CN105811842B - A kind of indirect vector control system of induction conductivity feed-forward type and its control method - Google Patents
A kind of indirect vector control system of induction conductivity feed-forward type and its control method Download PDFInfo
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Abstract
The present invention relates to a kind of indirect vector control system of induction conductivity feed-forward type and its control method, which includes speed control, LmParameter divider, TrParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, add operation controller, integral controller, two-phase rotation/three phase static coordinate conversion circuit, Hysteresis Current tracking PWM signal generator, voltage source inverter and induction conductivity.Compared with conventional art, the present invention no longer needs LmParameter multiplicative operator, and it is the increase in a low cutoff frequency low-pass filter, solve the rotor flux linkage vector amplitude vibration of traditional control system acutely, rotor flux and electromagnetic torque cannot decouple and cannot the permanent problem for accelerating to start well, so that the vibration of induction conductivity rotor flux linkage vector amplitude greatly reduces, really realize induction conductivity magnetic linkage and the decoupling control of torque, the control performance of system is reached the level of Double closed loop DC speed.
Description
Technical field
The present invention relates to induction conductivity frequency control field, more particularly to a kind of induced electricity using vector control technology
Motivation frequency conversion speed-adjusting system and control method.
Background technology
Induction conductivity is widely used in commercial Application, due to its reliability, robustness, low cost and relatively low
The reasons such as maintenance.Motor-driven power consumption accounts for more than the 50% of total electricity in the industry, and motor-driven power consumption
65% above is by induction conductivity consumption.Although the principle of induction conductivity was just grasped before 100 years by people,
Still there is sizable progress realizing.This is because the progress of material, Power Electronic Technique and high speed digital controller.Gao Xing
The motor driving application of energy needs quick torque response.And the progress of power electronic equipment and high-speed controller, it can provide
Quick induction machine torque response control.
Vector controlled is a kind of induction conductivity method for controlling frequency conversion of high dynamic performance.Vector controlled is by controlling electricity
Frequency, amplitude and the instantaneous position of pressure, electric current and flux linkage vector, realize the decoupling control of torque and magnetic linkage, so as to obtain quick
Torque response control.Vector controlled, also referred to as Field orientable control, were suggested in 1972.Darmstadt polytechnical university
Professor K.Hasse proposes indirect vector controlled, and the F.Blaschke engineer of Siemens Company is in proposing direct vector control
System.Although being all vector controlled, the implementation method of the two is different.
Direct vector control uses magnetic linkage closed-loop control mode, and rotor flux linkage vector is obtained by measurement or flux observer
Amplitude and spatial positional information, realize the decoupling control of torque and magnetic linkage；Indirect vector controlled uses magnetic linkage opened loop control side
Formula, tries to achieve slip frequency by the slip frequency calculation formula in vector controlled equation, after being added with motor speed, passes through product
Divide to calculate the locus of rotor flux linkage vector, realize the decoupling control of torque and magnetic linkage.
Indirect vector control method is relatively simple for structure, and can eliminate the fluctuation of torque current in dynamic process, carries
The dynamic property of high governing system.Meanwhile indirect vector controlled has the control accuracy of higher in full speed range, especially exists
During low speed.Therefore the vector controlled universal frequency converter of early stage is essentially all using indirect vector control mode.Indirect vector control
Method processed has two kinds, wherein common one kind is the indirect vector controlled of feed-forward type, exactly realizes rotor using given input signal
The calculating of flux linkage vector locus, so as to fulfill the control to induction conductivity.
Mathematical model of the asynchronous motor under mt synchronous rotating frames is described as follows：
In formula, LrFor inductor rotor, LmThe mutual inductance between stator and rotor, LsFor stator inductance, RrFor rotor resistance, RsIt is fixed
Sub- resistance, TrFor rotor time constant, ωsFor slip angular velocity, ωrFor rotor velocity, ω1For synchronous angular velocity, TeFor electricity
Magnetic torque, TLFor load torque, J is rotary inertia, npFor number of pole-pairs.
ψrFor the amplitude of rotor flux linkage vector, ismFor stator current excitation component, istFor stator current torque component, usm
For stator voltage m axis components, ustFor stator voltage t axis components.
By rotor field-oriented, stator current is broken down into stator current excitation component ismWith stator current torque component
ist.Formula (1), which is arranged, to be obtained
From formula (7), the amplitude ψ of rotor flux linkage vectorrOnly stator current excitation component ismProduce, with stator current
Torque component istIt is unrelated.
From formula (5), in the amplitude ψ of rotor flux linkage vectorrIn the case of constant, electromagnetic torque TeTurned by stator current
Square component istIt is unique to determine.So as to as dc motor, realize the decoupling control of magnetic linkage and electromagnetic torque.
From formula (2), in the amplitude ψ of rotor flux linkage vectorrIn the case of constant, by controlling slip angular velocity ωsJust
Stator current torque component i can be controlledst, so as to control the electromagnetic torque of induction conductivity.Indirect vector controlled is exactly to utilize
Slip formula (2) in vector controlled equation forms the vector control system of Machine Slip, realizes rotor flux linkage vectorIt is indirect
Vector controlled.
Fig. 1 is the indirect vector control system schematic diagram of induction conductivity conventional feed forward type.Its operation principle is exactly to utilize
Rotational speed setup signalWith feedback signal ωrDifference the Setting signal of stator current torque component is obtained by speed controlUtilize the Setting signal of rotor flux linkage vector amplitudePass through LmParameter divider obtains stator current excitation component
Setting signal
Utilize the Setting signal of rotor flux linkage vector amplitudeWith the Setting signal of stator current torque componentPass through Lm
Parameter multiplicative operator, TrParameter divider and division arithmetic controller obtain out the Setting signal of slip angular velocity
Recycle the feedback signal ω of rotating speedrWith the Setting signal of slip angular velocitySynchronous rotational speed is obtained by add operation controller
Setting signalAnd the locus signal of rotor flux linkage vector is obtained by integral controller
Utilize the locus signal of rotor flux linkage vector/ three phase static coordinate conversion circuit is rotated by two-phase,
The Setting signal of stator current torque componentWith the Setting signal of stator current excitation componentIt is converted into threephase stator electric current
Setting signalAnd with the feedback signal i of threephase stator electric currentsa、isb、iscCompare, pass through Hysteresis Current
Tracking PWM signal generator obtains the control signal S of driving invertera、Sb、Sc, utilize control signal Sa、Sb、ScGo to drive inverse
Become device work, so as to fulfill the decoupling control to torque and magnetic linkage.
Fig. 2-5 is the rotor flux amplitude waveform of the indirect vector control system of induction conductivity conventional feed forward type respectively, determines
Electron current torque component waveform, electromagnetic torque waveform and speed waveform.From Fig. 2-5 as can be seen that induction conductivity acceleration
In the dynamic stage, since the vibration of rotor flux linkage vector amplitude is violent, cause rotor flux to be decoupled well with electromagnetic torque, institute
With, although stator current torque component keeps constant maximum, electromagnetic torque cannot be always maintained at constant maximum value, so that
Cause induction conductivity to accelerate start-up period permanent as Double closed loop DC speed cannot accelerate to start, reduce induced electricity
The control performance of the indirect vector control system of motivation conventional feed forward type.
In view of the above-mentioned existing indirect vector control system of induction conductivity feed-forward type there are the defects of, the present inventor's base
In rich experiences and professional knowledge for many years, actively it is subject to research and innovation, to found a kind of new induction conductivity feedforward
The indirect vector control system of type and its control method, can improve general existing control system there are the defects of, have more it
Practicality, by constantly research, design, creates the present invention having practical value finally.
The content of the invention
It is an object of the invention to provide a kind of indirect vector control system of induction conductivity feed-forward type and its control method,
Violent, rotor flux is vibrated to solve the rotor flux linkage vector amplitude of the indirect vector control system of induction conductivity conventional feed forward type
Cannot be decoupled well with electromagnetic torque accelerates start-up period permanent cannot accelerate the problems such as starting with induction conductivity so that sensing
The vibration of motor rotor flux linkage vector amplitude greatly reduces, and really realizes induction conductivity magnetic linkage and the decoupling control of torque, makes
The control performance of system reaches the level of Double closed loop DC speed.
The object of the invention to solve the technical problems is realized using following technical scheme.
According to a kind of indirect vector control system of induction conductivity feed-forward type proposed by the present invention, including speed control
Device, LmParameter divider, TrParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, addition
Arithmetic and control unit, integral controller, two-phase rotation/three phase static coordinate conversion circuit, Hysteresis Current track pwm signal
Device, voltage source inverter and induction conductivity；
The input terminal and L of the low cutoff frequency low-pass filtermParameter divider connects, TrParameter division arithmetic
The input terminal of device is connected with speed control；The first input end and T of the division arithmetic controllerrParameter divider connects
Connect, the second input terminal is connected with low cutoff frequency low-pass filter；The first input end and division of the add operation controller
Arithmetic and control unit connects, and the second input terminal is connected with Kind of Speed Measuring Circuit；The input terminal of the integral controller and add operation
Controller connects；
The first input end of the two-phase rotation/three phase static coordinate conversion circuit is connected with speed control, and second is defeated
Enter end and LmParameter divider connects, and the 3rd input terminal is connected with integral controller；The Hysteresis Current tracks pwm signal
First, second and third input terminal of generator is connected with two-phase rotation/three phase static coordinate conversion circuit, fourth, fifth, six input terminals
It is connected with current measurement circuit；The Hysteresis Current tracking PWM signal generator passes through voltage source inverter and induction electric
Machine connects.
A kind of foregoing indirect vector control system of induction conductivity feed-forward type, wherein, the low cutoff frequency low-pass
Ripple device is the Setting signal the stator current excitation component of step mutationBecome the slowly varying m axis components to constant current
SignalA kind of wave filter.
A kind of foregoing indirect vector control system of induction conductivity feed-forward type, wherein, the TrParameter divider
It is exactly the Setting signal stator current torque componentDivided by rotor time constant TrObtain the t axis component signals to constant currentA kind of arithmetic unit.
A kind of foregoing indirect vector control system of induction conductivity feed-forward type, wherein, the division arithmetic controller is just
It is the t axis component signals to constant currentDivided by the m axis component signals to constant currentObtain the Setting signal of slip angular velocityA kind of controller.
The object of the invention to solve the technical problems can also further be realized using following technical scheme.
A kind of control method of aforementioned control system, it specifically includes following steps：
(1), setup parameter, specifically includes：Set the Setting signal of rotor flux linkage vector amplitudeWith the given letter of speed
NumberThe scale parameter K of setting speed controllerpWith integral parameter KI, set LmThe parameter L of parameter dividerm, set Tr
The parameter T of parameter dividerr, set the cutoff frequency ω of low cutoff frequency low-pass filterc, setting electric current hysteresis loop tracking
The hysteresis band h of PWM signal generator；
(2), the feedback signal ω of rotating speed is obtained by Kind of Speed Measuring Circuitr；
(3), the feedback signal i of threephase stator electric current is obtained by current measurement circuitsa、isb、isc；
(4), the Setting signal of stator current torque component is obtained using speed control
(5), L is utilizedmParameter divider calculates the Setting signal of stator current excitation component
Arrangement formula (7) obtains the Setting signal of rotor flux linkage vector amplitudeWith the Setting signal of stator current excitation componentRelational expression：
Due to the Setting signal of rotor flux linkage vector amplitudeIt is constant, therefore, formula (8) can also be changed into
(6), T is utilizedrParameter divider calculates the t axis component signals to constant current
The Setting signal of stator current torque componentWith the t axis component signals to constant currentRelational expression be
(7), the m axis component signals to constant current are obtained using low cutoff frequency low-pass filter
The Setting signal of stator current excitation componentWith the m axis component signals to constant currentRelational expression be
(8), the Setting signal of slip angular velocity is calculated using division arithmetic controller
The Setting signal of slip angular velocityWith the t axis component signals to constant currentWith the m axis components letter to constant current
NumberRelational expression be
(9), the Setting signal of synchronous rotational speed is calculated using add operation controller
The Setting signal of synchronous rotational speedWith the feedback signal ω of rotating speedrWith the Setting signal of slip angular velocityRelation
Formula is
(10), the locus signal of rotor flux linkage vector is calculated using integral controller
The locus signal of rotor flux linkage vectorWith the Setting signal of synchronous rotational speedRelational expression is
(11), rotated using two-phase/three phase static coordinate conversion circuit obtains the Setting signal of threephase stator electric current
The Setting signal of stator current excitation componentWith the Setting signal of stator current torque componentAccording to rotor
The locus signal of flux linkage vectorIt is converted into the Setting signal of threephase stator electric currentTwo-phase rotation/three-phase
The expression formula of static coordinate translation circuit is
(12), the control signal S of Hysteresis Current tracking PWM signal generator generation driving inverter is utilizeda、Sb、Sc；
The Setting signal of threephase stator electric currentRespectively with the feedback signal i of threephase stator electric currentsa、isb、
iscCompare：
A phases：WhenWhen, Sa=1；WhenWhen, Sa=0.
B phases：WhenWhen, Sb=1；WhenWhen, Sb=0.
C phases：WhenWhen, Sc=1；WhenWhen, Sc=0.
(13), the control signal S for driving inverter is utilizeda、Sb、ScThe type inverter work of driving voltage source, is realized to sensing
The control of motor.
The method have the characteristics that：Setting signal using low cutoff frequency low-pass filter stator current excitation component(rather than the Setting signal of rotor flux linkage vector amplitude) it is changed into m axis component signals to constant currentOnly need profit at the same time
Use TrParameter divider is (without recycling LmParameter multiplicative operator) the Setting signal of stator current torque componentBecome
For the t axis component signals to constant currentUsing division arithmetic controller the t axis component signals to constant currentWith given electricity
The m axis component signals of streamIt is divided by the Setting signal for obtaining slip angular velocityUsing add operation controller the anti-of rotating speed
Feedback signal ωrWith the Setting signal of slip angular velocityAddition obtains the Setting signal of synchronous rotational speedRecycle integration control
Setting signal of the device synchronous rotational speedIt is changed into the locus signal of rotor flux linkage vectorAccording to the sky of rotor flux linkage vector
Between position signal/ three phase static coordinate conversion circuit and Hysteresis Current tracking PWM signal generator generation are rotated using two-phase
Drive the control signal S of invertera、Sb、Sc；Finally utilize the control signal S for driving invertera、Sb、ScGo driving inverter work
Make, so as to fulfill the decoupling control to induction conductivity torque and magnetic linkage.
The present invention has clear advantage and beneficial effect compared with prior art, by above-mentioned technical proposal, the present invention
A kind of control device of the indirect vector control system of induction conductivity feed-forward type can reach suitable technological progress and practicality,
And with the extensive utility value in industry, it at least has following advantages：
(1) present invention omits LmParameter multiplicative operator, only need to utilize TrParameter divider is stator current torque
The Setting signal of componentIt is changed into the t axis component signals to constant currentNo longer use the given letter of rotor flux linkage vector amplitude
NumberAs input signal, but use the Setting signal of stator current excitation componentIt is low as input signal, increase by one
Setting signal of the cutoff frequency low-pass filter stator current excitation componentIt is changed into the m axis component signals to constant current
Then the locus of rotor flux linkage vector is calculated using division arithmetic controller, add operation controller and integral controller
SignalRealize the control to induction conductivity.
(2) compared with the indirect vector control system of induction conductivity conventional feed forward type, the invention enables induction conductivity to turn
Sub- flux linkage vector amplitude vibration greatly reduces, and accelerates stator current torque component istDynamic response, ensure that rotating speed rise
Dynamic stage electromagnetic torque is always maintained at constant maximum value, so that ensure that the permanent of induction conductivity accelerates to start, it is final really real
Existing induction conductivity magnetic linkage and the decoupling control of torque so that the control performance of system reaches the water of Double closed loop DC speed
It is flat.Simulation results show has reached expected purpose.
In conclusion a kind of indirect vector control system of induction conductivity feed-forward type of the present invention and its control method are in technology
On have significant progress, and there is obvious good effect, be really a new and innovative, progressive, practical new design.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below especially exemplified by preferred embodiment, and coordinate attached drawing, describe in detail as follows.
Brief description of the drawings
The structure diagram of the indirect vector control system of Fig. 1 induction conductivity conventional feed forward types.
The rotor flux amplitude waveform of the indirect vector control system of Fig. 2 induction conductivity conventional feed forward types.
The stator current torque component waveform of the indirect vector control system of Fig. 3 induction conductivity conventional feed forward types.
The electromagnetic torque waveform of the indirect vector control system of Fig. 4 induction conductivity conventional feed forward types.
The speed waveform of the indirect vector control system of Fig. 5 induction conductivity conventional feed forward types.
The structure diagram of the indirect vector control system of the new feed-forward type of Fig. 6 induction conductivities.
The rotor flux amplitude waveform of the indirect vector control system of the new feed-forward type of Fig. 7 induction conductivities.
The stator current torque component waveform of the indirect vector control system of the new feed-forward type of Fig. 8 induction conductivities.
The electromagnetic torque waveform of the indirect vector control system of the new feed-forward type of Fig. 9 induction conductivities.
The speed waveform of the indirect vector control system of the new feed-forward type of Figure 10 induction conductivities.
【Main element symbol description】
M:Induction conductivity
Embodiment
Further to illustrate the present invention to reach the technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Attached drawing and preferred embodiment, to according to a kind of indirect vector control system of induction conductivity feed-forward type proposed by the present invention and its control
Method processed, its embodiment, structure, feature and its effect, describe in detail as after.
A kind of indirect vector control system of induction conductivity feed-forward type of the present invention, including speed control, LmParameter division
Arithmetic unit, TrParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, add operation controller, product
Sub-controller, two-phase rotation/three phase static coordinate conversion circuit, Hysteresis Current tracking PWM signal generator, voltage-source type inversion
Device and induction conductivity；
Wherein, the input terminal and L of low cutoff frequency low-pass filtermParameter divider connects, TrParameter division arithmetic
The input terminal of device is connected with speed control；The first input end and T of division arithmetic controllerrParameter divider connects,
Second input terminal is connected with low cutoff frequency low-pass filter；The first input end of add operation controller is controlled with division arithmetic
Device connects, and the second input terminal is connected with Kind of Speed Measuring Circuit；The input terminal of integral controller is connected with add operation controller；
The first input end of two-phase rotation/three phase static coordinate conversion circuit is connected with speed control, the second input terminal
With LmParameter divider connects, and the 3rd input terminal is connected with integral controller；The Hysteresis Current tracks pwm signal
First, second and third input terminal of device is connected with two-phase rotation/three phase static coordinate conversion circuit, fourth, fifth, six input terminals and electricity
Flow measurement circuitry connects；Hysteresis Current tracking PWM signal generator is connected by voltage source inverter with induction conductivity.
To speed control, LmParameter divider, TrParameter divider, low cutoff frequency low-pass filter, remove
Method arithmetic and control unit, add operation controller, integral controller, two-phase rotation/three phase static coordinate conversion circuit and current hysteresis
Ring tracking PWM signal generator is respectively described below：
(1) speed control
Speed control passes through the Setting signal to rotating speedWith the feedback signal ω of rotating speedrDifference output is adjusted
The Setting signal of stator current torque componentSpeed control uses pi controller, is realized using following formula：
Induction conductivity electromagnetic torque after rotor field-oriented can be expressed as：
From formula (17), in rotor flux amplitudeUnder conditions of constant, electromagnetic torque and stator current torque componentIt is directly proportional, as long as therefore can follow one's bent and control stator current torque componentElectricity with regard to induction conductivity can be controlled
Magnetic torque, so as to obtain high performance Alternating Current Governor System.
(2)LmParameter divider
LmSetting signal of the parameter divider rotor flux linkage vector amplitudeDivided by the rotor of induction conductivity
Mutual inductance LmObtain the Setting signal of stator current excitation component
Arrangement formula (7) obtains the Setting signal of rotor flux linkage vector amplitudeWith the Setting signal of stator current excitation componentRelational expression：
In formula, s is differential operator, due to the Setting signal of rotor flux linkage vector amplitudeIt is constant,
Therefore, formula (8) can also be changed into
(3)TrParameter divider
TrParameter divider is exactly the Setting signal stator current torque componentDivided by rotor time constant Tr
To the t axis component signals to constant current
The Setting signal of stator current torque componentWith the t axis component signals to constant currentRelational expression be
(4) low cutoff frequency low-pass filter
Low cutoff frequency low-pass filter is exactly the Setting signal the stator current excitation component of step mutationBecome
The slowly varying m axis component signals to constant current
The Setting signal of stator current excitation componentWith the m axis component signals to constant currentRelational expression be
(5) division arithmetic controller
Division arithmetic controller is exactly the t axis component signals to constant currentDivided by the m axis component signals to constant current
Obtain the Setting signal of slip angular velocity
The Setting signal of slip angular velocityWith the t axis component signals to constant currentWith the m axis component signals to constant currentRelational expression be
(6) add operation controller
Add operation controller is exactly the feedback signal ω rotating speedrWith the Setting signal of slip angular velocityAddition obtains
The Setting signal of synchronous rotational speed
The Setting signal of synchronous rotational speedWith the feedback signal ω of rotating speedrWith the Setting signal of slip angular velocityRelation
Formula is
(7) integral controller
Integral controller is exactly the Setting signal synchronous rotational speedIntegration obtains the space bit confidence of rotor flux linkage vector
Number
The locus signal of rotor flux linkage vectorWith the Setting signal of synchronous rotational speedRelational expression is
(8) two-phase rotation/three phase static coordinate conversion circuit
Two-phase rotation/three phase static coordinate conversion circuit is exactly the locus signal according to rotor flux linkage vectorFixed
The Setting signal of electron current excitation componentWith the Setting signal of stator current torque componentIt is converted into threephase stator electric current
Setting signal
The expression formula of two-phase rotation/three phase static coordinate conversion circuit is
(9) Hysteresis Current tracking PWM signal generator
Hysteresis Current tracking PWM signal generator is exactly the Setting signal threephase stator electric currentWith three-phase
The feedback signal i of stator currentsa、isb、iscCompare to obtain the control signal S of driving invertera、Sb、Sc。
The Setting signal of threephase stator electric currentRespectively with the feedback signal i of threephase stator electric currentsa、isb、
iscCompare：
A phases：WhenWhen, Sa=1；WhenWhen, Sa=0.
B phases：WhenWhen, Sb=1；WhenWhen, Sb=0.
C phases：WhenWhen, Sc=1；WhenWhen, Sc=0.
Finally, the control signal S for driving inverter is utilizeda、Sb、ScThe type inverter work of driving voltage source, is realized to sensing
The control of motor.
The structure diagram of the indirect vector control system of the new feed-forward type of induction conductivity of the present invention is as shown in Figure 6.
Deviation signal first with speed control rotating speedIt is changed into stator current torque component
Setting signalUtilize LmSetting signal of the parameter divider rotor flux linkage vector amplitudeIt is changed into stator current excitation
The Setting signal of componentSecondly T is utilizedrSetting signal of the parameter divider stator current torque componentBe changed into
The t axis component signals of constant currentSetting signal using low cutoff frequency low-pass filter stator current excitation component
It is changed into the m axis component signals to constant currentDivision arithmetic controller is reused the t axis component signals to constant currentWith
M axis component signals to constant currentIt is divided by the Setting signal for obtaining slip angular velocityTurned using add operation controller handle
The feedback signal ω of speedrWith the Setting signal of slip angular velocityAddition obtains the Setting signal of synchronous rotational speedRecycle product
Setting signal of the sub-controller synchronous rotational speedIt is changed into the locus signal of rotor flux linkage vectorThen revolved using two-phase
Turn/three phase static coordinate conversion circuit is according to the locus signal of rotor flux linkage vectorGiving for stator current torque component
Determine signalWith the Setting signal of stator current excitation componentIt is converted into the Setting signal of threephase stator electric current
Setting signal using Hysteresis Current tracking PWM signal generator threephase stator electric currentWith threephase stator electricity
The feedback signal i of streamsa、isb、iscCompare to obtain the control signal S of driving invertera、Sb、Sc；Finally using driving inverter
Control signal Sa、Sb、ScDriving inverter work is gone, so as to fulfill the decoupling control to torque and magnetic linkage.
Specifically, it contains following steps successively：
1：Set the Setting signal of rotor flux linkage vector amplitudeWith the Setting signal of speed
2：The scale parameter K of setting speed controllerpWith integral parameter KI；
3：Set LmThe parameter L of parameter dividerm；
4：Set TrThe parameter T of parameter dividerr；
5：Set the cutoff frequency ω of low cutoff frequency low-pass filterc；
6：The hysteresis band h of setting electric current hysteresis loop tracking PWM signal generator；
7：The feedback signal ω of rotating speed is obtained by Kind of Speed Measuring Circuitr；
8：The feedback signal i of threephase stator electric current is obtained by current measurement circuitsa、isb、isc；
9：The Setting signal of stator current torque component is obtained using speed control
10：Utilize LmParameter divider calculates the Setting signal of stator current excitation component
11：Utilize TrParameter divider calculates the t axis component signals to constant current
12：The m axis component signals to constant current are obtained using low cutoff frequency low-pass filter
13：The Setting signal of slip angular velocity is calculated using division arithmetic controller
14：The Setting signal of synchronous rotational speed is calculated using add operation controller
15：The locus signal of rotor flux linkage vector is calculated using integral controller
16：Rotated using two-phase/three phase static coordinate conversion circuit obtains out the Setting signal of threephase stator electric current
17：Utilize the control signal S of Hysteresis Current tracking PWM signal generator generation driving invertera、Sb、Sc；
18：Utilize the control signal S for driving invertera、Sb、ScInverter work is driven, realizes the control to induction conductivity
System.
To verify the method for the present invention, simulating, verifying is carried out using MATLAB2010a.After speed control parameter tuning, Kp
=10.3, KI=21.4.
Fig. 7 is the rotor flux amplitude waveform of the indirect vector control system of the new feed-forward type of induction conductivity, and Fig. 8 is sensing
The stator current torque component waveform of the indirect vector control system of the new feed-forward type of motor；Fig. 9 for induction conductivity it is new before
The electromagnetic torque waveform of the indirect vector control system of feedback type；Figure 10 is the indirect vector control system of the new feed-forward type of induction conductivity
Speed waveform.
Compare Fig. 2-5 and Fig. 7-10 to understand, the invention enables the vibration of induction conductivity rotor flux linkage vector amplitude to subtract significantly
It is small, accelerate stator current torque component istDynamic response, ensure that and be always maintained at perseverance in rotating speed start-up period electromagnetic torque
Determine maximum, so as to ensure that the permanent of induction conductivity accelerates to start, finally really realize induction conductivity magnetic linkage and torque
Decoupling control so that the control performance of system reaches the level of Double closed loop DC speed.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent change and modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (4)
1. a kind of indirect vector control system of induction conductivity feed-forward type, it is characterised in that it includes speed control, LmParameter is removed
Method arithmetic unit, TrParameter divider, low cutoff frequency low-pass filter, division arithmetic controller, add operation controller,
Integral controller, two-phase rotation/three phase static coordinate conversion circuit, Hysteresis Current tracking PWM signal generator, voltage-source type are inverse
Become device and induction conductivity；
The input terminal and L of the low cutoff frequency low-pass filtermParameter divider connects, TrParameter divider
Input terminal is connected with speed control；The LmSetting signal of the parameter divider rotor flux linkage vector amplitudeDivided by
The rotor mutual inductance L of induction conductivitymObtain the Setting signal of stator current excitation componentThe TrParameter divider
It is the Setting signal stator current torque componentDivided by rotor time constant TrObtain the t axis component signals to constant current
A kind of arithmetic unit；
The division arithmetic controller is the t axis component signals to constant currentDivided by the m axis component signals to constant current
To the Setting signal of slip angular velocityA kind of controller；The first input end and T of division arithmetic controllerrParameter division is transported
Device connection is calculated, the second input terminal is connected with low cutoff frequency low-pass filter；
The first input end of the add operation controller is connected with division arithmetic controller, the second input terminal and tachometric survey electricity
Road connects；
The input terminal of the integral controller is connected with add operation controller；
The first input end of the two-phase rotation/three phase static coordinate conversion circuit is connected with speed control, the second input terminal
With LmParameter divider connects, and the 3rd input terminal is connected with integral controller；
First, second and third input terminal of the Hysteresis Current tracking PWM signal generator becomes with two-phase rotation/three phase static coordinate
Circuit connection is changed, fourth, fifth, six input terminals are connected with current measurement circuit；
The Hysteresis Current tracking PWM signal generator is connected by voltage source inverter with induction conductivity.
2. a kind of indirect vector control system of induction conductivity feed-forward type as claimed in claim 1, it is characterised in that described low
Cutoff frequency low-pass filter is the Setting signal the stator current excitation component of step mutationBecome the m axis to constant current
Component signalA kind of wave filter.
3. a kind of control method of control system as claimed in claim 1, it is characterised in that comprise the following steps：
(1), setup parameter, specifically includes：Set the Setting signal of rotor flux linkage vector amplitudeWith the Setting signal of speed
The scale parameter K of setting speed controllerpWith integral parameter KI, set LmThe parameter L of parameter dividerm, set TrParameter
The parameter T of dividerr, set the cutoff frequency ω of low cutoff frequency low-pass filterc, setting electric current hysteresis loop tracking PWM letters
The hysteresis band h of number generator；
(2), the feedback signal ω of rotating speed is obtained by Kind of Speed Measuring Circuitr；
(3), the feedback signal i of threephase stator electric current is obtained by current measurement circuitsa、isb、isc；
(4), the Setting signal of stator current torque component is obtained using speed control
(5), L is utilizedmParameter divider calculates the Setting signal of stator current excitation component
(6), T is utilizedrParameter divider calculates the t axis component signals to constant current
(7), the m axis component signals to constant current are obtained using low cutoff frequency low-pass filter
(8), the Setting signal of slip angular velocity is calculated using division arithmetic controller
(9), the Setting signal of synchronous rotational speed is calculated using add operation controller
(10), the locus signal of rotor flux linkage vector is calculated using integral controller
(11), rotated using two-phase/three phase static coordinate conversion circuit obtains the Setting signal of threephase stator electric current
(12), the control signal S of Hysteresis Current tracking PWM signal generator generation driving inverter is utilizeda、Sb、Sc；
(13), the control signal S for driving inverter is utilizeda、Sb、ScThe type inverter work of driving voltage source, is realized to induction electric
The control of machine.
4. control method as claimed in claim 3, it is characterised in that the m axis component signals to constant currentWith stator electricity
Flow the Setting signal of excitation componentRelational expression be：
<mrow>
<msubsup>
<mi>i</mi>
<mi>m</mi>
<mo>*</mo>
</msubsup>
<mo>=</mo>
<mfrac>
<msubsup>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>m</mi>
</mrow>
<mo>*</mo>
</msubsup>
<mrow>
<mfrac>
<mn>1</mn>
<msub>
<mi>&omega;</mi>
<mi>c</mi>
</msub>
</mfrac>
<mi>s</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mfrac>
<mo>.</mo>
</mrow>
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