CN104022707A - Asynchronous motor speed control device and system based on novel rotor flux observer - Google Patents

Abstract

The invention discloses an asynchronous motor speed control device and system based on a novel rotor flux observer. The system is characterized by comprising an asynchronous motor module, the rotor flux observer, a Park conversion module, an inverse Park conversion module, a d-axis current controller, a q-axis current controller, a speed controller, a first comparison module, a second comparison module and a third comparison module, and the asynchronous motor module comprises a rotor module, a stator module, an mutual induction flux module, a torque module and a movement module. The system and the method have the advantages that the rotor flux observer is improved and added to an asynchronous motor so that the system simulation velocity can be effectively increased, the rotor flux value can be accurately observed and wide-range speed regulation performance can be achieved; the function of measuring the electrical angular speed signal omega r of a rotor in real time is added through the rotor flux observer, good control performance can be kept when the asynchronous motor runs at a high speed or a low speed, and the steady state errors are small.

Description

Asynchronous machine speed control unit and system based on novel rotor flux observer

Technical field

The present invention relates to a kind of asynchronous machine speed control unit and system based on rotor flux observer, belong to AC Servo Motor Control technical field.

Background technology

Asynchronous machine has the outstanding advantages such as high reliability, high efficiency and low cost, in fields such as modern industry, civilian and militaries, is widely used.

Because asynchronous machine Mathematical Modeling is complicated, there is nonlinearity, and system parameters can change along with the variation of operating mode, bring very large difficulty therefore to the control of asynchronous machine.At present, in most of performance application occasions, controlling the most frequently used method of asynchronous machine is vector control, but has the problems such as speed is slow, length consuming time.

Summary of the invention

In order to overcome existing asynchronous motor simulation velocity slowly and the not good deficiency of rotor flux observer observation performance, the invention provides a kind of asynchronous machine speed control unit and system based on novel rotor flux observer, can not only improve system emulation speed, and can observe more exactly rotor flux value, realize the speed adjusting performance of wide region.

A kind of asynchronous machine speed control unit based on novel rotor flux observer, it is characterized in that, comprise asynchronous machine module, rotor flux observer, Park conversion module, contrary Park conversion module, d shaft current controller, q shaft current controller, speed control, the first comparison module, the second comparison module and the 3rd comparison module; Described asynchronous machine module comprises that rotor module, stator improve module, mutual inductance magnetic linkage module, torque module and motion module; Described rotor module is provided with first input end, the second input, the 3rd input, the first output and the second output; Described mutual inductance magnetic linkage module is provided with first input end, the second input and output; Described stator improves module and is provided with the first output, the second output, the 3rd output, first input end and the second input; Described torque module is provided with output and input; Described motion module is provided with first input end, the second input and output; Described the first comparison module is provided with first input end, the second input and output; Described the second comparison module is provided with first input end, the second input and output; Described the 3rd comparison module is provided with first input end, the second input and output; Described speed control is provided with input and output; Described q shaft current controller is provided with input and output; Described d shaft current controller is provided with contrary Park conversion module described in input and output and is provided with first input end, the second input, the 3rd input and output; Described Park conversion module is provided with the first output, the second output, first input end and the second input; Described rotor flux observer comprises first input end, the second input, the 3rd input and output; The first input end of described rotor flux observer is connected with the output of described contrary Park conversion module, the second input of described rotor flux observer is connected with the 3rd output that described stator improves module, the 3rd input of described rotor flux observer is connected with the output of described motion module, and the output of described rotor flux observer is connected with the input of described Park conversion module.

Aforesaid a kind of asynchronous machine speed control unit based on novel rotor flux observer, is characterized in that, the first output of described rotor module is connected with the first input end of mutual inductance magnetic linkage module; The first output that described stator improves module is connected with the input of torque module, the second output that described stator improves module is connected with the second input of mutual inductance magnetic linkage module, and the second input that described stator improves module is connected with the output of contrary Park conversion module; The output of described mutual inductance magnetic linkage module is connected with the first input end that stator improves module with the first input end of rotor module respectively; The first input end of described motion module is connected with the output of torque module.

Aforesaid a kind of asynchronous machine speed control unit based on novel rotor flux observer, is characterized in that, the second input of described the first comparison module is connected with the output of motion module; The input of described speed control is connected with the output of the first comparison module; The first input end of described the second comparison module is connected with the output of speed control, and the second input of described the second comparison module is connected with the first output of Park conversion module; The input of described q shaft current controller is connected with the output of the second comparison module; The first input end of described contrary Park conversion module is connected with the output of q shaft current controller, the second input of described contrary Park conversion module is connected with the output of d shaft current controller, and the 3rd input of described contrary Park conversion module is connected with the output of rotor flux observer; The input of described d shaft current controller is connected with the output of the 3rd comparison module; The second input of described the 3rd comparison module is connected with the second output of Park conversion module.

Aforesaid a kind of asynchronous machine speed control system based on novel rotor flux observer, is characterized in that, the implementation of described rotor flux observer is:

${\mathrm{\θ}}_{\mathrm{\ψr}}\left(k\right)={\tan }^{-1}\left(\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)}{{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)}\right)---\left(1\right)$

Wherein, θ _{ψ r}for rotor flux angle, k represents the k time sampling instant, with be respectively the component of rotor flux voltage model on α axle and β axle, its computing formula is as follows:

${\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)=-\left(\frac{L_s\·L_r-L_m\·L_m}{L_m}\right)\·i_{\mathrm{s\α}}\left(k\right)+\frac{L_r}{L_m}\·{\mathrm{\ψ}}_{\mathrm{s\α}}^v\left(k\right)$

${\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)=-\left(\frac{L_s\·L_r-L_m\·L_m}{L_m}\right)\·i_{\mathrm{s\β}}\left(k\right)+\frac{L_r}{L_m}\·{\mathrm{\ψ}}_{\mathrm{s\β}}^v\left(k\right)---\left(2\right)$

Wherein, i _{s α}, i _{s β}be respectively the component of stator winding electric current on α axle and β axle, L _sand L _rfor the self-induction of stator and rotor winding, L _mthe mutual inductance between stator and rotor coaxial equivalent winding, with be respectively the component of stator magnetic linkage voltage model on α axle and β axle, by following formula, calculated:

${\mathrm{\ψ}}_{\mathrm{s\α}}^v\left(k\right)={\mathrm{\ψ}}_{\mathrm{s\α}}^v(k-1)+\frac{T}{2}\·[e_{\mathrm{s\α}}\left(k\right)+e_{\mathrm{s\α}}(k-1)]$

${\mathrm{\ψ}}_{\mathrm{s\β}}^v\left(k\right)={\mathrm{\ψ}}_{\mathrm{s\β}}^v(k-1)+\frac{T}{2}\·[e_{\mathrm{s\β}}\left(k\right)+e_{\mathrm{s\β}}(k-1)]$

e _sα(k)＝u _sα(k)-R _s·i _sα(k)+u _comp,ra(k)

e _sβ(k)＝u _sβ(k)-R _s·i _sβ(k)+u _comp,rβ(k) (3)

In formula, u _{s α}, u _{s β}be respectively stator winding voltage, R _sfor stator resistance, e _{s α}and e _{s β}be stator winding back electromotive force, T is the sampling period, u _{comp, r α}and u _{comp, r β}for bucking voltage, computational methods are as follows:

$u_{\mathrm{comp},\mathrm{r\α}}\left(k\right)=K_p\·[{\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)]+u_{\mathrm{comp},\mathrm{r\α},i}(k-1)$

$u_{\mathrm{comp},\mathrm{s\β}}\left(k\right)=K_p\·[{\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)]+u_{\mathrm{comp},\mathrm{r\β},i}(k-1)---\left(4\right)$

$u_{\mathrm{comp},\mathrm{r\α},i}\left(k\right)=u_{\mathrm{comp},\mathrm{r\α},i}(k-1)+K_I\·T\·[{\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)]$

$u_{\mathrm{comp},\mathrm{r\β},i}\left(k\right)=u_{\mathrm{comp},\mathrm{r\β},i}(k-1)+K_I\·T\·[{\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)]$

In formula, u _{comp, r α, i}and u (k) _{comp, r β, i}(k) be the quadrature components of bucking voltage, K _pand K _ibe respectively ratio and integral coefficient. with for the component of rotor flux current model on α axle and β axle, in its computing formula, utilized rotor speed signal,

${\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)={\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1)+T\·(\frac{L_m\·R_r}{L_r}\·i_{\mathrm{s\α}}\left(k\right)-\frac{R_r}{L_r}\·{\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1)-{\mathrm{\ω}}_r\left(k\right)\·{\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1))$

${\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)={\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1)+T\·(\frac{L_m\·R_r}{L_r}\·i_{\mathrm{s\β}}\left(k\right)-\frac{R_r}{L_r}\·{\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1)-{\mathrm{\ω}}_r\left(k\right)\·{\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1))---\left(5\right)$

In formula, R _rrotor resistance, ω _rfor rotor electric angle speed.

Described the first comparison module obtains speed error value with reference to velocity amplitude ω _ ref and asynchronous machine values for actual speed ω work difference, and transmits it to speed control; After described speed control is processed speed error value, obtain stator q shaft current reference value i _sq_ ref, and transmit it to the second comparison module; Described the second comparison module is by stator q shaft current reference value i _sq_ ref and stator q shaft current actual value i _sqmake difference and obtain q shaft current error amount, and transmit it to q shaft current controller; After described q shaft current controller is processed current error value, obtain stator q shaft voltage value u _sq, and transmit it to contrary Park conversion module; Described the 3rd comparison module is by stator d shaft current reference value i _sd_ ref and stator d shaft current actual value i _sdmake difference and obtain d shaft current error amount, and transmit it to d shaft current controller; After described d shaft current controller is processed current error value, obtain stator d shaft voltage value u _sd, and transmit it to contrary Park conversion module; Described contrary Park conversion module is by stator voltage u _sdand u _sqbe transformed to the equivalent voltage u under alpha-beta coordinate system _{s α}and u _{s β}, and by u _{s α}and u _{s β}transfer to asynchronous machine; Described Park conversion module is by stator current i _{s α}and i _{s β}be transformed to the equivalent current i under d-q coordinate system _sdand i _sq, and by i _sdand i _sqtransfer to respectively the 3rd comparison module and the second comparison module; The output θ of described rotor flux observer _{ψ r}transfer to Park conversion module and contrary Park conversion module, θ simultaneously _{ψ r}it is the basis of Park conversion and contrary Park conversion.

The beneficial effect that the present invention reaches: in the structure that in asynchronous machine module, stator improves module and simulation software, existing model structure has likened improvement mutually to, also can effectively improve system emulation speed in the equal simulation accuracy of assurance, practical.Rotor flux observer is improved, join in asynchronous machine and can effectively improve system emulation speed, observe more exactly rotor flux value, realize the speed adjusting performance of wide region.Rotor flux observer has increased the rotor electric angle rate signal ω of actual measurement _rfunction, at asynchronous machine at a high speed and all can keep good control performance during low-speed motion, steady-state error is little.

Accompanying drawing explanation

Fig. 1 is theory diagram of the present invention;

Fig. 2 is the structure chart that in the present invention, stator improves module;

Fig. 3 is the simulation comparison figure of existing model in asynchronous motor and simulation software in the present invention;

Fig. 4 be in the present invention novel rotor flux observer asynchronous machine at a high speed and under low-speed motion with the control performance comparison diagram of conventional rotor flux observer.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described, and following examples are only for technical scheme of the present invention is more clearly described, and can not limit the scope of the invention with this.

A kind of asynchronous machine speed control unit based on rotor flux observer, it is characterized in that, comprise asynchronous machine module, rotor flux observer, Park conversion module, contrary Park conversion module, d shaft current controller, q shaft current controller, speed control, the first comparison module, the second comparison module and the 3rd comparison module.

Asynchronous machine module comprises that rotor module, stator improve module, mutual inductance magnetic linkage module, torque module and motion module.

Rotor module is provided with first input end, the second input, the 3rd input, the first output and the second output.

Mutual inductance magnetic linkage module is provided with first input end, the second input and output.

Stator improves module and is provided with the first output, the second output, the 3rd output, first input end and the second input.

Torque module is provided with output and input.

Motion module is provided with first input end, the second input and output.

The first comparison module is provided with first input end, the second input and output.

The second comparison module is provided with first input end, the second input and output.

The 3rd comparison module is provided with first input end, the second input and output.

Speed control is provided with input and output.

Q shaft current controller is provided with input and output.

D shaft current controller is provided with input and output.

Contrary Park conversion module is provided with first input end, the second input, the 3rd input and output.

Park conversion module is provided with the first output, the second output, first input end and the second input.

Rotor flux observer comprises first input end, the second input, the 3rd input and output.

As shown in Figure 1, inner annexation of the present invention is as follows:

The first input end of rotor flux observer is connected with the output of contrary Park conversion module.

The second input of rotor flux observer is connected with the 3rd output that stator improves module.

The 3rd input of rotor flux observer is connected with the output of motion module.

The output of rotor flux observer is connected with the input of Park conversion module.

The first output of rotor module is connected with the first input end of mutual inductance magnetic linkage module.

The second output that stator improves module is connected with the second input of mutual inductance magnetic linkage module, and the second input that stator improves module is connected with the output of contrary Park conversion module.

The output of mutual inductance magnetic linkage module is connected with the first input end that stator improves module with the first input end of rotor module respectively, and torque module is connected with the first output that stator improves module.

Motion module is connected with the output of torque module.

The input of the first comparison module is connected with the output of motion module.

The input of speed control is connected with the output of the first comparison module.

The first input end of the second comparison module is connected with the output of speed control, and the second input of the second comparison module is connected with the first output of Park conversion module.

The input of q shaft current controller is connected with the output of the second comparison module.

The first input end of contrary Park conversion module is connected with the output of q shaft current controller, the second input of contrary Park conversion module is connected with the output of d shaft current controller, and the 3rd input of contrary Park conversion module is connected with the output of rotor flux observer.

The input of d shaft current controller is connected with the output of the 3rd comparison module.

The second input of the 3rd comparison module is connected with the second output of Park conversion module.

The second input that stator improves module is connected with the output of contrary Park conversion module.

The implementation of the rotor flux observer in the asynchronous machine speed control system based on rotor flux observer unlike the prior art, for:

${\mathrm{\θ}}_{\mathrm{\ψr}}\left(k\right)={\tan }^{-1}\left(\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)}{{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)}\right)---\left(1\right)$

Wherein, θ _{ψ r}for rotor flux angle, k represents the k time sampling instant, with be respectively the component of rotor flux voltage model on α axle and β axle, its computing formula is as follows:

${\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)=-\left(\frac{L_s\·L_r-L_m\·L_m}{L_m}\right)\·i_{\mathrm{s\α}}\left(k\right)+\frac{L_r}{L_m}\·{\mathrm{\ψ}}_{\mathrm{s\α}}^v\left(k\right)$

${\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)=-\left(\frac{L_s\·L_r-L_m\·L_m}{L_m}\right)\·i_{\mathrm{s\β}}\left(k\right)+\frac{L_r}{L_m}\·{\mathrm{\ψ}}_{\mathrm{s\β}}^v\left(k\right)---\left(2\right)$

Wherein, i _{s α}, i _{s β}be respectively the component of stator winding electric current on α axle and β axle, L _sand L _rfor the self-induction of stator and rotor winding, L _mthe mutual inductance between stator and rotor coaxial equivalent winding, with be respectively the component of stator magnetic linkage voltage model on α axle and β axle, by following formula, calculated:

${\mathrm{\ψ}}_{\mathrm{s\α}}^v\left(k\right)={\mathrm{\ψ}}_{\mathrm{s\α}}^v(k-1)+\frac{T}{2}\·[e_{\mathrm{s\α}}\left(k\right)+e_{\mathrm{s\α}}(k-1)]$

${\mathrm{\ψ}}_{\mathrm{s\β}}^v\left(k\right)={\mathrm{\ψ}}_{\mathrm{s\β}}^v(k-1)+\frac{T}{2}\·[e_{\mathrm{s\β}}\left(k\right)+e_{\mathrm{s\β}}(k-1)]$

e _sα(k)＝u _sα(k)-R _s·i _sα(k)+u _comp,iα(k)

e _sβ(k)＝u _sα(k)-R _s·i _sα(k)+ _ucomp,rα(k) (3)

In formula, u _{s α}, u _{s β}be respectively stator winding voltage, R _sfor stator resistance, e _{s α}and e _{s β}be stator winding back electromotive force, T is the sampling period, u _{comp, r α}and u _{comp, r β}for bucking voltage, computational methods are as follows:

$u_{\mathrm{comp},\mathrm{r\α}}\left(k\right)=K_p\·[{\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)]+u_{\mathrm{comp},\mathrm{r\α},i}(k-1)$

$u_{\mathrm{comp},\mathrm{s\β}}\left(k\right)=K_p\·[{\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)]+u_{\mathrm{comp},\mathrm{r\β},i}(k-1)---\left(4\right)$

$u_{\mathrm{comp},\mathrm{r\α},i}\left(k\right)=u_{\mathrm{comp},\mathrm{r\α},i}(k-1)+K_I\·T\·[{\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)]$

$u_{\mathrm{comp},\mathrm{r\β},i}\left(k\right)=u_{\mathrm{comp},\mathrm{r\β},i}(k-1)+K_I\·T\·[{\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)]$

In formula, u _{comp, r α, i}and u (k) _{comp, r β, i}(k) be the quadrature components of bucking voltage, K _pand K _ibe respectively ratio and integral coefficient. with for the component of rotor flux current model on α axle and β axle, in its computing formula, utilized rotor speed signal,

${\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)={\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1)+T\·(\frac{L_m\·R_r}{L_r}\·i_{\mathrm{s\α}}\left(k\right)-\frac{R_r}{L_r}\·{\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1)-{\mathrm{\ω}}_r\left(k\right)\·{\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1))$

${\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)={\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1)+T\·(\frac{L_m\·R_r}{L_r}\·i_{\mathrm{s\β}}\left(k\right)-\frac{R_r}{L_r}\·{\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1)-{\mathrm{\ω}}_r\left(k\right)\·{\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1))---\left(5\right)$

In formula, R _rrotor resistance, ω _rfor rotor electric angle speed.

Data flow is in the present invention:

The first comparison module obtains speed error value with reference to velocity amplitude ω _ ref and asynchronous machine values for actual speed ω work difference, and transmits it to speed control;

After speed control is processed speed error value, obtain stator q shaft current reference value i _sq_ ref, and transmit it to the second comparison module;

The second comparison module is by stator q shaft current reference value i _sq_ ref and stator q shaft current actual value i _sqmake difference and obtain q shaft current error amount, and transmit it to q shaft current controller;

After q shaft current controller is processed current error value, obtain stator q shaft voltage value u _sq, and transmit it to contrary Park conversion module;

The 3rd comparison module is by stator d shaft current reference value i _sd_ ref and stator d shaft current actual value i _sdmake difference and obtain d shaft current error amount, and transmit it to d shaft current controller;

After d shaft current controller is processed current error value, obtain stator d shaft voltage value u _sd, and transmit it to contrary Park conversion module;

Contrary Park conversion module is by stator voltage u _sdand u _sqbe transformed to as the equivalent voltage u under alpha-beta coordinate system _{s α}and u _{s β}, and by u _{s α}and u _{s β}transfer to asynchronous machine;

Park conversion module is by stator current i _{s α}and i _{s β}be transformed to the equivalent current i under d-q coordinate system _sdand i _sq, and by i _sdand i _sqtransfer to respectively the 3rd comparison module and the second comparison module;

The output θ of rotor flux observer _{ψ r}transfer to Park conversion module and contrary Park conversion module, θ simultaneously _{ψ r}it is the basis of Park conversion and contrary Park conversion.

In Fig. 1, Tm is load torque, is a given amount; The input u of rotor module _{s α}and u _{s β}value be steady state value 0, this is also given; The output i of rotor module _rdo not participate in calculating, therefore do not access arbitrary module.

What Fig. 2 reflected is the structure chart that stator of the present invention improves module, stator improves module and has two inputs, and the structure that has model with simulation software is compared, and has lacked a speed input, when guaranteeing equal simulation accuracy, also can effectively improve system emulation speed, practical.

What Fig. 3 reflected is that between the existing model of the self-built model of the present invention and simulation software, the goodness of fit is high, error very little (can find out in second figure of Fig. 3) between the two, so solid line almost overlaps with dotted line.

Fig. 4 reflection be that asynchronous machine speed control system based on novel rotor flux observer is better to the tracking performance of different rotating speeds, therefore between rotating speed desired value and actual value, difference is very little, the partial enlarged drawing in A and B region provides at the right half part of Fig. 4, in partial enlarged drawing, can see dotted line.

The concrete difference of rotor flux observer of the present invention and existing rotor flux observer is, rotor flux observer of the present invention has increased the rotor electric angle rate signal ω of actual measurement _r, and in formula (4), bucking voltage u _{comp, r α}and u _{comp, r β}calculating adopts is the component of rotor flux current model on α axle and β axle with with the component of rotor flux voltage model on α axle and β axle with between difference.And in existing rotor flux observer, do not adopt the rotor electric angle rate signal ω of actual measurement _r, and in formula (4), bucking voltage u _{comp, r α}and u _{comp, r β}calculating adopts is the component of stator magnetic linkage current model on α axle and β axle with with the component of stator magnetic linkage voltage model on α axle and β axle with between difference.Such improvement can effectively improve the accuracy of observation of rotor flux, makes asynchronous machine all can obtain good exercise performance at a high speed and under low speed.

The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.

Claims (4)

1. the asynchronous machine speed control unit based on novel rotor flux observer, it is characterized in that, comprise asynchronous machine module, rotor flux observer, Park conversion module, contrary Park conversion module, d shaft current controller, q shaft current controller, speed control, the first comparison module, the second comparison module and the 3rd comparison module; Described asynchronous machine module comprises that rotor module, stator improve module, mutual inductance magnetic linkage module, torque module and motion module;

Described rotor module is provided with first input end, the second input, the 3rd input, the first output and the second output;

Described mutual inductance magnetic linkage module is provided with first input end, the second input and output;

Described stator improves module and is provided with the first output, the second output, the 3rd output, first input end and the second input;

Described torque module is provided with output and input;

Described motion module is provided with first input end, the second input and output;

Described the first comparison module is provided with first input end, the second input and output;

Described the second comparison module is provided with first input end, the second input and output;

Described the 3rd comparison module is provided with first input end, the second input and output;

Described speed control is provided with input and output;

Described q shaft current controller is provided with input and output;

Described d shaft current controller is provided with input and output

Described contrary Park conversion module is provided with first input end, the second input, the 3rd input and output;

Described Park conversion module is provided with the first output, the second output, first input end and the second input;

Described rotor flux observer comprises first input end, the second input, the 3rd input and output;

The first input end of described rotor flux observer is connected with the output of described contrary Park conversion module, the second input of described rotor flux observer is connected with the 3rd output that described stator improves module, the 3rd input of described rotor flux observer is connected with the output of described motion module, and the output of described rotor flux observer is connected with the input of described Park conversion module.

2. the asynchronous machine speed control unit based on novel rotor flux observer according to claim 1, is characterized in that,

The first output of described rotor module is connected with the first input end of mutual inductance magnetic linkage module;

The first output that described stator improves module is connected with the input of torque module, the second output that described stator improves module is connected with the second input of mutual inductance magnetic linkage module, and the second input that described stator improves module is connected with the output of contrary Park conversion module;

The output of described mutual inductance magnetic linkage module is connected with the first input end that stator improves module with the first input end of rotor module respectively;

The first input end of described motion module is connected with the output of torque module.

3. the asynchronous machine speed control unit based on novel rotor flux observer according to claim 1, is characterized in that,

The second input of described the first comparison module is connected with the output of motion module;

The input of described speed control is connected with the output of the first comparison module;

The first input end of described the second comparison module is connected with the output of speed control, and the second input of described the second comparison module is connected with the first output of Park conversion module;

The input of described q shaft current controller is connected with the output of the second comparison module;

The first input end of described contrary Park conversion module is connected with the output of q shaft current controller, the second input of described contrary Park conversion module is connected with the output of d shaft current controller, and the 3rd input of described contrary Park conversion module is connected with the output of rotor flux observer;

The input of described d shaft current controller is connected with the output of the 3rd comparison module;

The second input of described the 3rd comparison module is connected with the second output of Park conversion module.

4. the asynchronous machine speed control system based on novel rotor flux observer, is characterized in that, the implementation of described rotor flux observer is:

${\mathrm{\θ}}_{\mathrm{\ψr}}\left(k\right)={\tan }^{-1}\left(\frac{{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)}{{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)}\right)---\left(1\right)$

Wherein, θ _{ψ r}for rotor flux angle, k represents the k time sampling instant, with be respectively the component of rotor flux voltage model on α axle and β axle, its computing formula is as follows:

${\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)=-\left(\frac{L_s\·L_r-L_m\·L_m}{L_m}\right)\·i_{\mathrm{s\α}}\left(k\right)+\frac{L_r}{L_m}\·{\mathrm{\ψ}}_{\mathrm{s\α}}^v\left(k\right)$

${\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)=-\left(\frac{L_s\·L_r-L_m\·L_m}{L_m}\right)\·i_{\mathrm{s\β}}\left(k\right)+\frac{L_r}{L_m}\·{\mathrm{\ψ}}_{\mathrm{s\β}}^v\left(k\right)---\left(2\right)$

Wherein, i _{s α}, i _{s β}be respectively the component of stator winding electric current on α axle and β axle, L _sand L _rfor the self-induction of stator and rotor winding, L _mthe mutual inductance between stator and rotor coaxial equivalent winding, with be respectively the component of stator magnetic linkage voltage model on α axle and β axle, by following formula, calculated:

${\mathrm{\ψ}}_{\mathrm{s\α}}^v\left(k\right)={\mathrm{\ψ}}_{\mathrm{s\α}}^v(k-1)+\frac{T}{2}\·[e_{\mathrm{s\α}}\left(k\right)+e_{\mathrm{s\α}}(k-1)]$

${\mathrm{\ψ}}_{\mathrm{s\β}}^v\left(k\right)={\mathrm{\ψ}}_{\mathrm{s\β}}^v(k-1)+\frac{T}{2}\·[e_{\mathrm{s\β}}\left(k\right)+e_{\mathrm{s\β}}(k-1)]$

e _sα(k)＝u _sα(k)-R _s·i _sα(k)+u _comp,ra(k)

e _sβ(k)＝u _sβ(k)-R _s·i _sβ(k)+u _comp,rβ(k) (3)

In formula, u _{s α}, u _{s β}be respectively stator winding voltage, R _sfor stator resistance, e _{s α}and e _{s β}be stator winding back electromotive force, T is the sampling period, u _{comp, r α}and u _{comp, r β}for bucking voltage, computational methods are as follows:

$u_{\mathrm{comp},\mathrm{r\α}}\left(k\right)=K_p\·[{\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)]+u_{\mathrm{comp},\mathrm{r\α},i}(k-1)$

$u_{\mathrm{comp},\mathrm{s\β}}\left(k\right)=K_p\·[{\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)]+u_{\mathrm{comp},\mathrm{r\β},i}(k-1)---\left(4\right)$

$u_{\mathrm{comp},\mathrm{r\α},i}\left(k\right)=u_{\mathrm{comp},\mathrm{r\α},i}(k-1)+K_I\·T\·[{\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\α}}^v\left(k\right)]$

$u_{\mathrm{comp},\mathrm{r\β},i}\left(k\right)=u_{\mathrm{comp},\mathrm{r\β},i}(k-1)+K_I\·T\·[{\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)-{\mathrm{\ψ}}_{\mathrm{r\β}}^v\left(k\right)]$

In formula, ucomp, r α, i (k) and ucomp, r β, the quadrature components that i (k) is bucking voltage, KP and KI are respectively ratio and integral coefficient. with for the component of rotor flux current model on α axle and β axle, in its computing formula, utilized rotor speed signal,

${\mathrm{\ψ}}_{\mathrm{r\α}}^i\left(k\right)={\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1)+T\·(\frac{L_m\·R_r}{L_r}\·i_{\mathrm{s\α}}\left(k\right)-\frac{R_r}{L_r}\·{\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1)-{\mathrm{\ω}}_r\left(k\right)\·{\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1))$

${\mathrm{\ψ}}_{\mathrm{r\β}}^i\left(k\right)={\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1)+T\·(\frac{L_m\·R_r}{L_r}\·i_{\mathrm{s\β}}\left(k\right)-\frac{R_r}{L_r}\·{\mathrm{\ψ}}_{\mathrm{r\β}}^i(k-1)-{\mathrm{\ω}}_r\left(k\right)\·{\mathrm{\ψ}}_{\mathrm{r\α}}^i(k-1))---\left(5\right)$

In formula, R _rrotor resistance, ω _rfor rotor electric angle speed.