting current value and the stator voltage value utilized calculated the rotor flux value of described induction machine, comprising:

Adopt following formula to calculate α, the beta-axis component ψ of described rotor flux value _{r α}, ψ _{r β}:

${\mathrm{\ψ}}_{\mathrm{r\α}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\α}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\α}}]$

${\mathrm{\ψ}}_{\mathrm{r\β}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\β}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\β}}],$

In formula, R _sfor the rotor winding resistance of induction machine, L _rdfor the equivalent rotor self-induction of induction machine, L _sdfor the equivalent stator self-induction of induction machine, L _mdfor the equivalent mutual inductance of induction machine, u _{s α}for the α axle component of stator voltage, u _{s β}for the beta-axis component of stator voltage, i _{s α}for the α axle component of correcting current, i _{s β}for the beta-axis component of correcting current, p is differential operator, the magnetic leakage factor that σ is induction machine,

3. method according to claim 2, it is characterized in that, described employing the second processor, utilize rotor flux value and the described rotor velocity value of first processor output, calculate feedback current value, and feed back to described first processor, as the feedback current value of next sampling instant, comprising:

Adopt following formula to calculate α, the beta-axis component i of the feedback current value of next sampling instant _{s α f}, i _{s β f}:

$i_{\mathrm{s\αf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\α}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\β}}}{L_{\mathrm{md}}}$

$i_{\mathrm{s\βf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\α}}}{L_{\mathrm{md}}},$

In formula, ψ _{r α}for the α axle component of rotor flux, ψ _{r β}for the beta-axis component of rotor flux, T _rfor rotor time constant, p is differential operator, ω _rfor rotor velocity.

4. an induction machine inverter control circuit, is characterized in that, comprising:

Sensor unit, for obtaining stator current value, stator voltage value and the rotor velocity value of induction machine;

First processor, comprise input, feedback end and output, this input is connected with described sensor unit, to obtain described stator current value and stator voltage value, described feedback end is connected with the second processor, for obtaining the feedback current value of a sampling instant, described first processor is for utilizing the feedback current value of a sampling instant to revise described stator current value, obtain correcting current value, and utilize described correcting current value and stator voltage value, calculate the rotor flux value of described induction machine;

The second processor, comprise input and output, this input is connected with the output of described sensor unit and first processor, to obtain described rotor velocity value and described rotor flux value, described output is connected with the feedback end of described first processor, described the second processor is for utilizing described rotor flux value and the described rotor velocity value of first processor output, calculate described feedback current value, and feed back to described first processor, as the feedback current value of next sampling instant;

Controller, be connected with the output of described first processor and described sensor unit, to obtain rotor flux value and rotor velocity value, and for calculating and export control current signal and control voltage signal according to described rotor flux value and described rotor velocity value;

Inverter, is connected with described controller, for receiving described control current signal and controlling voltage signal, and adjusts stator current value and the stator voltage value of output, controls rotating speed and the torque value of induction machine.

5. circuit according to claim 4, is characterized in that, described sensor unit comprises current sensor, voltage sensor and velocity transducer.

6. circuit according to claim 5, is characterized in that, described first processor adopts following formula to calculate α, the beta-axis component ψ of described rotor flux value _{r α}, ψ _{r β}:

${\mathrm{\ψ}}_{\mathrm{r\α}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\α}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\α}}]$

${\mathrm{\ψ}}_{\mathrm{r\β}}=\frac{L_{\mathrm{rd}}}{L_{\mathrm{md}}p}[u_{\mathrm{s\β}}-(R_s+\mathrm{\σ}{L}_{\mathrm{sd}}p)i_{\mathrm{s\β}}],$

In formula, R _sfor the rotor winding resistance of induction machine, L _rdfor the equivalent rotor self-induction of induction machine, L _sdfor the equivalent stator self-induction of induction machine, L _mdfor the equivalent mutual inductance of induction machine, the α axle component that us α is stator voltage, u _{s β}for the beta-axis component of stator voltage, i _{s α}for the α axle component of correcting current, i _{s β}for the beta-axis component of correcting current, p is differential operator, the magnetic leakage factor that σ is induction machine,

7. circuit according to claim 5, is characterized in that, the following formula of described the second processor adopting calculates α, the beta-axis component i of the feedback current value of described next sampling instant _{s α f}, i _{s β f}:

$i_{\mathrm{s\αf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\α}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\β}}}{L_{\mathrm{md}}}$

$i_{\mathrm{s\βf}}=\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}(T_{r}p+1)+{\mathrm{\ω}}_r{T}_r{\mathrm{\ψ}}_{\mathrm{r\α}}}{L_{\mathrm{md}}},$

In formula, ψ _{r α}for the α axle component of rotor flux, ψ _{r β}for the beta-axis component of rotor flux, T _rfor rotor time constant, p is differential operator, ω _rfor rotor velocity, L _mdfor the equivalent mutual inductance of induction machine.

8. an induction machine, is characterized in that, comprises stator, rotor and inverter control circuit; Described stator is for generation of rotating magnetic field; Described rotor is for generation of electromagnetic torque; Inverter control circuit adopts the induction machine inverter control circuit described in claim 4-7 any one, for controlling, adjust rotating speed and the torque value of induction machine.

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