CN105099313B - The control system and control method of a kind of double feedback electric engine - Google Patents
The control system and control method of a kind of double feedback electric engine Download PDFInfo
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- CN105099313B CN105099313B CN201410214418.2A CN201410214418A CN105099313B CN 105099313 B CN105099313 B CN 105099313B CN 201410214418 A CN201410214418 A CN 201410214418A CN 105099313 B CN105099313 B CN 105099313B
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Abstract
The invention discloses the control system and control method of double feedback electric engine under a kind of stator coordinate, to improve the stability of stator power control loop.The control system includes：Power calculation unit, for the stator voltage and stator current according to double feedback electric engine, determine the stator instantaneous output of double feedback electric engine；Nonlinear feedback item computing unit, for the stator voltage according to double feedback electric engine, stator current, rotor machinery angular frequency and the parameter of electric machine, determine nonlinear feedback item；Power governor, for giving power and stator instantaneous output according to the stator of double feedback electric engine, determine stator power Regulate signal；Feedback of status link, for according to stator instantaneous output, determining status feedback signal；Rotor voltage computing unit, for according to nonlinear feedback item, stator power Regulate signal and status feedback signal, determining the rotor voltage of double feedback electric engine.
Description
Technical field
The present invention relates to a kind of control system of double feedback electric engine under motor control technology field, more particularly to stator coordinate
And control method.
Background technology
At present, the application of double feedback electric engine is very extensive, especially in wind power generation field.Needing to determine double feedback electric engine
It is using more to one of method of double feedback electric engine control in the application scenarios that sub- active power or stator reactive power are controlled
Scalar control mode, directly double feedback electric engine stator power is controlled.
The multiscalar control method of double feedback electric engine uses stator coordinate, selects motor stator active power, motor stator
Reactive power, motor speed and stator flux of motor square are used as state variable, obtain the state equation of double feedback electric engine, then profit
The state equation for making double feedback electric engine with nonlinear feedback item linearizes, and the state equation of double feedback electric engine is transformed into motor stator has
The direct equation of work(power and motor stator reactive power, can be directly to motor stator active power and the idle work(of motor stator
Rate carries out closed-loop control.By taking stator active power as an example, the stator power control loop of existing double feedback electric engine as shown in figure 1, its
In：
Active power is given for stator；
Ps(s) it is stator active power of output；
W1(s) it is nonlinear feedback item；
Cp(s) it is active power regulation device；
Gp(s) transmission function for double feedback electric engine to stator active power.
Characterize nonlinear feedback item W1(s) to stator active power of output Ps(s) influence Pw(s) closed loop transmits letter
Number Hw1(s) it is：
It can be seen that the stator active power controller loop shown in Fig. 1 have ignored nonlinear feedback item exports wattful power to stator
The influence of rate.Under stator coordinate, all intermediate variables are of ac, exceed control ring in the frequency of nonlinear feedback item
Under the topological abstract of road during controll plant cut-off frequency itself, power control loop is possible to that concussion can be produced.Determine shown in Fig. 1
Sub- power control loop fully relies on the characteristic of controll plant in itself and possible concussion is suppressed, therefore power control loop
Less stable.
The content of the invention
The embodiment of the present invention provides the control system and control method of double feedback electric engine under a kind of stator coordinate, to improve
The stability of power control loop.
The embodiment of the present invention provides a kind of control system of double feedback electric engine under stator coordinate, including：
Power calculation unit, for the stator voltage and stator current according to double feedback electric engine, determine the stator of double feedback electric engine
Instantaneous output；
Nonlinear feedback item computing unit, for the stator voltage according to double feedback electric engine, stator current, rotor machinery angular frequency
Rate and the parameter of electric machine, determine nonlinear feedback item；
Power governor, for the stator for giving power according to the stator of double feedback electric engine and the power calculation unit determines
Instantaneous output, determine stator power Regulate signal；
Feedback of status link, for the stator instantaneous output determined according to the power calculation unit, determine state
Feedback signal；
Rotor voltage computing unit, for determined according to the nonlinear feedback item computing unit nonlinear feedback item,
The status feedback signal that the stator power Regulate signal and the feedback of status link that the power governor determines determine, it is determined that
The rotor voltage of double feedback electric engine.
The embodiment of the present invention also provides a kind of control method of double feedback electric engine under stator coordinate, including：
According to the stator voltage and stator current of double feedback electric engine, the stator instantaneous output of double feedback electric engine is determined；And
According to the stator voltage of double feedback electric engine, stator current, rotor machinery angular frequency and the parameter of electric machine, nonlinear feedback item is determined；
Power and the stator instantaneous output are given according to the stator of double feedback electric engine, determine stator power regulation letter
Number；And according to the stator instantaneous output, determine status feedback signal；
According to the nonlinear feedback item, the stator power Regulate signal and the status feedback signal, double-fed is determined
The rotor voltage of motor.
In scheme provided in an embodiment of the present invention, it is anti-to increase state in the stator power control loop of existing double feedback electric engine
Feedback link, nonlinear feedback item is calmed, it is possible to increase the stability of power control loop.
Brief description of the drawings
Fig. 1 is the schematic diagram of the stator active power controller loop of double feedback electric engine under stator coordinate of the prior art；
Fig. 2 is stator active power control in the control system of double feedback electric engine under stator coordinate provided in an embodiment of the present invention
One of schematic diagram of loop processed；
Fig. 3 is stator active power control in the control system of double feedback electric engine under stator coordinate provided in an embodiment of the present invention
The two of the schematic diagram of loop processed；
Fig. 4 is stator reactive power control in the control system of double feedback electric engine under stator coordinate provided in an embodiment of the present invention
The schematic diagram of loop processed；
Fig. 5 is the schematic diagram of the control system of double feedback electric engine under stator coordinate provided in an embodiment of the present invention；
Fig. 6 is the detailed maps of the control system of double feedback electric engine under stator coordinate provided in an embodiment of the present invention；
Fig. 7 is the flow chart of the control method of double feedback electric engine under stator coordinate provided in an embodiment of the present invention.
Embodiment
In order to provide the implementation for the stability for improving power control loop, the embodiments of the invention provide a kind of stator
The preferred embodiments of the present invention are entered by the control system and control method of double feedback electric engine under coordinate system below in conjunction with Figure of description
Row explanation, it will be appreciated that preferred embodiment described herein is merely to illustrate and explain the present invention, and is not used to limit this hair
It is bright.And in the case where not conflicting, the feature in embodiment and embodiment in the application can be mutually combined.
Under stator coordinate, double feedback electric engine equation is：
Wherein,For stator voltage vector；
For rotor voltage vector；
For stator current vector；
For rotor current vector；
For stator magnetic linkage vector；
For rotor flux linkage vector；
ωrFor rotor machinery angular frequency；
RsFor stator equivalent resistance；
RrFor rotor equivalent resistance.
Choose rotor current vectorWith stator magnetic linkage vectorAs state variable.
Wherein, LsFor stator equivalent inductance；
LrFor rotor equivalent inductance；
LmFor magnetizing inductance.
According to above-mentioned formula (1), (2), (3) and (4), by double feedback electric engine it is equations turned be normed space state equation：
By above-mentioned formula (5) and (6), scalar expression is obtained：
Wherein：
Wherein, λαrFor under stator coordinate, the α axis components of rotor flux；
λβrFor under stator coordinate, the beta -axis component of rotor flux；
λαsFor under stator coordinate, the α axis components of stator magnetic linkage；
λβsFor under stator coordinate, the beta -axis component of stator magnetic linkage；
uαrFor under stator coordinate, the α axis components of rotor voltage；
uβrFor under stator coordinate, the beta -axis component of rotor voltage；
uαsFor under stator coordinate, the α axis components of stator voltage；
uβsFor under stator coordinate, the beta -axis component of stator voltage；
iαsFor under stator coordinate, the α axis components of stator current；
iβsFor under stator coordinate, the beta -axis component of stator current；
iαrFor under stator coordinate, the α axis components of rotor current；
iβrFor under stator coordinate, the beta -axis component of rotor current.
Under stator coordinate, the instantaneous active power of output of stator and instantaneous output reactive power are：
ps=uαsiαs+uβsiβs； (16)
qs=-uαsiβs+uβsiαs。 (17)
Above-mentioned formula (16) and (17) can be expressed as with stator magnetic linkage and rotor current：
To above-mentioned formula (18) derivation, obtain：
To above-mentioned formula (19) derivation, obtain：
Wherein：
λs=λαs 2+λβs 2； (25)
is=iαs 2+iβs 2。
Order：
It can then obtain：
Made in active system：
Order：
s′1=Kpps+s1；(31) input is then used as using s1'：
Controll plant transmission function Gp'(s) be：
Transmission function provided with work(power governor is Cp(s), then closed-loop system control block diagram as shown in Fig. 2 system is closed
Ring transfer function H p'(s) be：
Order：
Now the system equation of active system can be equivalent to：
Wherein, K and M is equivalent parameters.
It can be seen that stator active power of output is determined by two parts, a part determines that a part is by non-thread by adjuster output
Property feedback term determine.Transmission function G of the double feedback electric engine to stator active powerp(s) it is：
Thus, it is possible to the control loop of the stator active power shown in Fig. 3 is built, wherein：
Active power is given for stator；
Ps(s) it is stator active power of output；
W1(s) it is nonlinear feedback item；
KpFor active power state feedback element.
Closed loop transfer function, Hw1(s) it is：
Therefore, can be by feedback element KpTo set the limit of closed loop transfer function, make stator active power controller loop
It is stable.
Similarly, the control loop of the stator reactive power shown in Fig. 4 can be built, wherein：
Reactive power is given for stator；
Qs(s) it is stator output reactive power；
W2(s) it is nonlinear feedback item；
Cq(s) it is reactive power regulator；
Gq(s) transmission function for double feedback electric engine to stator reactive power；
KqFor reactive power feedback of status link.
Closed loop transfer function, Hw2(s) it is：
To sum up, under stator coordinate provided in an embodiment of the present invention the control system of double feedback electric engine as shown in figure 5, specific bag
Include：
Power calculation unit 501, for the stator voltage and stator current according to double feedback electric engine, determine determining for double feedback electric engine
Sub- instantaneous output；
Nonlinear feedback item computing unit 502, for the stator voltage according to double feedback electric engine, stator current,
Rotor machinery angular frequency and the parameter of electric machine, determine nonlinear feedback item；
Power governor 503, determine for what is determined according to the given power of the stator of double feedback electric engine and power calculation unit 501
Sub- instantaneous output, determine stator power Regulate signal；
Feedback of status link 504, for the stator instantaneous output determined according to power calculation unit 501, determine shape
State feedback signal；
Rotor voltage computing unit 505, for the nonlinear feedback determined according to nonlinear feedback item computing unit 502
The status feedback signal that the stator power Regulate signal and feedback of status link 504 that item, power governor 503 determine determine, really
Determine the rotor voltage of double feedback electric engine.
Wherein, power governor is specifically as follows pi regulator, and PI parameter values can be according to the design for automatic control system of classics
Method, set according to system requirements.
In embodiments of the present invention, feedback of status link is specifically as follows linear feedback link.In other realities of the present invention
Apply in example, the feedback of status link can not also be linear feedback link.The concrete form of the feedback of status link can basis
Practical application scene is determined.
Further, power calculation unit 501, it can specifically be based on above-mentioned formula (16) and (17) determine double feedback electric engine
Stator instantaneous output.
Nonlinear feedback item computing unit 502, it can specifically be based on above-mentioned formula (35) and (36) determine nonlinear feedback
.
Rotor voltage computing unit 505, it specifically can be based on above-mentioned formula (28) and (29) determine the rotor of double feedback electric engine
Voltage, v1Status feedback signal corresponding to stator power Regulate signal and stator active power as corresponding to stator active power
It is difference nonlinear feedback item corresponding with stator active power and, v2Stator power is adjusted as corresponding to stator reactive power
The difference of status feedback signal nonlinear feedback item corresponding with stator reactive power corresponding to signal and stator reactive power and.
During actual implementation, the control system of double feedback electric engine can be built as shown in fig. 6, according to common PLL phaselocked loop sides
Method, obtain line voltagePhaseAnd the phase and angular frequency of angular frequency, i.e. stator voltage；By motor code-disc and generally
Motor position measuring method, obtain the phase of rotorAnd angular frequencyr.Stator coordinate is selected, motor is obtained and determines
Sub- voltageStator currentConstant amplitude dq conversion is carried out, obtains the arrow of motor stator voltage, stator current under stator coordinate
Value；And obtain rotor electric currentConstant amplitude dq conversion is carried out, obtains vector of the rotor electric current under stator coordinate
Value.
The rotor voltage that rotor voltage computing unit is calculated converts by inverse dq, is output to inverter circuit.At this moment may be used
To be modulated using SVPWM methods to voltage, rotor is output to.
In figure, active power state feedback element can be set according to above-mentioned formula (39), and reactive power state is anti-
Feedback link can be set according to above-mentioned formula (41), make closed loop transfer function, cut-off frequency on setpoint frequency point.
It can be seen that using double feedback electric engine control system provided in an embodiment of the present invention, to double feedback electric engine under stator coordinate
Multiscalar control is carried out, increases feedback of status link, nonlinear feedback item can be calmed, ensure that power control loop
Stability.
Accordingly, the embodiment of the present invention additionally provides a kind of control method of double feedback electric engine, as shown in fig. 7, comprises：
Step 701, stator voltage and stator current according to double feedback electric engine, determine the instantaneous output work of stator of double feedback electric engine
Rate；And according to the stator voltage of double feedback electric engine, stator current, rotor machinery angular frequency and the parameter of electric machine, determine non-linear anti-
Present item；
Step 702, power and the stator instantaneous output given according to the stator of double feedback electric engine, determine stator power
Regulate signal；And according to the stator instantaneous output, determine status feedback signal；
Step 703, according to the nonlinear feedback item, the stator power Regulate signal and the status feedback signal,
Determine the rotor voltage of double feedback electric engine.
Further, the rotor voltage of double feedback electric engine is specifically determined using following formula：
λs=λαs 2+λβs 2；
Wherein, uαrFor under stator coordinate, the α axis components of rotor voltage；
uβrFor under stator coordinate, the beta -axis component of rotor voltage；
λαsFor under stator coordinate, the α axis components of stator magnetic linkage；
λβsFor under stator coordinate, the beta -axis component of stator magnetic linkage；
v1It is corresponding for stator power Regulate signal corresponding to stator active power and stator active power
Status feedback signal difference nonlinear feedback item corresponding with stator active power and；
v2Believe for feedback of status corresponding to stator power Regulate signal corresponding to stator reactive power and stator reactive power
Number it is difference nonlinear feedback item corresponding with stator reactive power and.
In summary, using scheme provided by the invention, under existing stator coordinate in the control system of double feedback electric engine
Increase feedback of status link, it is possible to increase the stability of control system.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (3)
- A kind of 1. control system of double feedback electric engine under stator coordinate, it is characterised in that including：Power calculation unit, for the stator voltage and stator current according to double feedback electric engine, determine that the stator of double feedback electric engine is instantaneous Power output；Nonlinear feedback item computing unit, for the stator voltage according to double feedback electric engine, stator current, rotor machinery angular frequency and The parameter of electric machine, determine nonlinear feedback item；Power governor, the stator for giving power and power calculation unit determination according to the stator of double feedback electric engine are instantaneous Power output, determine stator power Regulate signal；Feedback of status link, for the stator instantaneous output determined according to the power calculation unit, determine feedback of status Signal；Rotor voltage computing unit, for the nonlinear feedback item, described determined according to the nonlinear feedback item computing unit The status feedback signal that the stator power Regulate signal and the feedback of status link that power governor determines determine, determines double-fed The rotor voltage of motor；Wherein, the rotor voltage computing unit, the rotor voltage of double feedback electric engine is specifically determined using following formula：<mrow> <msub> <mi>u</mi> <mrow> <mi>&alpha;</mi> <mi>r</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mo>-</mo> <msub> <mi>v</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&beta;</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>v</mi> <mn>2</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&alpha;</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mi>&lambda;</mi> <mi>s</mi> </msub> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mfrac> <mo>;</mo> </mrow><mrow> <msub> <mi>u</mi> <mrow> <mi>&beta;</mi> <mi>r</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>v</mi> <mn>2</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&beta;</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>v</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&alpha;</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mi>&lambda;</mi> <mi>s</mi> </msub> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mfrac> <mo>;</mo> </mrow>λs=λαs 2+λβs 2；Wherein, uαrFor under stator coordinate, the α axis components of rotor voltage；uβrFor under stator coordinate, the beta -axis component of rotor voltage；λαsFor under stator coordinate, the α axis components of stator magnetic linkage；λβsFor under stator coordinate, the beta -axis component of stator magnetic linkage；v1For the difference of status feedback signal corresponding to stator power Regulate signal corresponding to stator active power and stator active power Nonlinear feedback item corresponding with stator active power and；v2For the difference of status feedback signal corresponding to stator power Regulate signal corresponding to stator reactive power and stator reactive power Nonlinear feedback item corresponding with stator reactive power and.
- 2. the system as claimed in claim 1, it is characterised in that the feedback of status link is specially linear feedback link.
- A kind of 3. control method of double feedback electric engine under stator coordinate, it is characterised in that including：According to the stator voltage and stator current of double feedback electric engine, the stator instantaneous output of double feedback electric engine is determined；And according to Stator voltage, stator current, rotor machinery angular frequency and the parameter of electric machine of double feedback electric engine, determine nonlinear feedback item；Power and the stator instantaneous output are given according to the stator of double feedback electric engine, determine stator power Regulate signal；With And according to the stator instantaneous output, determine status feedback signal；According to the nonlinear feedback item, the stator power Regulate signal and the status feedback signal, double feedback electric engine is determined Rotor voltage；Wherein, the rotor voltage of double feedback electric engine is specifically determined using following formula：<mrow> <msub> <mi>u</mi> <mrow> <mi>&alpha;</mi> <mi>r</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mo>-</mo> <msub> <mi>v</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&beta;</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>v</mi> <mn>2</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&alpha;</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mi>&lambda;</mi> <mi>s</mi> </msub> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mfrac> <mo>;</mo> </mrow> 1<mrow> <msub> <mi>u</mi> <mrow> <mi>&beta;</mi> <mi>r</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>v</mi> <mn>2</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&beta;</mi> <mi>s</mi> </mrow> </msub> <mo>+</mo> <msub> <mi>v</mi> <mn>1</mn> </msub> <msub> <mi>&lambda;</mi> <mrow> <mi>&alpha;</mi> <mi>s</mi> </mrow> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mi>&lambda;</mi> <mi>s</mi> </msub> <msup> <mo>|</mo> <mn>2</mn> </msup> </mrow> </mfrac> <mo>;</mo> </mrow>λs=λαs 2+λβs 2；Wherein, uαrFor under stator coordinate, the α axis components of rotor voltage；uβrFor under stator coordinate, the beta -axis component of rotor voltage；λαsFor under stator coordinate, the α axis components of stator magnetic linkage；λβsFor under stator coordinate, the beta -axis component of stator magnetic linkage；v1For the difference of status feedback signal corresponding to stator power Regulate signal corresponding to stator active power and stator active power Nonlinear feedback item corresponding with stator active power and；v2For the difference of status feedback signal corresponding to stator power Regulate signal corresponding to stator reactive power and stator reactive power Nonlinear feedback item corresponding with stator reactive power and.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101053137A (en) * | 2004-08-27 | 2007-10-10 | Seg开关设备电子仪器合资有限公司 | Power control of an induction machine |
| CN101938244A (en) * | 2010-07-26 | 2011-01-05 | 邵诗逸 | Vector control method based on brushless cascade double-fed motor |
| CN103023021A (en) * | 2012-11-27 | 2013-04-03 | 上海电气集团股份有限公司 | Decoupling control method for nonlinear power of double-fed wind power generation system |
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2014
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101053137A (en) * | 2004-08-27 | 2007-10-10 | Seg开关设备电子仪器合资有限公司 | Power control of an induction machine |
| CN101938244A (en) * | 2010-07-26 | 2011-01-05 | 邵诗逸 | Vector control method based on brushless cascade double-fed motor |
| CN103023021A (en) * | 2012-11-27 | 2013-04-03 | 上海电气集团股份有限公司 | Decoupling control method for nonlinear power of double-fed wind power generation system |
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