CN105680756A - Control method and device for dual three-phase asynchronous motors - Google Patents

Abstract

The invention discloses a control method and device for dual three-phase asynchronous motors. The method comprises the following steps of respectively injecting a first high-frequency voltage signal and a second high-frequency voltage signal into a first set of three-phase winding and a second set of three-phase winding which are arranged on stator sides of the dual three-phase asynchronous motors so as to achieve high-frequency injection of a harmonic subspace of the dual three-phase asynchronous motors; acquiring a high-frequency current response in the harmonic subspace; processing to obtain a stator magnetic flux position angle according to the high-frequency current response; and achieving control based on directional stator magnetic flux according to the stator magnetic flux position angle, wherein the first high-frequency voltage signal and the second high-frequency voltage signal are same in amplitude and opposite in phase. With the advantages of non-ideal characteristics of the dual three-phase asynchronous motors and development of various controllable freedom degrees of the dual three-phase asynchronous motors, the running performance of the dual three-phase asynchronous motors under the working conditions of a low speed and an extremely low speed without using a speed sensor is improved.

Description

A kind of control method for dual three-phase induction machine and device

Technical field

The present invention relates to Motor Control Field, in particular it relates to a kind of control method for dual three-phase induction machine and device.

Background technology

At 20 middle of century, have scholar's angle from unified electric machine theory and polyphase machine has been carried out theoretical research, but be limited to technical merit at that time, be also difficult to the effective control to polyphase machine. The occasions such as along with the development of the technology such as power electronics, polyphase machine progresses into industry practical stage, advances on naval vessel, many electricity aircrafts, nuclear power station water circulation system are applied. Compared with traditional three phase electric machine, during polyphase machine application, there are some significant advantages. Under low pressure operating mode, polyphase machine is by the many advantage of self number of phases, under the premise that the current capacity of single power device does not increase, it is easier to realize high-volume run, and without considering the parallel current-sharing problem of power device. Most of polyphase machines are by the winding characteristic distributions of self, it is not necessary to extra control algolithm, it is possible to reduce the torque pulsation that low-order harmonic electric current produces, thus reducing the vibration of motor. Additionally, due to polyphase machine has the more number of phases, when motor or a changer phase therein or a few phase break down, it is possible to disengagement failure phase, adopt certain fault-tolerant operation algorithm, it is achieved the phase shortage downrating of motor, improve the reliability of system.

Polyphase machine kind is a lot, and dual three-phase induction machine is exactly the widely used polyphase machine of one of which. This motor stator side is by two sets spatially 30 ° of electrical angles of difference, and the three-phase windings composition that neutral point is mutually isolated, and rotor-side is generally cage-shaped structure. Basic dual three-phase induction machine controls to control for scalar, i.e. VVVF (VariableVelocityVariableFrequency, variable voltage variable frequency) control, in order to improve the runnability of motor, the vector controlled used in threephase asynchronous machine and Direct Torque Control are transplanted in dual three-phase induction machine by engineers and technicians. In recent years, for avoiding using the speed probe being connected with motor coaxle, improving the motor advantage at aspects such as cost, installation and reliabilities further, the control thinking of Speedless sensor is also introduced in the control field of dual three-phase induction machine. The control algolithm of the more commonly used Speedless sensor includes the algorithm based on voltage model, based on the algorithm of full order observer, based on the algorithm of Kalman filter, based on algorithm and the intelligent algorithm of model reference adaptive. These algorithms are all on the basis of motor ideal model, based on the observation of the information such as information realization motor magnetic linkage and rotating speed such as back-emf of motor, it is possible to realize good control effect in high speed operation area.

But, in low cruise district, especially pole low-speed region, owing to the impact of stator resistance deviation and Inverter Dead-time is comparatively obvious, the signal to noise ratio of winding back emf information reduces, the hydraulic performance decline of above-mentioned algorithm. One of effective means solving this problem is to utilize the non-ideal characteristic of motor, injected by high frequency, and the mode of magnetic linkage position that the structure salient pole of tracking motor or the saturated equivalent salient pole caused of magnetic circuit reflect, it is achieved properly functioning when Speedless sensor of motor. Existing high frequency method for implanting adopts and injects in first-harmonic subspace, and it is complex that injection is faced with signal extraction work, and the slot shape of rotor being suitable for exists restriction, can produce the problems such as obvious frequency torque pulsation. The existence of these problems have impact on the existing algorithm injected based on the high frequency operational effect in low regime and low regime, pole.

Summary of the invention

It is an object of the invention to provide a kind of control method for dual three-phase induction machine and device. Wherein, described method, by utilizing the non-ideal characteristic of dual three-phase induction machine and playing the advantage that dual three-phase induction machine controllable degrees of freedom is many, improves dual three-phase induction machine runnability under the low speed and pole speed operation of not operating speed sensor.

To achieve these goals, the present invention provides a kind of control method for dual three-phase induction machine. Described method includes:

First high-frequency voltage signal and the second high-frequency voltage signal are injected separately into first set three-phase windings and the second set three-phase windings of described dual three-phase induction machine stator side, it is achieved the high frequency in the harmonic wave subspace of described dual three-phase induction machine injects;

Obtain the high frequency electric response in described harmonic wave subspace;

Process according to described high frequency electric response and obtain stator magnetic linkage position angle;

Realize based on stator magnetic linkage oriented control according to described stator magnetic linkage position angle,

Wherein, described first high-frequency voltage signal is identical with the amplitude of described second high-frequency voltage signal, opposite in phase.

Alternatively, the described first set three-phase windings that first high-frequency voltage signal and the second high-frequency voltage signal are injected separately into described dual three-phase induction machine stator side and the second set three-phase windings, the high frequency of the harmonic wave subspace of real presently described dual three-phase induction machine injects, and specifically includes:

First set three-phase windings and the second set three-phase windings to described dual three-phase induction machine stator side implement Clarke conversion respectively, obtain described first set three-phase windings and described second set three-phase windings the first orthogonal winding under biphase rest frame and the second orthogonal winding respectively;

Described first high-frequency voltage signal and described second high-frequency voltage signal are injected separately into described first orthogonal winding and described second orthogonal winding.

Alternatively, the high frequency electric response in the described harmonic wave subspace of described acquisition, specifically include:

Gather the phase current of first set three-phase windings described in described harmonic wave subspace and the phase current of described second set three-phase windings;

The phase current of described first set three-phase windings and the phase current of described second set three-phase windings are implemented Clarke conversion respectively, obtains the phase current of described first set three-phase windings and the phase current current component under biphase rest frame respectively of described second set three-phase windings;

Calculate according to described current component and obtain high-frequency current component.

Alternatively, described process according to described high frequency electric response obtains stator magnetic linkage position angle, specifically includes:

Described high-frequency current component is implemented respectively Park conversion, the high-frequency current component after being converted;

Utilize low pass filter that the high-frequency current component after conversion is carried out low-pass filtering treatment, obtain comprising the low frequency component of stator magnetic linkage position angle;

By described low frequency component input to actuator, obtain the synchronous speed of estimation;

The synchronous speed of estimation is integrated, obtains the stator magnetic linkage position angle of estimation.

Alternatively, described according to described stator magnetic linkage position angle realize based on stator magnetic linkage oriented control, specifically include:

Described stator magnetic linkage position angle is made to follow the tracks of actual stator magnetic linkage position angle;

For angle of transformation, described current component is implemented Park conversion respectively with described stator magnetic linkage position angle, obtain described first set three-phase windings and described second set three-phase windings based on the current component in stator magnetic linkage oriented biphase synchronous rotating frame.

Correspondingly, the present invention also provides for a kind of control device for dual three-phase induction machine. Described device includes:

Injection unit, for the first high-frequency voltage signal and the second high-frequency voltage signal being injected separately into first set three-phase windings and the second set three-phase windings of described dual three-phase induction machine stator side, it is achieved the high frequency in the harmonic wave subspace of described dual three-phase induction machine injects;

Acquiring unit, for obtaining the high frequency electric response in described harmonic wave subspace;

Processing unit, obtains stator magnetic linkage position angle for processing according to described high frequency electric response;

Control unit, for realizing based on stator magnetic linkage oriented control according to described stator magnetic linkage position angle,

Wherein, described first high-frequency voltage signal is identical with the amplitude of described second high-frequency voltage signal, opposite in phase.

Alternatively, described injection unit, specifically for:

First set three-phase windings and the second set three-phase windings to described dual three-phase induction machine stator side implement Clarke conversion respectively, obtain described first set three-phase windings and described second set three-phase windings the first orthogonal winding under biphase rest frame and the second orthogonal winding respectively;

Described first high-frequency voltage signal and described second high-frequency voltage signal are injected separately into described first orthogonal winding and described second orthogonal winding.

Alternatively, described acquiring unit, specifically for:

Gather the phase current of first set three-phase windings described in described harmonic wave subspace and the phase current of described second set three-phase windings;

The phase current of described first set three-phase windings and the phase current of described second set three-phase windings are implemented Clarke conversion respectively, obtains the phase current of described first set three-phase windings and the phase current current component under biphase rest frame respectively of described second set three-phase windings;

Calculate according to described current component and obtain high-frequency current component.

Alternatively, described processing unit, specifically for:

Described high-frequency current component is implemented respectively Park conversion, the high-frequency current component after being converted;

Utilize low pass filter that the high-frequency current component after conversion is carried out low-pass filtering treatment, obtain comprising the low frequency component of stator magnetic linkage position angle;

By described low frequency component input to actuator, obtain the synchronous speed of estimation;

The synchronous speed of estimation is integrated, obtains the stator magnetic linkage position angle of estimation.

Alternatively, described control unit, specifically for:

Described stator magnetic linkage position angle is made to follow the tracks of actual stator magnetic linkage position angle;

For angle of transformation, described current component is implemented Park conversion respectively with described stator magnetic linkage position angle, obtain described first set three-phase windings and described second set three-phase windings based on the current component in stator magnetic linkage oriented biphase synchronous rotating frame.

Pass through technique scheme, high-frequency voltage signal is injected in the harmonic wave subspace of dual three-phase induction machine, and from harmonic wave subspace, obtain high frequency electric response, then, process according to high frequency electric response and obtain stator magnetic linkage position angle, finally, realize based on stator magnetic linkage oriented control according to stator magnetic linkage position angle. Relative to prior art, the torque pulsation that technique scheme produces in rotor-side is little, not by the impact of slot shape of rotor, and high frequency response signal extraction is easy, improves dual three-phase induction machine runnability under the low speed and pole speed operation of not operating speed sensor.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below. It should be evident that the accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these figure.

Fig. 1 is the flow chart of the control method for dual three-phase induction machine that one embodiment of the invention provides;

Fig. 2 is the schematic diagram for estimating stator magnetic linkage position angle that one embodiment of the invention provides;

Fig. 3 is the schematic diagram based on Stator flux oriented control that one embodiment of the invention provides;

Fig. 4 is the structural representation controlling device for dual three-phase induction machine that one embodiment of the invention provides.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.

Fig. 1 is the flow chart of the control method for dual three-phase induction machine that one embodiment of the invention provides. As it is shown in figure 1, the control method for dual three-phase induction machine that one embodiment of the invention provides includes:

In step S101, first high-frequency voltage signal and the second high-frequency voltage signal are injected separately into first set three-phase windings and the second set three-phase windings of described dual three-phase induction machine stator side, it is achieved the high frequency in the harmonic wave subspace of described dual three-phase induction machine injects.

Specifically, step S101 includes: first set three-phase windings and the second set three-phase windings to described dual three-phase induction machine stator side implement Clarke conversion respectively, obtains described first set three-phase windings and described second set three-phase windings the first orthogonal winding under biphase rest frame and the second orthogonal winding respectively; Described first high-frequency voltage signal and described second high-frequency voltage signal are injected separately into described first orthogonal winding and described second orthogonal winding. Wherein, described first high-frequency voltage signal is identical with the amplitude of described second high-frequency voltage signal, opposite in phase. Thereby, the high fdrequency component of injection does not produce torque pulsation in the rotor-side of dual three-phase induction machine, reduces high frequency and injects the noise of motor brought.

More specifically, when injecting high-frequency voltage signal, abc winding and uvw winding to dual three-phase induction machine stator side implement Clarke conversion respectively, and it is equivalent to two set orthogonal winding on static α β axle (biphase rest frame) respectively. The two set α β axle orthogonal winding obtained are injected separately into amplitude is identical, the high-frequency voltage signal of opposite in phase, it is achieved the high frequency in the harmonic wave subspace of dual three-phase induction machine injects. Concrete injection form is shown below:

$\left\{\begin{array}{c}{u}_{s\mathrm{\α}1h}=U_h\cos {\mathrm{\ω}}_{h}t\\ u_{s\mathrm{\α}2h}=-U_h\cos {\mathrm{\ω}}_{h}t\\ u_{s\mathrm{\β}1h}=U_h\sin {\mathrm{\ω}}_{h}t\\ u_{s\mathrm{\β}2h}=-U_{h}sin{\mathrm{\ω}}_{h}t\end{array}\right.$

Wherein, U_hThe amplitude of the high-frequency voltage signal for injecting, ω_hThe frequency of the high-frequency voltage signal for injecting, u_sα1h、u_sβ1hThe respectively frequency voltage components of the α axle of the first orthogonal winding after Clarke conversion and β axle, u_sα2h、u_sβ2hThe respectively frequency voltage components of the α axle of the second orthogonal winding after Clarke conversion and β axle.

Then, in step s 102, the high frequency electric response in described harmonic wave subspace is obtained.

Specifically, step S102 includes: gather the phase current of first set three-phase windings described in described harmonic wave subspace and the phase current of described second set three-phase windings; The phase current of described first set three-phase windings and the phase current of described second set three-phase windings are implemented Clarke conversion respectively, obtains the phase current of described first set three-phase windings and the phase current current component under biphase rest frame respectively of described second set three-phase windings; Calculate according to described current component and obtain high-frequency current component.

More specifically, Hall element is adopted to gather each phase current i of abc winding and uvw winding in harmonic wave subspace_a, i_b, i_c, i_u, i_v, i_w. With the axis of motor a phase winding for α axle, β axle is obtained by α axle half-twist counterclockwise, each phase current of abc winding and uvw winding is implemented Clarke conversion respectively and obtains abc winding and the current component i of each comfortable α axle of uvw winding and β axle_sα1, i_sβ1, i_sα2, i_sβ2. Utilize four current components obtained, calculate the current component i obtaining in harmonic wave subspace_sz1hAnd i_sz2h. Meanwhile, current component i_sz1hAnd i_sz2hAlso it is high-frequency current component. Concrete computing formula is:

$\left\{\begin{array}{c}{i}_{sz1h}=\frac{i_{s\mathrm{\α}1}-i_{s\mathrm{\α}2}}{2}\\ i_{sz2h}=\frac{i_{s\mathrm{\β}2}-i_{s\mathrm{\β}1}}{2}\end{array}\right.$

It should be noted that band filter or high pass filter need not be used in this step.

And then, in step s 103, stator magnetic linkage position angle is obtained according to described high frequency electric response process.

Specifically, step S103 includes: described high-frequency current component is implemented Park conversion, the high-frequency current component after being converted respectively; Utilize low pass filter that the high-frequency current component after conversion is carried out low-pass filtering treatment, obtain comprising the low frequency component of stator magnetic linkage position angle; By described low frequency component input to actuator, obtain the synchronous speed of estimation; The synchronous speed of estimation is integrated, obtains the stator magnetic linkage position angle of estimation. Thereby, extract the stator magnetic linkage position angle information obtained from high frequency electric responding not by the impact of slot shape of rotor, and equally applicable in the dual three-phase induction machine that rotor is closed slot or semi-enclosed slot.

Fig. 2 is the schematic diagram for estimating stator magnetic linkage position angle that one embodiment of the invention provides. As in figure 2 it is shown, more specifically, under the premise that the phase current of dual three-phase induction machine is well controlled, motor harmonic wave is absent from low-frequency current component in subspace, thus, i_sz1hAnd i_sz2hContaining only the high-frequency current component having desired extraction. Exist in motor harmonic wave subspace magnetic circuit saturated cause saliency time, i.e. the high-frequency inductor L of d axle_dhHigh-frequency inductor L with q axle_qhTime unequal, i_sz1hAnd i_sz2hExpression formula be:

$\left\{\begin{array}{c}{i}_{sz1h}=\frac{U_h}{2{\mathrm{\ω}}_h}\[(\frac{1}{L_{dh}}+\frac{1}{L_{qh}})cos({\mathrm{\ω}}_{h}t-\frac{\mathrm{\π}}{2})+(\frac{1}{L_{dh}}-\frac{1}{L_{qh}})cos(\frac{\mathrm{\π}}{2}+2\mathrm{\θ}-{\mathrm{\ω}}_{h}t)\]\\ i_{sz2h}=-\frac{U_h}{2{\mathrm{\ω}}_h}\[(\frac{1}{L_{dh}}+\frac{1}{L_{qh}})sin({\mathrm{\ω}}_{h}t-\frac{\mathrm{\π}}{2})+(\frac{1}{L_{dh}}-\frac{1}{L_{qh}})sin(\frac{\mathrm{\π}}{2}+2\mathrm{\θ}-{\mathrm{\ω}}_{h}t)\]\end{array}\right.$

Wherein, θ represents desired stator magnetic linkage position angle. In the formula, high-frequency current component i_sz1hAnd i_sz2hAll comprise positive-sequence component and negative sequence component. Wherein, positive-sequence component does not comprise stator magnetic linkage position angle information, and negative sequence component comprises stator magnetic linkage position angle information. To high-frequency current component i_sz1hAnd i_sz2hImplement Park conversion respectively, obtain high-frequency current component i_sz1hAnd i_sz2hIt is respectively at by ω_hHigh-frequency current component under the synchronous coordinate system reversely rotated. Concrete transformation for mula is:

$\begin{array}{c}{i}_{sz2h}\cos \left(\frac{\mathrm{\π}}{2}-{\mathrm{\ω}}_{h}t+2\widehat{\mathrm{\θ}}\right)+i_{sz1h}\sin \left(\frac{\mathrm{\π}}{2}-{\mathrm{\ω}}_{h}t+2\widehat{\mathrm{\θ}}\right)\\ =-\frac{U_h}{2{\mathrm{\ω}}_h}\left(\frac{1}{L_{dh}}+\frac{1}{L_{qh}}\right)\sin \left(2{\mathrm{\ω}}_{h}t-\mathrm{\π}-2\widehat{\mathrm{\θ}}\right)+\frac{U_h}{2{\mathrm{\ω}}_h}\left(\frac{1}{L_{qh}}-\frac{1}{L_{dh}}\right)\sin \left(2\mathrm{\θ}-2\widehat{\mathrm{\θ}}\right)\end{array}$

It should be noted that this formula be by conversion after high-frequency current component be added after the result that obtains. Then, the high-frequency current component after conversion is carried out low-pass filtering treatment by recycling low pass filter (Lowpassfilter, LPF), obtains comprising the low frequency component of stator magnetic linkage position angle. Then, by low frequency component input to pi regulator, the synchronous speed of estimation is obtainedSpecifically, based on the thinking of phaselocked loop, pi regulator is utilized to obtain the synchronous speed of estimationFinally, the synchronous speed to estimationIt is integrated, obtains the stator magnetic linkage position angle of estimation

Finally, in step S104, realize based on stator magnetic linkage oriented control according to described stator magnetic linkage position angle.

Specifically, step S104 includes: make described stator magnetic linkage position angle follow the tracks of actual stator magnetic linkage position angle; For angle of transformation, described current component is implemented Park conversion respectively with described stator magnetic linkage position angle, obtain described first set three-phase windings and described second set three-phase windings based on the current component in stator magnetic linkage oriented biphase synchronous rotating frame.

Fig. 3 is the schematic diagram based on Stator flux oriented control that one embodiment of the invention provides. As shown in Figure 3, more specifically, dual three-phase induction machine (Dualthreephaseinductionmachine, DTPIM) its abc winding and uvw winding are controlled respectively by two three-phase inverters, and adopt Hall element to realize the collection to abc winding and each phase current of uvw winding in harmonic wave subspace, obtain each phase current i_a, i_b, i_c, i_u, i_v, i_w. With the axis of motor a phase winding for α axle, β axle is obtained by α axle half-twist counterclockwise, each phase current of abc winding and uvw winding is implemented Clarke conversion respectively and obtains current component i_sα1, i_sβ1, i_sα2, i_sβ2. Wherein, involved in Fig. 2 current component i_sα1, i_sβ1, i_sα2, i_sβ2With the current component i in Fig. 3_sα1, i_sβ1, i_sα2, i_sβ2Identical.It is that Fig. 2 estimates the stator magnetic linkage position angle obtained. PressClarke is converted the current component i obtained_sα1, i_sβ1, i_sα2, i_sβ2Implement Park conversion respectively, obtain abc winding and uvw winding by the current component in stator magnetic linkage oriented dq axle synchronous rotating frameOverlap stator winding symmetrical operation by dual three-phase induction machine two, on average undertake the principle of power, in known stator magnetic linkage command valueAnd torque instruction valueWhen, the dq shaft current command value of double winding is calculated by following expression

$\left\{\begin{array}{c}{i}_{sd1}^{*}=i_{sd2}^{*}=i_{sd}^{*}=\frac{{\mathrm{\ψ}}_s^{*}}{L_s}\\ i_{sq1}^{*}=i_{sq2}^{*}=i_{sq}^{*}=\frac{T_e^{*}}{3n_p{\mathrm{\ψ}}_s^{*}}\end{array}\right.$

Wherein, L_sFor the stator inductance of motor, n_pNumber of pole-pairs for motor. Additionally, for the uneoupled control realizing stator magnetic linkage and motor torque in stator magnetic linkage oriented control, in addition it is also necessary in the d axle of double winding, add decoupling item

$i_{dq1}=i_{dq2}=\frac{{\mathrm{\σL}}_s{i}_{sq}^2}{{\mathrm{\ψ}}_s^{*}-{\mathrm{\σL}}_s{i}_{sd}^2}$

Wherein, σ L_sFor Stator transient leakage inductance,

After obtaining the dq shaft current component of double winding, four pi regulators are utilized to obtain corresponding voltage instructionRealize the closed loop control to four dq shaft current components. Recycle withFor the Park inverse transformation of angle of transformation, respectively general Transform to α β coordinate system (biphase rest frame), and by following expression overlapped high-frequency Injection Signal on the voltage instruction obtained

$\left\{\begin{array}{c}{u}_{s\mathrm{\α}1h}=U_h\cos {\mathrm{\ω}}_{h}t\\ u_{s\mathrm{\α}2h}=-U_h\cos {\mathrm{\ω}}_{h}t\\ u_{S\mathrm{\β}1h}=U_h\sin {\mathrm{\ω}}_{h}t\\ u_{S\mathrm{\β}2h}=-U_h\sin {\mathrm{\ω}}_{h}t\end{array}\right.$

Wherein, U_hThe amplitude of the high-frequency voltage signal for injecting, ω_hThe frequency of the high-frequency voltage signal for injecting. Adopt this expression formula, overlap two and three-phase windings inject amplitude is identical, the high-frequency voltage signal of opposite in phase, be achieved that the high frequency in dual three-phase induction machine harmonic wave subspace injects. Based on the characteristic of dual three-phase induction machine harmonic wave subspace, the high-frequency voltage signal injected will not produce frequency torque pulsation in the rotor-side of motor. After obtaining the voltage instruction comprising high frequency injection component, there is module by the SVPWM (SpaceVectorPulseWidthModulation, space vector pulse width modulation) of seven segmentations, control the voltage output of inverter.

The present embodiment by being injected in the harmonic wave subspace of dual three-phase induction machine by high-frequency voltage signal, and from harmonic wave subspace, obtain high frequency electric response, then, process according to high frequency electric response and obtain stator magnetic linkage position angle, finally, realize based on stator magnetic linkage oriented control according to stator magnetic linkage position angle. Relative to prior art, the torque pulsation that the present embodiment produces in rotor-side is little, not by the impact of slot shape of rotor, and high frequency response signal extraction is easy, improves dual three-phase induction machine runnability under the low speed and pole speed operation of not operating speed sensor.

For embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the embodiment of the present invention is not by the restriction of described sequence of movement, because according to the embodiment of the present invention, some step can adopt other orders or carry out simultaneously. Secondly, those skilled in the art also should know, embodiment described in this description belongs to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.

Fig. 4 is the structural representation controlling device for dual three-phase induction machine that one embodiment of the invention provides. As shown in Figure 4, the control device for dual three-phase induction machine that one embodiment of the invention provides includes:

Injection unit 201, for the first high-frequency voltage signal and the second high-frequency voltage signal being injected separately into first set three-phase windings and the second set three-phase windings of described dual three-phase induction machine stator side, it is achieved the high frequency in the harmonic wave subspace of described dual three-phase induction machine injects;

Acquiring unit 202, for obtaining the high frequency electric response in described harmonic wave subspace;

Processing unit 203, obtains stator magnetic linkage position angle for processing according to described high frequency electric response;

Control unit 204, for realizing based on stator magnetic linkage oriented control according to described stator magnetic linkage position angle,

Wherein, described first high-frequency voltage signal is identical with the amplitude of described second high-frequency voltage signal, opposite in phase.

In one embodiment of this invention, described injection unit 201, specifically for:

First set three-phase windings and the second set three-phase windings to described dual three-phase induction machine stator side implement Clarke conversion respectively, obtain described first set three-phase windings and described second set three-phase windings the first orthogonal winding under biphase rest frame and the second orthogonal winding respectively;

Described first high-frequency voltage signal and described second high-frequency voltage signal are injected separately into described first orthogonal winding and described second orthogonal winding.

In one embodiment of this invention, described acquiring unit 202, specifically for:

Gather the phase current of first set three-phase windings described in described harmonic wave subspace and the phase current of described second set three-phase windings;

The phase current of described first set three-phase windings and the phase current of described second set three-phase windings are implemented Clarke conversion respectively, obtains the phase current of described first set three-phase windings and the phase current current component under biphase rest frame respectively of described second set three-phase windings;

Calculate according to described current component and obtain high-frequency current component.

In one embodiment of this invention, described processing unit 203, specifically for:

Described high-frequency current component is implemented respectively Park conversion, the high-frequency current component after being converted;

Utilize low pass filter that the high-frequency current component after conversion is carried out low-pass filtering treatment, obtain comprising the low frequency component of stator magnetic linkage position angle;

By described low frequency component input to actuator, obtain the synchronous speed of estimation;

The synchronous speed of estimation is integrated, obtains the stator magnetic linkage position angle of estimation.

In one embodiment of this invention, described control unit 204, specifically for:

Described stator magnetic linkage position angle is made to follow the tracks of actual stator magnetic linkage position angle;

For angle of transformation, described current component is implemented Park conversion respectively with described stator magnetic linkage position angle, obtain described first set three-phase windings and described second set three-phase windings based on the current component in stator magnetic linkage oriented biphase synchronous rotating frame.

For one embodiment of the invention provide for dual three-phase induction machine control the detail that further relates to of device one embodiment of the invention provide for the control method of dual three-phase induction machine in done detailed description, do not repeat them here.

Should be noted that, in all parts of the system of the present invention, according to its function to realize, parts therein are carried out logical partitioning, but, the present invention is not only restricted to this, it is possible to as required all parts is repartitioned or combines, for instance, can be single parts by some unit constructions, or some parts can be further broken into more subassembly.

The all parts embodiment of the present invention can realize with hardware, or realizes with the software module run on one or more processor, or realizes with their combination. It will be understood by those of skill in the art that the some or all functions that microprocessor or digital signal processor (DSP) can be used in practice to realize the some or all parts in system according to embodiments of the present invention. The present invention is also implemented as part or all the equipment for performing method as described herein or device program (such as, computer program and computer program). The program of such present invention of realization can store on a computer-readable medium, or can have the form of one or more signal. Such signal can be downloaded from internet website and obtain, or provides on carrier signal, or provides with any other form.

The present invention will be described rather than limits the invention to it should be noted above-described embodiment, and those skilled in the art can design alternative embodiment without departing from the scope of the appended claims. In the claims, any reference marks that should not will be located between bracket is configured to limitations on claims. Word " comprises " and does not exclude the presence of the element or step not arranged in the claims. Word "a" or "an" before being positioned at element does not exclude the presence of multiple such element. The present invention by means of including the hardware of some different elements and can realize by means of properly programmed computer. In the unit claim listing some devices, several in these devices can be through same hardware branch and specifically embody. Word first, second and third use do not indicate that any order. Can be title by these word explanations.

Embodiment of above is only suitable to the present invention is described; and it is not limitation of the present invention; those of ordinary skill about technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes fall within scope of the invention, and the scope of patent protection of the present invention should be defined by the claims.

Claims (10)

1. the control method for dual three-phase induction machine, it is characterised in that described method includes:

First high-frequency voltage signal and the second high-frequency voltage signal are injected separately into first set three-phase windings and the second set three-phase windings of described dual three-phase induction machine stator side, it is achieved the high frequency in the harmonic wave subspace of described dual three-phase induction machine injects;

Obtain the high frequency electric response in described harmonic wave subspace;

Process according to described high frequency electric response and obtain stator magnetic linkage position angle;

Realize based on stator magnetic linkage oriented control according to described stator magnetic linkage position angle,

Wherein, described first high-frequency voltage signal is identical with the amplitude of described second high-frequency voltage signal, opposite in phase.

2. the control method for dual three-phase induction machine according to claim 1, it is characterized in that, the described first set three-phase windings that first high-frequency voltage signal and the second high-frequency voltage signal are injected separately into described dual three-phase induction machine stator side and the second set three-phase windings, the high frequency of the harmonic wave subspace of real presently described dual three-phase induction machine injects, and specifically includes:

First set three-phase windings and the second set three-phase windings to described dual three-phase induction machine stator side implement Clarke conversion respectively, obtain described first set three-phase windings and described second set three-phase windings the first orthogonal winding under biphase rest frame and the second orthogonal winding respectively;

Described first high-frequency voltage signal and described second high-frequency voltage signal are injected separately into described first orthogonal winding and described second orthogonal winding.

3. the control method for dual three-phase induction machine according to claim 1, it is characterised in that the high frequency electric response in the described harmonic wave subspace of described acquisition, specifically includes:

Gather the phase current of first set three-phase windings described in described harmonic wave subspace and the phase current of described second set three-phase windings;

The phase current of described first set three-phase windings and the phase current of described second set three-phase windings are implemented Clarke conversion respectively, obtains the phase current of described first set three-phase windings and the phase current current component under biphase rest frame respectively of described second set three-phase windings;

Calculate according to described current component and obtain high-frequency current component.

4. the control method for dual three-phase induction machine according to claim 3, it is characterised in that described process according to described high frequency electric response obtains stator magnetic linkage position angle, specifically includes:

Described high-frequency current component is implemented respectively Park conversion, the high-frequency current component after being converted;

Utilize low pass filter that the high-frequency current component after conversion is carried out low-pass filtering treatment, obtain comprising the low frequency component of stator magnetic linkage position angle;

By described low frequency component input to actuator, obtain the synchronous speed of estimation;

The synchronous speed of estimation is integrated, obtains the stator magnetic linkage position angle of estimation.

5. the control method for dual three-phase induction machine according to claim 3, it is characterised in that described according to described stator magnetic linkage position angle realize based on stator magnetic linkage oriented control, specifically include:

Described stator magnetic linkage position angle is made to follow the tracks of actual stator magnetic linkage position angle;

For angle of transformation, described current component is implemented Park conversion respectively with described stator magnetic linkage position angle, obtain described first set three-phase windings and described second set three-phase windings based on the current component in stator magnetic linkage oriented biphase synchronous rotating frame.

6. the control device for dual three-phase induction machine, it is characterised in that described device includes:

Injection unit, for the first high-frequency voltage signal and the second high-frequency voltage signal being injected separately into first set three-phase windings and the second set three-phase windings of described dual three-phase induction machine stator side, it is achieved the high frequency in the harmonic wave subspace of described dual three-phase induction machine injects;

Acquiring unit, for obtaining the high frequency electric response in described harmonic wave subspace;

Processing unit, obtains stator magnetic linkage position angle for processing according to described high frequency electric response;

Control unit, for realizing based on stator magnetic linkage oriented control according to described stator magnetic linkage position angle,

Wherein, described first high-frequency voltage signal is identical with the amplitude of described second high-frequency voltage signal, opposite in phase.

7. the control device for dual three-phase induction machine according to claim 6, it is characterised in that described injection unit, specifically for:

First set three-phase windings and the second set three-phase windings to described dual three-phase induction machine stator side implement Clarke conversion respectively, obtain described first set three-phase windings and described second set three-phase windings the first orthogonal winding under biphase rest frame and the second orthogonal winding respectively;

Described first high-frequency voltage signal and described second high-frequency voltage signal are injected separately into described first orthogonal winding and described second orthogonal winding.

8. the control device for dual three-phase induction machine according to claim 6, it is characterised in that described acquiring unit, specifically for:

Gather the phase current of first set three-phase windings described in described harmonic wave subspace and the phase current of described second set three-phase windings;

The phase current of described first set three-phase windings and the phase current of described second set three-phase windings are implemented Clarke conversion respectively, obtains the phase current of described first set three-phase windings and the phase current current component under biphase rest frame respectively of described second set three-phase windings;

Calculate according to described current component and obtain high-frequency current component.

9. the control device for dual three-phase induction machine according to claim 8, it is characterised in that described processing unit, specifically for:

Described high-frequency current component is implemented respectively Park conversion, the high-frequency current component after being converted;

Utilize low pass filter that the high-frequency current component after conversion is carried out low-pass filtering treatment, obtain comprising the low frequency component of stator magnetic linkage position angle;

By described low frequency component input to actuator, obtain the synchronous speed of estimation;

The synchronous speed of estimation is integrated, obtains the stator magnetic linkage position angle of estimation.

10. the control device for dual three-phase induction machine according to claim 8, it is characterised in that described control unit, specifically for:

Described stator magnetic linkage position angle is made to follow the tracks of actual stator magnetic linkage position angle;

For angle of transformation, described current component is implemented Park conversion respectively with described stator magnetic linkage position angle, obtain described first set three-phase windings and described second set three-phase windings based on the current component in stator magnetic linkage oriented biphase synchronous rotating frame.