CN103872961B - Induction electromotor rotor flux linkage control method and control circuit and induction machine - Google Patents

Abstract

The present invention provides a kind of induction electromotor rotor flux linkage control method and control circuit and induction machine.The method includes: gather the stator current value of induction machine, stator voltage value and rotor velocity value；First processor is used to calculate the rotor flux value of induction machine；Use the second processor to calculate feedback current, and the feedback current as next sampling instant feeds back to first processor；Calculate according to rotor flux value and control current signal and control voltage signal, and thus adjust stator current value and the stator voltage value of output.The induction electromotor rotor flux linkage control method that the present invention provides, by using the second processor to calculate feedback current, 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, thus adjust rotating speed and the torque value of next sampling instant induction machine, the accuracy of observation of rotor flux when improve induction machine low speed, and then improve the low speed control accuracy of induction machine.

Description

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

Technical field

The present invention relates to a kind of electric machines control technology, particularly relate to a kind of induction electromotor rotor magnetic linkage control side Method and control circuit and induction machine.

Background technology

High-performance AC speed regulating control is widely used in the fields such as transportation, and wherein, vector controlled is The widest control method of induction machine high performance control applications.In vector controlled, based on rotor The vector controlled of field orientation can realize the uneoupled control of induction machine, and its control performance can be with direct current Motor compares favourably.In Induction Motor Vector Control System, flux observation is to realize magnetic field accurately to orient Key link, directly affect the performance of control system.

In actual applications, the method generally using indirect operation, detects the stator voltage of motor, determines The physical quantity such as electron current and motor speed, then according to the mathematical model of motor real-time calculate required The amplitude of magnetic linkage and phase place.

In prior art, voltage model method is often used to calculate amplitude and the phase place of magnetic linkage.But voltage-mode Type method is affected by stator resistance deviation, and low regime precision is relatively low.Additionally, due to voltage model draws Enter low-pass first order filter, thus magnetic linkage error in amplitude and phase place can have been brought, outstanding during low speed For seriously, even lost efficacy.

Summary of the invention

The present invention provides a kind of induction electromotor rotor flux linkage control method and control circuit and induction machine, uses Flux linkage observation degree of accuracy during to improve induction machine low speed.

The present invention provides a kind of induction electromotor rotor flux linkage control method, including:

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

Use first processor, utilize the feedback current of a upper sampling instant that described stator current value is entered Row is revised, and obtains described correcting current value；

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

Use the second processor, utilize rotor flux value and described rotor velocity that first processor exports Value, is calculated feedback current, and feeds back to described first processor, as next sampling instant Feedback current；

It is calculated control current signal and control according to described rotor flux value and described rotor velocity value Voltage signal；

The stator current value according to described control current signal and controlling voltage signal adjustment output and stator electricity Pressure value, and then control rotating speed and the torque value of induction machine.

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

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

First processor, including input, feedback end and outfan, this input and described sensor list Unit is connected, to obtain described stator current value and stator voltage value, and described feedback end and the second processor phase Even, for obtaining the feedback current of a sampling instant, described first processor is used for utilizing one to adopt Described stator current value is modified by the feedback current in sample moment, obtains correcting current value, and utilizes Described correcting current value and stator voltage value, calculate the rotor flux value of described induction machine；

Second processor, including input and outfan, this input and described sensor unit and first The outfan of processor is connected, to obtain described rotor velocity value and described rotor flux value, described defeated Going out end to be connected with the feedback end of described first processor, described second processor is used for utilizing first processor The described rotor flux value of output and described rotor velocity value, be calculated described feedback current, and Feed back to described first processor, as the feedback current of next sampling instant；

Controller, is connected with the outfan of described first processor and described sensor unit, turns to obtain Sub-magnetic linkage value and rotor velocity value, and for according to described rotor flux value and described rotor velocity value Calculate and export control current signal and control voltage signal；

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

The present invention provides a kind of induction machine, including stator, rotor and inverter control circuit；Described fixed Son is used for producing rotating excitation field；Described rotor is used for producing electromagnetic torque；Inverter control circuit uses sense Answer motor inverter control circuit, for controlling, adjust rotating speed and the torque value of induction machine.

The induction electromotor rotor flux linkage control method that the present invention provides, anti-by using the second processor to calculate Feed flow valuve, and feed back to first processor, participate in the calculating of first processor, when exporting next sampling The induction electromotor rotor magnetic linkage value carved, thus adjust rotating speed and the torque value of next sampling instant induction machine, The accuracy of observation of rotor flux when improve induction machine low speed, and then improve the low speed control of induction machine Precision processed.

Accompanying drawing explanation

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

The schematic diagram of the induction electromotor rotor flux 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.

Detailed description of the invention

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

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

Specifically, the stator current value of sensor acquisition induction machine, fixed value voltage value and rotor angle are used Velocity amplitude.

Step 102, employing first processor, utilize the feedback current of a upper sampling instant to stator electricity Flow valuve is modified, and obtains correcting current value.

Specifically, the feedback current of a upper sampling instant, is fed back by being calculated by the second processor To first processor, in first processor, utilize this feedback current stator current value to detecting It is modified, specifically by the proportional integral link 1 in Fig. 2, stator current value is modified, makes participation This feedback current 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, use correcting current value and the stator current value detected, following public by using Formula is calculated the α of rotor flux value, beta-axis component ψ_rα、ψ_rβ:

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

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

In formula, R_sFor the rotor windings resistance of induction machine, L_rdFor the equivalent rotor self-induction of induction machine, L_sd For the equivalent stator self inductance of induction machine, L_mdFor the equivalent mutual inductance of induction machine, u_sαα for stator voltage Axle component, u_sβFor the beta-axis component of stator voltage, i_sαFor the α axle component of correcting current, i_sβFor revising electricity The beta-axis component of stream, p is differential operator, and σ is magnetic leakage factor,

Step 104, use the second processor, utilize rotor flux value and rotor that first processor exports Magnitude of angular velocity, is calculated feedback current, and feeds back to first processor, as next sampling instant Feedback current.

Specifically, the second processor uses the rotor flux value of first processor output and the rotor detected Angular velocity, is calculated the α of the feedback current of next sampling instant, beta-axis component according to equation below i_sαf、i_sβf:

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

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

In formula, ψ_rαFor the α axle component of rotor flux, ψ_rβFor the beta-axis component of rotor flux, T_rFor rotor Time constant, p is differential operator, ω_rFor rotor velocity, L_mdFor equivalence mutual inductance.

Step 105, it is calculated control current signal and control according to rotor flux value and rotor velocity value Voltage signal processed.

Specifically, control current signal and control voltage signal for adjusting, control induction machine output Stator current value and stator voltage value.

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

The induction electromotor rotor flux linkage control method that the present embodiment provides, by gathering stator current value, determining Sub-magnitude of voltage and rotor velocity value, and use first processor, according to the feedback electricity of a upper sampling instant The stator current value that flow valuve correction collects, obtains correcting current value, and by this correcting current value and collection The stator voltage value arrived, calculates the rotor flux value of induction machine, rotor flux value is input at second Reason device, is calculated the feedback current of next sampling instant, and feeds back at first by the second processor Reason device.Simultaneously first processor output rotor flux value by calculate can obtain control current signal and Control voltage signal, by controlling current signal and controlling voltage signal adjustment stator current value and stator voltage Value, and then control rotating speed and the torque value of induction machine.

From the foregoing, the induction electromotor rotor flux linkage control method that the present embodiment provides, by using the Two processors calculate feedback current, 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, thus adjust next sampling instant induction machine Rotating speed and torque value, the accuracy of observation of rotor flux when improve induction machine low speed, and then improve The low speed control accuracy 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, including passing Sensor cell, first processor the 11, second processor 12, controller 13 and inverter 14.

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

First processor 11, including input, feedback end and outfan, this input and sensor unit Being connected, to obtain stator current value and stator voltage value, feedback end and the second processor 12 are connected, and are used for Obtaining the feedback current of a upper sampling instant, first processor 11 is for utilizing the anti-of a sampling instant Stator current value is modified by feed flow valuve, obtains correcting current value, and utilizes correcting current value and determine Sub-magnitude of voltage, calculates the rotor flux value of induction machine 17；

Second processor 12, including input and outfan, at this input and sensor unit and first The outfan of reason device 11 is connected, to obtain rotor velocity value and rotor flux value, at outfan and first The feedback end of reason device 11 is connected, the rotor magnetic that the second processor 12 exports for utilizing first processor 11 Chain value and rotor velocity value, be calculated feedback current, and feed back to first processor 11, as The feedback current of next sampling instant；

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

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

Specifically, sensor unit obtains the stator current value of induction machine 17, stator voltage value and rotor After magnitude of angular velocity, stator current value and stator voltage value are inputted first processor 11, rotor velocity value Output is to the second processor 12 and controller 13；First processor 11 utilizes the feedback of a upper sampling instant Stator current value is modified by current value, obtains correcting current value, and utilizes this correcting current value and determine Sub-magnitude of voltage, calculates the rotor flux value of induction machine 17；The rotor flux value of this induction machine 17 is same Time export the second processor 12 and controller 13, the second processor 12 utilize this rotor flux value and turn Sub-magnitude of angular velocity is calculated feedback current, and feeds back to first processor 11, and controller 13 utilizes The rotor flux value of first processor 11 output and the rotor velocity value of sensor unit output, calculate And export control current signal and control voltage signal to inverter 14, inverter 14 is according to this control electricity Stream signal and control voltage signal adjust stator current value and the stator voltage value of induction machine 17 output, enter And control rotating speed and the torque value of induction machine 17.

The induction machine inverter control circuit that the present embodiment provides, anti-by using the second processor to calculate Feed flow valuve, and feed back to first processor, participate in the calculating of first processor, when exporting next sampling The induction electromotor rotor magnetic linkage value carved, thus adjust rotating speed and the torque value of next sampling instant induction machine, The accuracy of observation of rotor flux when improve induction machine low speed, and then improve the low speed control of induction machine Precision processed.

On the basis of such scheme, in the induction machine inverter control circuit that the present embodiment provides, Sensor unit specifically can include current sensor 15, voltage sensor 16 and velocity sensor 18.

On the basis of such scheme, in the induction machine inverter control circuit that the present embodiment provides, First processor 11 uses equation below to be calculated the α of described rotor flux value, beta-axis component ψ_rα、 ψ_rβ:

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

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

In formula, R_sFor the rotor windings resistance of induction machine, L_rdFor the equivalent rotor self-induction of induction machine, L_sd For the equivalent stator self inductance of induction machine, L_mdFor the equivalent mutual inductance of induction machine, u_sαα for stator voltage Axle component, u_sβFor the beta-axis component of stator voltage, i_sαFor the α axle component of correcting current, i_sβFor revising electricity The beta-axis component of stream, p is differential operator, and σ is the magnetic leakage factor of induction machine,

On the basis of such scheme, in the induction machine inverter control circuit that the present embodiment provides, Second processor 12 uses equation below to be calculated α, β axle of feedback current of next sampling instant Component i_sαf、i_sβf:

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

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

In formula, ψ_rαFor the α axle component of rotor flux, ψ_rβFor the beta-axis component of rotor flux, T_rFor rotor Time constant, p is differential operator, ω_rFor rotor velocity, L_mdFor equivalence mutual inductance.

The work process of the induction machine inverter control circuit that the present embodiment provides is referred to above-mentioned enforcement The associated description of the induction machine inverter control circuit of example two, does not repeats them here.

The present embodiment provides a kind of induction machine 17, including stator, rotor and inverter control circuit；Fixed Son is used for producing rotating excitation field；Rotor is used for producing electromagnetic torque；Inverter control circuit uses as above institute The induction machine inverter control circuit stated, for controlling, adjust rotating speed and the torque value of induction machine 17.

The induction machine that the present embodiment provides, by using induction machine inverter control circuit, it is achieved that When improving induction machine low speed, the accuracy of observation of rotor flux, improves the low speed control accuracy of induction machine.

Last it is noted that various embodiments above is only in order to illustrate technical scheme, rather than right It limits；Although the present invention being described in detail with reference to foregoing embodiments, this area common Skilled artisans appreciate that the technical scheme described in foregoing embodiments still can be modified by it, Or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, and The essence not making appropriate technical solution departs from the scope of various embodiments of the present invention technical scheme.

Claims (3)

1. an induction electromotor rotor flux linkage control method, it is characterised in that including:

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

Use first processor, utilize the feedback current of a upper sampling instant that described stator current value is entered Row is revised, and obtains correcting current value；

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

Use the second processor, utilize rotor flux value and described rotor velocity that first processor exports Value, is calculated feedback current, and feeds back to described first processor, as next sampling instant Feedback current；

It is calculated control current signal and control according to described rotor flux value and described rotor velocity value Voltage signal；

The stator current value according to described control current signal and controlling voltage signal adjustment output and stator electricity Pressure value, and then control rotating speed and the torque value of induction machine；

Wherein, described utilize described correcting current value and stator voltage value, calculate turning of described induction machine Sub-magnetic linkage value, including:

Equation below is used to be calculated the α of described rotor flux value, beta-axis component ψ_rα、ψ_rβ:

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

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

In formula, R_sFor the rotor windings resistance of induction machine, L_rdFor the equivalent rotor self-induction of induction machine, L_sd For the equivalent stator self inductance of induction machine, L_mdFor the equivalent mutual inductance of induction machine, u_sαα for stator voltage Axle component, u_sβFor the beta-axis component of stator voltage, i_sαFor the α axle component of correcting current, i_sβFor revising electricity The beta-axis component of stream, p is differential operator, and σ is the magnetic leakage factor of induction machine,

Described employing the second processor, utilizes rotor flux value and described rotor angle that first processor exports Velocity amplitude, is calculated feedback current, and feeds back to described first processor, when sampling as next The feedback current carved, including:

Equation below is used to be calculated the α of feedback current of next sampling instant, beta-axis component i_sαf、 i_sβf:

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

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

In formula, ψ_rαFor the α axle component of rotor flux, ψ_rβFor the beta-axis component of rotor flux, T_rFor rotor Time constant, p is differential operator, ω_rFor rotor velocity.

2. an induction machine inverter control circuit, it is characterised in that including:

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

First processor, including input, feedback end and outfan, this input and described sensor list Unit is connected, to obtain described stator current value and stator voltage value, and described feedback end and the second processor phase Even, for obtaining the feedback current of a sampling instant, described first processor is used for utilizing one to adopt Described stator current value is modified by the feedback current in sample moment, obtains correcting current value, and utilizes Described correcting current value and stator voltage value, calculate the rotor flux value of described induction machine；

Second processor, including input and outfan, this input and described sensor unit and first The outfan of processor is connected, to obtain described rotor velocity value and described rotor flux value, and described the The outfan of two processors is connected with the feedback end of described first processor, and described second processor is for profit With first processor output described rotor flux value and described rotor velocity value, be calculated described instead Feed flow valuve, and feed back to described first processor, as the feedback current of next sampling instant；

Controller, is connected with the outfan of described first processor and described sensor unit, turns to obtain Sub-magnetic linkage value and rotor velocity value, and for according to described rotor flux value and described rotor velocity value Calculate and export control current signal and control voltage signal；

Inverter, is connected with described controller, is used for receiving described control current signal and controlling voltage letter Number, and adjust stator current value and the stator voltage value of output, control rotating speed and the torque value of induction machine；

Wherein, described sensor unit includes current sensor, voltage sensor and velocity sensor；

Described first processor uses equation below to be calculated the α of described rotor flux value, beta-axis component ψ_rα、ψ_rβ:

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

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

In formula, R_sFor the rotor windings resistance of induction machine, L_rdFor the equivalent rotor self-induction of induction machine, L_sd For the equivalent stator self inductance of induction machine, L_mdFor the equivalent mutual inductance of induction machine, u_sαα for stator voltage Axle component, u_sβFor the beta-axis component of stator voltage, i_sαFor the α axle component of correcting current, i_sβFor revising electricity The beta-axis component of stream, p is differential operator, and σ is the magnetic leakage factor of induction machine,

Described second processor uses equation below to be calculated the feedback current of next sampling instant described α, beta-axis component i_sαf、i_sβf:

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

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

In formula, ψ_rαFor the α axle component of rotor flux, ψ_rβFor the beta-axis component of rotor flux, T_rFor rotor Time constant, p is differential operator, ω_rFor rotor velocity, L_mdEquivalent mutual inductance for induction machine.

3. an induction machine, it is characterised in that include stator, rotor and inverter control circuit；Institute State stator for producing rotating excitation field；Described rotor is used for producing electromagnetic torque；Inverter control circuit is adopted With the induction machine inverter control circuit described in claim 2, for controlling, adjusting induction machine Rotating speed and torque value.