CN104283477B - A kind of Vector Control System of Induction Motor field orientation antidote based on torque observation - Google Patents
A kind of Vector Control System of Induction Motor field orientation antidote based on torque observation Download PDFInfo
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- CN104283477B CN104283477B CN201410507248.7A CN201410507248A CN104283477B CN 104283477 B CN104283477 B CN 104283477B CN 201410507248 A CN201410507248 A CN 201410507248A CN 104283477 B CN104283477 B CN 104283477B
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Abstract
The invention discloses a kind of Vector Control System of Induction Motor field orientation antidote based on torque observation, belong to asynchronous motor drive field.Including exciting current ring, torque current ring, rotor field-oriented link, stator flux identification link, torque observation link, space vector modulation link, three-phase full-bridge inverter, asynchronous machine.Realize that field orientation is corrected using the torque observed difference under dq and α β coordinate systems.The present invention directly observes stator magnetic linkage, without observing rotor flux；Therefore the Parameters variation of rotor-side is good without influence, parameter robustness on field orientation correction system.Correction model definite principle is oriented, it is simple in construction.The present invention will have wide practical use in Vector Control System of Induction Motor speed governing occasion.
Description
Technical field
The Vector Control System of Induction Motor field orientation antidote based on torque observation of the present invention, belongs to alternating current generator class
Asynchronous motor timing method.
Background technology
Vector Control System of Induction Motor is widely used in electric automobile with its good control performance and dynamic response at present
Among drive system and AC Drive field.In the 1970s, " the sense of the proposition such as Siemens F.Blaschke
The control principle for answering motor-field to orient " and the patent " induction machine stator of U.S. P.C.Custman and A.A.Clark applications
The conversion control of voltage ", has established the basis of vector controlled.Its basic point of departure is, with the Space Rotor magnetic flux vector of rotation
For reference direction, using static coordinate to the conversion between rotational coordinates, it is straight that the stator current vector of rotation is resolved into excitation
Flow component and torque DC component, magnetic field and direct torque are carried out respectively, so as to by asynchronous machine multivariable, close coupling, non-thread
The time-variable parameter system of property is equivalent into the such speed governing of direct current generator.But observation rotor flux needs to know inductor rotor and rotor
Resistance, the time-varying of parameter are larger to the performance impact of vector controlled.
For how to reduce sensitiveness of the vector controlled to parameter, current main method is broadly divided into two classes：One kind is
Direct identifying motor parameter, including off-line measurement technology, state observer, model reference adaptive, sliding mode observer etc., still
Not only amount of calculation is complex but also identification precision is low for this kind of method, and the parameter that the precision of identified parameters is not recognized easily by other is missed
Difference influences.Another kind of method is to skip over parameter identification link and directly ensure the accurate of field orientation, establishes field orientation correction
System.Using the principle of model reference adaptive, the output bias of same amount are carried out to frame of reference by two models
Regulation, it has the features such as simple principle, amount of calculation is less, and identification precision is higher, and more is used in control system.Mainly
Method has：Rotor flux is observed by voltage model, and then is that zero pair of slip frequency is corrected using rotor flux q axis components
Ensure that field orientation is accurate；Either by constructing the rotor field-oriented correction system based on reactive power, by ensureing nothing
Work(power is equal with set-point and then ensures that the excitation level constant of rotor ensures that magnetic field is fixed really.Obvious both the above method is straight
Observation rotor flux is connect, the precision of observation is easily influenceed by rotor-side parameter.The precision of orientation is not only influenceed by mutual inductance, and
And leakage inductance coefficient is introduced, the measure of motor leakage inductance is typically more difficult.
The content of the invention
It is a kind of small to motor parameter dependence itself it is an object of the invention to propose, control simple easily realization, identification essence
Spend high Vector Control System of Induction Motor field orientation antidote.
The present invention to achieve the above object, adopts the following technical scheme that：
A kind of Vector Control System of Induction Motor field orientation antidote based on torque observation, it is characterised in that including encouraging
Magnetic electric current loop, torque current ring, rotor field-oriented link, stator flux identification link, torque observation link, space vector are adjusted
Link processed, three-phase full-bridge inverter, asynchronous machine.Exciting current ring is by given exciting currenti sd * With actual exciting current's
Difference carries out ratio and integral element, adjusts out excitation voltageu sd * , and then maintain the rotor flux of asynchronous machine constant.Torque
Ring is by the given rotating speed angular frequency of asynchronous machineω r * , with asynchronous machine actual speed angular frequencyω r Difference adjusted out by PI
Given torque currenti sq * , then with actual torque electric currentDifference adjust to obtain torque voltage by PIu sq * , and then realize electricity
The direct torque of machine.Pass through the torque current of motori sq * , exciting currenti sd * , obtain given slip angular frequencyω sl * , wherein different
Walk motor and give slip angular frequencyω sl * = i sq * /τ r i sd * ,τ r =L r /R r For rotor time constant,L r For inductor rotor,R r Rotor
Resistance；Given slip angular frequencyω sl * With compensating slip angular frequencyΔω sl * Sumω s * Add rotor electric angle frequencyp n ω r Pass through again
Integration can obtain observing rotor field-oriented angle.Torque observation link exists respectivelydqCoordinate system andαβObserved under coordinate system
Torque valuationWith, observe torqueWith observing rotor field-oriented angleIt is relevant, andWith observing rotor field
Orientation angleIt is unrelated.If there is deviation in the field orientation angle of Current observation, the torque value observed under two coordinate systemsWithCertainly exist deviation.Wherein compensate slip angular frequencyByCoordinate system estimates torqueWithdqCoordinate
System's estimation torqueDifference obtained by pi regulator.WithSpecific solution procedure it is as follows：
（1）Detect to obtain asynchronous machine stator three-phase phase current using current sensori sa 、i sb 、i sc , it is constant by magnetic potential
3/2 conversion, obtain staticαβStator current in coordinate systemi sα 、i sβ ；
| (1) |
(1) formula is passed through againConversion obtainsdqThe current excitation component of asynchronous machine under rotating coordinate systemi sd With
Torque componenti sq ：
| (2) |
Wherein angleThe as rotor field orientation angle of Current observation.Again by exciting currenti sd And torque currenti sq Enter one
Step tries to achieve asynchronous machine in Current observationdqTorque under rotating coordinate system：
| (3) |
（2）The DC bus-bar voltage of three-phase full-bridge inverter is obtained using voltage sensoru dc ,u dc With three phase full bridge inversion
The dutycycle of device（D A 、D B 、D C ）Three-phase phase voltage of the asynchronous machine under static abc coordinate systems is calculated in combinationu sa 、u sb 、u sc ；
| (4) |
By three-phase phase voltage of the asynchronous machine under static abc coordinate systemsu sa 、u sb 、u sc Carry out 3/2 constant change of magnetic potential
Change, obtain asynchronous machine staticαβStator voltage under coordinate systemu sα 、u sβ ；
| (5) |
Utilize formula（5）, formula（1）The asynchronous machine being calculated is staticαβStator voltage under coordinate systemu sα 、u sβ With it is fixed
Electron currenti sα 、i sβ , try to achieve staticαβStator magnetic linkage under coordinate system：
| (6) |
Convolution (1) formula (6) can further try to achieve asynchronous machine and existdqTorque under rotating coordinate system：
| (7) |
It can be seen that torque and directional angle by formula (7) estimationIt is unrelated, and torque that formula (3) obtains and directional angleIt is relevant.When so according to orienting accurate, the torque observed under two coordinate systems is equal, you can is adjusted out using pi regulator
Compensation Slip frequency.Stator magnetic linkage is directly observed in the system, without observing rotor flux；Therefore the Parameters variation of rotor-side
It is good without influence, parameter robustness on correction system.Correction model definite principle is oriented, it is simple in construction.The present invention is in asynchronous machine
Vector controlled speed governing occasion will have wide practical use.
Brief description of the drawings
The Vector Control System of Induction Motor field orientation correction system block diagram that Fig. 1 accompanying drawings 1 are observed based on torque
Designation in Fig. 1：UdcIt is supply voltage,ω r *、ω r It is given feedback rotor angular frequency and feedback rotor respectively
Angular frequency；For observation flux linkage position of the rotor angle；i sa 、i sb It is sampling asynchronous machine A, B phase current respectively；i sd * 、 i sq * 、、It is given exciting current, torque current and observation exciting current, torque current respectively；u sd * 、u sq * Respectively dq shaft voltages；、It is respectivelydqAxle observe torque andAxle observes torque.
Embodiment
The core concept of the present invention is to utilizedqWithαβTorque observed difference under coordinate system realizes that field orientation is corrected.
In the case of Vector Control System of Induction Motor field orientation is accurate, asynchronous machinedqTorque formula under coordinate system can simplify
For：
From above formula, torque observationAccuracy depend on exciting currentAnd torque currentIt is accurate, by upper
Knowable to formula (2), exciting currentAnd torque currentIt is to be passed through by stator currentCoordinate transform obtains, and accuracy relies on
Field orientation angleAccuracy.If rotor field-oriented have deviation, field orientation angleInaccuracy, exciting current, torque currentDeviation can be produced, the torque value now observedWith regard to inaccuracy.
And exist in asynchronous machineTorque formula under coordinate system can be expressed as：
Observation accuracy completely independent of field orientation angle.This constantly can be byComposition refers to mould
Type, byAdjustable model is formed, and then realizes the correction of field orientation.
Claims (1)
1. a kind of Vector Control System of Induction Motor field orientation antidote based on torque observation, it is characterised in that including excitation
Electric current loop, torque current ring, rotor field-oriented link, stator flux identification link, torque observation link, space vector modulation
Link, three-phase full-bridge inverter, asynchronous machine；Exciting current ring is by given exciting currenti sd * With actual exciting currentDifference
It is worth carry out ratio and integral element, adjusts out excitation voltageu sd * , and then maintain the rotor flux of asynchronous machine constant；Torque ring
By the given rotating speed angular frequency of asynchronous machineω r * , with asynchronous machine actual speed angular frequencyω r Difference by PI adjust out to
Determine torque currenti sq * , then with actual torque electric currentDifference adjust to obtain torque voltage by PIu sq * , and then realize motor
Direct torque；Pass through the torque current of motori sq * , exciting currenti sd * , obtain given slip angular frequencyω sl * , wherein asynchronous
Motor gives slip angular frequencyω sl * = i sq * /τ r i sd * ,τ r =L r /R r For rotor time constant,L r For inductor rotor,R r Rotor electricity
Resistance；Given slip angular frequencyω sl * With compensating slip angular frequencyΔω sl * Sumω s * Add rotor electric angle frequencyp n ω r Again by product
Dividing can obtain observing rotor field-oriented angle；Torque observation link exists respectivelydqCoordinate system andαβObserved under coordinate system
Torque valuationWith, observe torqueWith observing rotor field-oriented angleIt is relevant, andWith observing rotor field
Orientation angleIt is unrelated；If there is deviation in the field orientation angle of Current observation, the torque observed under two coordinate systems
ValueWithCertainly exist deviation；Wherein compensate slip angular frequencyByCoordinate system estimates torqueWithdqSit
The estimation torque of mark systemDifference obtained by pi regulator；WithSpecific solution procedure it is as follows：
（1）Detect to obtain asynchronous machine stator three-phase phase current using current sensori sa 、i sb 、i sc , by magnetic potential it is constant 3/
2 conversion, are obtained staticαβStator current in coordinate systemi sα 、i sβ ；
(1) formula is passed through againConversion obtainsdqThe current excitation component of asynchronous machine under rotating coordinate systemi sd And torque
Componenti sq ：
Wherein angleThe as rotor field orientation angle of Current observation；Again by exciting currenti sd And torque currenti sq Further ask
Asynchronous machine is obtained in Current observationdqTorque under rotating coordinate system：
（2）The DC bus-bar voltage of three-phase full-bridge inverter is obtained using voltage sensoru dc ,u dc With three-phase full-bridge inverter
Dutycycle（D A 、D B 、D C ）Three-phase phase voltage of the asynchronous machine under static abc coordinate systems is calculated in combinationu sa 、u sb 、u sc ；
By three-phase phase voltage of the asynchronous machine under static abc coordinate systemsu sa 、u sb 、u sc 3/2 constant conversion of magnetic potential is carried out, is obtained
To asynchronous machine staticαβStator voltage under coordinate systemu sα 、u sβ ；
Utilize formula（5）, formula（1）The asynchronous machine being calculated is staticαβStator voltage under coordinate systemu sα 、u sβ With stator electricity
Streami sα 、i sβ , try to achieve staticαβStator magnetic linkage under coordinate system：
Convolution (1) formula (6) can further try to achieve asynchronous machine staticαβTorque under coordinate system：
It can be seen that torque and directional angle by formula (7) estimationIt is unrelated, and the torque that formula (3) obtains has with directional angle
Close；When so according to orienting accurate, the torque observed under two coordinate systems is equal, you can adjusts out compensation using pi regulator
Slip frequency。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105235525A (en) * | 2015-11-05 | 2016-01-13 | 株洲南车时代电气股份有限公司 | Discharging method of supporting capacitor of electric automobile driving system |
| CN108448989A (en) * | 2018-04-02 | 2018-08-24 | 湘潭大学 | A kind of double fed induction generators stator current observer construction method |
| CN110401394B (en) * | 2018-04-24 | 2021-05-07 | 中车株洲电力机车研究所有限公司 | Motor control device and method |
| CN109167548A (en) * | 2018-09-16 | 2019-01-08 | 湖南沃森电气科技有限公司 | A kind of Vector Control System of Induction Motor field orientation antidote and its system |
| CN109194229B (en) * | 2018-09-27 | 2020-07-17 | 北京理工大学 | Torque closed-loop-based MTPA control system and method for permanent magnet synchronous motor |
| CN110658453B (en) * | 2019-09-03 | 2022-01-11 | 苏州伟创电气科技股份有限公司 | Asynchronous motor work abnormity detection method and device |
| CN111092578B (en) * | 2019-12-25 | 2023-04-14 | 上海电力大学 | Vector control method for accurately orienting rotor magnetic field of asynchronous motor |
| CN111146994B (en) * | 2019-12-25 | 2023-04-14 | 上海电力大学 | Asynchronous motor speed sensorless vector control method |
| CN111030535B (en) * | 2019-12-25 | 2023-05-30 | 上海电力大学 | On-line identification method for induction parameters of asynchronous motor |
| CN111049450B (en) * | 2019-12-25 | 2023-04-14 | 上海电力大学 | Asynchronous motor vector control rotor winding temperature on-line monitoring method |
| CN112994552B (en) * | 2021-03-13 | 2023-04-07 | 深圳市圳远电气有限公司 | Slip compensation method for alternating current asynchronous motor |
| CN113437919A (en) * | 2021-04-21 | 2021-09-24 | 武汉华海通用电气有限公司 | Belt speed re-throwing system and method for three-phase inverter with asynchronous motor terminal without residual voltage |
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Effective date of registration: 20190412 Address after: 211112 Dunn Electric, 128 Keyuan Road, Jiangning District, Nanjing City, Jiangsu Province Patentee after: Nanjing Dun En Electric Applicance Co., Ltd Address before: 211100 A208, No. 33 Dongqi Road, Jiangning District, Nanjing City, Jiangsu Province Patentee before: Liao Qixin |