CN104980077B - A kind of control algolithm of improvement V/F output current fluctuations - Google Patents
A kind of control algolithm of improvement V/F output current fluctuations Download PDFInfo
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- CN104980077B CN104980077B CN201510427636.9A CN201510427636A CN104980077B CN 104980077 B CN104980077 B CN 104980077B CN 201510427636 A CN201510427636 A CN 201510427636A CN 104980077 B CN104980077 B CN 104980077B
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Abstract
The invention discloses a kind of control algolithm of improvement V/F output current fluctuations, induction machine is primarily adapted for use in.By gathering motor three-phase current, become three-phase current of changing commanders using park and transform to stator synchronization rotational coordinate ax, obtain watt current；After carrying out high-pass filtering to watt current, multiplied by with yield value, amplitude limiting processing is then done, is compensated voltage, is added to obtain final voltage commands with V/F curve voltages.The present invention can significantly reduce V/F output current fluctuations, ensure motor operation stationarity, torque stability, ensures the load capacity of frequency converter, avoid power device from damaging.
Description
Technical field
The invention belongs to motor variable-frequency speed-regulating technical field, and in particular to a kind of control of improvement V/F output current fluctuations
Algorithm.
Background technology
When asynchronous motor frequency-changing speed-regulating is run, in the case where certain frequency range and load change, have
May be fixed there is a phenomenon where rotary speed unstabilization, at this moment system output current can produce fluctuation.This influence of fluctuations motor operation is steady
Property, torque stability.Inverter protection act can be caused when oscillating current reaches certain value, the band that can influence frequency converter carries energy
Power, in some instances it may even be possible to power device can be damaged.
The content of the invention
In view of the above-mentioned problems, the present invention proposes a kind of control algolithm of improvement V/F output current fluctuations.
Technical scheme is as follows：
A kind of control algolithm of improvement V/F output current fluctuations, includes the following steps：
Step 1：
Induction machine three-phase current is gathered, becoming three-phase current of changing commanders using park transforms to stator synchronization rotational coordinate ax,
Obtain watt current iq；
Wherein θ be stator voltage vector rotation angle, 2 π f of θ=∫1Dt, i.e. angular velocity integrate to obtain level angle；
Dt is the cooler cycle time that microcontroller calculates level angle, is set by timer, f1Represent the actual fortune of the induction machine
Turn frequency, idRepresent reactive current, iu、iv、iwAny one phase current in three-phase is represented respectively；
Step 2：
First-order low-pass ripple is carried out to watt current iq, then is subtracted each other with input watt current iq, obtains watt current iq's
High-pass filtering component iqflt；
Wherein first-order low-pass ripple, the wave digital lowpass filter of discretization is performed with microcontroller, specific as follows：
Ck=a*rk+(1-a)Ck-1
Above formula is slightly deformed, facilitates microcontroller to handle：
Ck-Ck-1=a*rk-a*Ck-1
Wrk=Ck-Ck-1
Ck=wrk+Ck-1
Wherein rkFor wave filter input quantity, CkExported for wave filter as a result, Ck-1For last wave filter output as a result, a
For filter factor, when the sampling period, T was sufficiently small, a ≈ T/RC, then the cutoff frequency of wave filter is f2≈ a/2 π T, R represent electricity
Resistance, C represent capacitance, and wrk is intermediate variable；
Step 3：
High-pass filtering component iqflt is zoomed in or out with gain, is aided with export-restriction, obtains voltage compensation quantity Vcomp；
Step 4：
For V/F control systems, for given frequency f3, the output voltage of the induction machine is f1* V/F curves correspond to
Voltage, the output voltage of the induction machine adds voltage compensation quantity Vcomp, produces final stator vector voltage order
Value Vcmd；
IGBT finally is driven by the variable square wave of SVPWM algorithm output duty cycles, drives motor operating.
The method have the benefit that：
Experiment shows that the present invention can obviously reduce V/F output current fluctuations, ensures motor operation stationarity, and torque is stablized
Property, ensure the load capacity of frequency converter, avoid power device from damaging, there is good promotional value.
Brief description of the drawings
Fig. 1 is the schematic diagram of step 1 of the present invention.
Fig. 2 is the control block diagram of step 2 of the present invention.
Fig. 3 is the control block diagram of step 3 of the present invention.
Fig. 4 is the control block diagram of step 4 of the present invention.
Fig. 5 is the overall control block diagram of the present invention.
Fig. 6 is the full load stator current waveforms figure that the present invention is not used.
Fig. 7 is the full load stator current waveforms figure using the present invention.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
The control algolithm of improvement V/F output current fluctuations provided by the invention, is primarily adapted for use in induction machine.Pass through collection
Motor three-phase current, becomes three-phase current of changing commanders using park and transforms to stator synchronization rotational coordinate ax, obtain watt current iq；It is right
After watt current iq carries out high-pass filtering, multiplied by with yield value, amplitude limiting processing is then done, is compensated voltage, with V/F curves electricity
Pressure is added and obtains final voltage commands.Comprise the following steps that.
Step 1：
Induction machine three-phase current is gathered, becoming three-phase current of changing commanders using park transforms to stator synchronization rotational coordinate ax
(such as Fig. 1), obtains watt current iq；
Wherein θ is the rotation angle of stator voltage vector, and 2 π fdt of θ=∫, i.e. angular velocity integrates to obtain level angle；dt
The cooler cycle time of level angle is calculated for microcontroller, is set by timer.
Step 2：
First-order low-pass ripple is carried out to watt current iq with input watt current iq to subtract each other, and is the high pass of watt current iq
Filtered components iqflt (such as Fig. 2).
Wherein first-order low-pass ripple, the wave digital lowpass filter of discretization is performed with microcontroller, specific as follows：
Ck=a*rk+(1-a)Ck-1
Above formula is slightly deformed, facilitates microcontroller to handle：
Ck-Ck-1=a*rk-a*Ck-1
Wrk=Ck-Ck-1
Ck=wrk+Ck-1
Wherein rkFor wave filter input quantity, CkExported for wave filter as a result, Ck-1For last wave filter output as a result, a
For filter factor, when the sampling period, T was sufficiently small, a ≈ T/RC, then wave filter by frequency be f ≈ a/2 π T.
Step 3：
High pass output iqflt can be zoomed in or out with gain, be aided with export-restriction (such as Fig. 3), obtained voltage compensation quantity
Vcomp, can have and suppress voltage compensation effect well.
Step 4：
For V/F control systems, for given frequency f, its output voltage is the f*V/f slopes of curve.On this basis plus
The voltage compensation quantity Vcomp that upper step 3 is calculated, produces final stator vector voltage bid value Vcmd (such as Fig. 4).Most
IGBT is driven by the variable square wave of SVPWM algorithm output duty cycles afterwards, drives motor operating.
In conclusion the overall control block diagram that this algorithm illustrates is as shown in Figure 5.
Three-phase output current is tested using Experimental comparison, verifies this algorithm effect.2.2KW frequency converter (rated current
10.5A) band 2.2KW induction machines, V/F opened loop controls, carrier frequency are arranged to 5K.This algorithm, full load stator electricity is not used
It is as shown in Figure 6 to flow waveform.Three-phase current virtual value is respectively 10.8A, 10.6A, 9.5A, and minimum current peak-to-peak value is 27.1A, most
High current peak-to-peak value is 34.1A.Calculated with formula AC ripple=(P-Pmax-P-Pmin)/((P-Pmax+P-Pmin)/2)
Output current fluctuation.AC ripple are 22.88%.
Using this algorithm, full load stator current waveforms are as shown in Figure 7.Three-phase current virtual value be respectively 10.3A,
10.3A, 11.3A, minimum current peak-to-peak value are 28.65A, and maximum current peak-to-peak value is 33.6A.AC ripple are 15.9%, can
Reduced with finding out that full-load current fluctuation is obvious.
Above-described is only the preferred embodiment of the present invention, and the invention is not restricted to above example.It is appreciated that this
The other improvements and change that field technology personnel directly export or associate without departing from the spirit and concept in the present invention
Change, be considered as being included within protection scope of the present invention.
Claims (1)
1. a kind of control algolithm of improvement V/F output current fluctuations, it is characterised in that include the following steps：
Step 1：
Induction machine three-phase current is gathered, becoming three-phase current of changing commanders using park transforms to stator synchronization rotational coordinate ax, obtains
Watt current iq；
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Wherein θ be stator voltage vector rotation angle, 2 π f of θ=∫1Dt, i.e. angular velocity integrate to obtain level angle；Dt is single
Piece machine calculates the cooler cycle time of level angle, is set by timer, f1Represent the real-world operation frequency of the induction machine,
idRepresent reactive current, iu、iv、iwAny one phase current in three-phase is represented respectively；
Step 2：
First-order low-pass ripple is carried out to watt current iq, then is subtracted each other with input watt current iq, obtains the high pass of watt current iq
Filtered components iqflt；
Wherein first-order low-pass ripple, the wave digital lowpass filter of discretization is performed with microcontroller, specific as follows：
Ck=a*rk+(1-a)Ck-1
Above formula is slightly deformed, facilitates microcontroller to handle：
Ck-Ck-1=a*rk-a*Ck-1
Wrk=Ck-Ck-1
Ck=wrk+Ck-1
Wherein rkFor wave filter input quantity, CkExported for wave filter as a result, Ck-1For last wave filter output as a result, a is filter
Wave system number, when the sampling period, T was sufficiently small, a ≈ T/RC, then the cutoff frequency of wave filter is f2≈ a/2 π T, R represent resistance, C
Represent capacitance, wrk is intermediate variable；
Step 3：
High-pass filtering component iqflt is zoomed in or out with gain, is aided with export-restriction, obtains voltage compensation quantity Vcomp；
Step 4：
For V/F control systems, for given frequency f3, the output voltage of the induction machine is f1* the corresponding electricity of V/F curves
Pressure amount, the output voltage of the induction machine add voltage compensation quantity Vcomp, produce final stator vector voltage bid value
Vcmd；
IGBT finally is driven by the variable square wave of SVPWM algorithm output duty cycles, drives motor operating.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103236816A (en) * | 2013-04-26 | 2013-08-07 | 武汉港迪电气有限公司 | Method for realizing stable operation of frequency converter under V/F (voltage/frequency) control |
| CN103701385A (en) * | 2013-12-17 | 2014-04-02 | 中冶南方（武汉）自动化有限公司 | Method for restraining V/F (Voltage/Frequency) open-loop controlled oscillation of induction motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103236816A (en) * | 2013-04-26 | 2013-08-07 | 武汉港迪电气有限公司 | Method for realizing stable operation of frequency converter under V/F (voltage/frequency) control |
| CN103701385A (en) * | 2013-12-17 | 2014-04-02 | 中冶南方（武汉）自动化有限公司 | Method for restraining V/F (Voltage/Frequency) open-loop controlled oscillation of induction motor |
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