CN106230322A - Asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple starts method - Google Patents

Asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple starts method Download PDF

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Publication number
CN106230322A
CN106230322A CN201610831807.9A CN201610831807A CN106230322A CN 106230322 A CN106230322 A CN 106230322A CN 201610831807 A CN201610831807 A CN 201610831807A CN 106230322 A CN106230322 A CN 106230322A
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asynchronous machine
module
current
expected value
deviation
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CN106230322B (en
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范波
曾佳
王珂
张帆
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Henan University of Science and Technology
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Henan University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors

Abstract

The invention belongs to asynchronous machine field, disclose a kind of asynchronous motor DC pre-excitation mending and repaying deviation de-couple based on magnetic linkage and start method.Starting current is reduced during for realizing electric motor starting, the purpose producing and can producing torque responsing speed faster of suppression peak current, the method using the present invention controls to arrange exciting current and torque current by pre-excitation, and amplitude limit link in addition, motor is made to set up excitation field the most in advance, whole dynamic process utilizes Error flux linkage vector compensation to keep stablizing of magnetic linkage, deviation de-couple can realize the good decoupling effect of whole control system, this method is reducing electric motor starting electric current, improves and obtains more preferable effect on torque responsing speed.

Description

Asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple starts method
Technical field
The invention belongs to asynchronous machine field, be specifically related to a kind of asynchronous machine based on flux compensation and deviation de-couple straight Stream pre-excitation starts method.
Background technology
Two important indicators in electric motor starting performance, are typically intended to start peak current less, and output simultaneously turns Square response speed is very fast, conventional electric motor starting mode directly initiates, autotransformer reduced-voltage starting, Y-△ reduced-voltage starting, Soft start, variable frequency starting etc..Although above Starting mode can reach requirement at some aspect improving electric motor starting performance, but right Heavy-duty motor can not take into account the two index sometimes simultaneously, mainly due to the dynamic mathematical models of asynchronous machine be one non- Linearly, high-order, the multi-variable system of close coupling, fluctuation and the strong coupling of whole system of Startup time magnetic linkage amplitude make Startability reduces.
Summary of the invention
It is desirable to provide a kind of asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple starts method, Reduce starting current during to realize electric motor starting, suppress the generation of peak current and torque responsing speed faster can be produced.
In order to solve above technical problem, the asynchronous motor DC based on flux compensation and deviation de-couple of the present invention is encouraged in advance Magnetic starting method by arranging sampling module, flux compensation module, deviation de-couple module, premagnetization encourage module and inverter module is real Existing, comprise the following steps:
Step one: sampling module gathers the rotor velocity ω of asynchronous machine, by itself and given rotor velocity ω*Input is adopted The speed regulator of original mold block, speed regulator output slip ωs；Gather three-phase electricity flow valuve i of asynchronous machineA、iBAnd iC, make It obtains torque current value i through digital signal processing module by 3s/2r conversionsqAnd exciting current value isdAnalogue signal, After by torque current value isqAnd exciting current value isdThe A/D converter of analogue signal input sample module, A/D converter is defeated Go out asynchronous machine stator magnetic linkage ψsDigital signal；
Step 2: utilize the asynchronous machine stator magnetic linkage ψ that Error flux linkage vector compensation module will collect in step onesDigital signal Fluctuation compensate, its torque current expected value isq *By formula isq * =kaωs-kbψs */ψsIt is calculated, wherein ka、kb For proportionality coefficient, ψs *For asynchronous machine stator magnetic linkage expected value；Exciting current expected value isd *By formula isd *=ψr */LmCalculate Obtain, wherein ψr *For rotor flux expected value, LmFor the mutual inductance value of asynchronous machine；
Step 3: by the torque current expected value i of step 2 gainedsq *With exciting current expected value isd *Supplied with digital signal processes Module, introduces the outside decoupling branch road K of asynchronous machine at the deviation that asynchronous machine gives current expected value and feedback current1And K2Offset the coupling of asynchronous machine cross-couplings voltage, only given by its d axle according to full decoupled condition i.e. d shaft current Periodically hope current value isd *Control, therefore K can be drawn1、K2Expression formula,, , wherein ω1For rotor synchronous angular velocity, σ is asynchronous machine leakage inductance coefficient and σ=1-(Lm 2/LrLs), LsLeak for asynchronous machine stator Sense, RsFor stator resistance of asynchronous motor, p is differential operator, PIFor decoupling transmission function and the P of the current controller of moduleI=kp+ ki/ p, wherein kpWith p and the i parameter that ki is respectively current controller, then obtained deviation de-couple by the schematic diagram of whole deviation de-couple Voltage Δ usdAnd Δ usq, finally give the torque current expected value i after decouplingsq ’And exciting current expected value isd ’；
Step 4: rotor velocity ω and the slip ω that will gather in step onesWhat integration after summation and step 3 obtained turns Square current expected value isq ’And exciting current expected value isd ’Vector calculus controller in input pre-excitation module, by vector calculus The asynchronous machine three-phase current expected value i of controller outputA *、iB *And iC *The hysteresis comparison control device being passed through in pre-excitation module, Obtain controlling pulse；
Step 5: the pulse obtained in step 4 is switched on-off and drives asynchronous machine controlling IGBT in inverter module Startup.
Preferably, the described angular velocity omega gathered from motor and motor three-phase electricity flow valuve iA、iBAnd icThrough measure loop It is filtered processing, and removes the burr signal of interference.
Beneficial effect
The asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple using the present invention starts method, passes through pre-excitation Control to arrange exciting current and torque current, and in addition amplitude limit link, make motor set up excitation field the most in advance, whole Dynamic process utilizes Error flux linkage vector compensation to keep stablizing of magnetic linkage, and deviation de-couple can realize the good solution of whole control system Coupling effect, this method is reducing electric motor starting electric current, improves and obtains more preferable effect on torque responsing speed.
Accompanying drawing explanation
Fig. 1 is the signal of asynchronous motor DC pre-excitation based on flux compensation and the deviation de-couple startup method of the present invention Figure；
Fig. 2 is the deviation de-couple of asynchronous motor DC pre-excitation based on flux compensation and the deviation de-couple startup method of the present invention The schematic diagram controlled；
Fig. 3 is the motor vector of asynchronous motor DC pre-excitation based on flux compensation and the deviation de-couple startup method of the present invention Control schematic diagram；
Labelling in figure: 1, sampling module, 2, flux compensation module, 3, deviation de-couple module, 4, direct current premagnetization encourage module, 5, inversion Device module.
Detailed description of the invention
As shown in Figure 1 to Figure 3, the asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple of the present invention starts Method by arranging sampling module, flux compensation module, deviation de-couple module, premagnetization encourage module, inverter module and numeral letter Number processing modules implement, comprises the following steps:
Step one: sampling module gathers the rotor velocity ω of asynchronous machine, by itself and given rotor velocity ω*Input is adopted The speed regulator of original mold block, speed regulator output slip ωs；Gather three-phase electricity flow valuve i of asynchronous machineA、iBAnd iC, make It obtains torque current value i through digital signal processing module by 3s/2r conversionsqAnd exciting current value isdAnalogue signal, After by torque current value isqAnd exciting current value isdThe A/D converter of analogue signal input sample module, A/D converter is defeated Go out stator flux of motor ψsDigital signal；In the present embodiment, the angular velocity omega gathered from asynchronous machine and asynchronous machine Three-phase electricity flow valuve iA、iBAnd icIt is filtered processing through measure loop, and removes the burr signal of interference；
Step 2: utilize the asynchronous machine stator magnetic linkage ψ that Error flux linkage vector compensation module will collect in step onesDigital signal Fluctuation compensate, its torque current expected value isq *By formula isq * =kaωs-kbψs */ψsIt is calculated, wherein ka、kb For proportionality coefficient, ψs *For asynchronous machine stator magnetic linkage expected value；Exciting current expected value isd *By formula isd *=ψr */LmCalculate Obtain, wherein ψr *For rotor flux expected value, LmFor the mutual inductance value of asynchronous machine；
Step 3: the parameter of electric machine had stronger dependency for Feedforward Decoupling and feedback decoupling, and at relatively low switch lock Can not be full decoupled during rate, its fundamental block diagram can be obtained according to the mathematical model of asynchronous machine, and plus after deviation de-couple Whole control block diagram the most as shown in Figure 2.In order to eliminate asynchronous machine cross-couplings voltage term, according to control theory the most not Degeneration principle, its outside branch road introduced is K1And K2After branch road, and introducing, d, q dotted line left and right is equal, by step 2 gained Torque current expected value isq *With exciting current expected value isd *Supplied with digital signal processing module, gives electric current expectation from motor The outside decoupling branch road K of asynchronous machine is introduced at the deviation of value and feedback current1And K2Offset asynchronous machine cross-couplings voltage Coupling, according to full decoupled condition i.e. d shaft current only by its d axle given expectation current value isd *Control, therefore permissible Draw K1And K2Expression formula,,, wherein ω1For rotor synchronous angular velocity, σ is Asynchronous machine leakage inductance coefficient and σ=1-(Lm 2/LrLs), LsFor asynchronous machine stator leakage inductance, RsFor stator resistance of asynchronous motor, p is Differential operator, PIFor decoupling transmission function and the P of the current controller of moduleI=kp+ki/ p, wherein kpIt is respectively electric current control with ki P and the i parameter of device processed, then obtained deviation de-couple voltage Δ u by the schematic diagram of whole deviation de-couplesdAnd Δ usq, finally give solution Torque current expected value i after couplingsq ’And exciting current expected value isd ’；
Step 4: rotor velocity ω and the slip ω that will gather in step onesWhat integration after summation and step 3 obtained turns Square current expected value isq ’And exciting current expected value isd ’Vector calculus controller in input pre-excitation module, by vector calculus The asynchronous machine three-phase current expected value i of controller outputA *、iB *And iC *The hysteresis comparison control device being passed through in pre-excitation module, Obtain controlling pulse；
Step 5: the pulse obtained in step 4 is switched on-off and drives asynchronous machine controlling IGBT in inverter module Startup.
First the fluctuation to motor magnetic linkage carries out magnetic linkage amplitude error compensation.It compensates and mainly works in low-frequency range, Motor, when low-frequency range is run, stator resistance consumes major part stator terminal voltage, simultaneously because motor is in running Stator resistance is not a fixed value, and it can raise along with motor temperature and change, and unavoidably makes excitation voltage fluctuate Reducing, magnetic linkage amplitude can reduce and fluctuate, and so can be compensated magnetic linkage fluctuation through row by flux compensation link.Magnetic linkage amplitude Compensation of error is by isq * =kaωs-kbψs */ψsDetermining, wherein ka, kb are proportionality coefficient, owing to magnetic linkage is to pass through stator voltage Electric current controls, and keeps d axle component constant, then magnetic linkage d axle component is constant, but magnetic linkage amplitude is also affected by q axle component, by Introduce magnetic linkage amplitude error to compensate in the fluctuation of voltage, be actually the impact offsetting q axle component during controlling, protect Stablizing of card magnetic linkage.
Secondly, on decoupling method, Feedforward Decoupling needs the parameter value of calculation of motor to be identical with actual value；Feedback solves Although coupling improves the uneoupled control ability of motor, but will produce a bigger disturbance when motor speed changes greatly, The decoupling effect of system will be affected.Deviation de-couple uses the deviation of electric current to carry out the calculating of coupled voltages item, it is to avoid decoupling The delay of stator current that voltage calculates, and current value is that the electric current needed for decoupling according to motor provides, and motor is joined The change of number has stronger robustness.
Motor pre-excitation is started method and is i.e. controlled exciting current i by pre-excitation before electric motor startingsdSet, make motor Set up required excitation field before starting premise, control torque current i the most againsqChange reach necessary requirement to control motor Start, and from MTPA principle, when controlling torque current isqWith exciting current isdStart motor time equal and can make startup electricity Stream minimum.The final magnetic field set up in advance is set up with making rotation magnetic linkage fast and stable, it is possible to reduces and starts peak current, turns simultaneously Square is along with torque current isqQuickly response, when controlling, excitation voltage is orthogonal with exciting current can make torque rate of change maximum, i.e. Torque has response speed faster.

Claims (2)

1. asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple starts method, it is characterised in that: the method is led to Cross and arrange sampling module, flux compensation module, deviation de-couple module, premagnetization encourage module, inverter module and Digital Signal Processing Module realizes, and comprises the following steps:
Step one: sampling module gathers the rotor velocity ω of asynchronous machine, by itself and given rotor velocity ω*Input is adopted The speed regulator of original mold block, speed regulator output slip ωs；Gather three-phase electricity flow valuve i of asynchronous machineA、iBAnd iC, make It obtains torque current value i through digital signal processing module by 3s/2r conversionsqAnd exciting current value isdAnalogue signal, After by torque current value isqAnd exciting current value isdThe A/D converter of analogue signal input sample module, A/D converter is defeated Go out asynchronous machine stator magnetic linkage ψsDigital signal；
Step 2: utilize the asynchronous machine stator magnetic linkage ψ that Error flux linkage vector compensation module will collect in step onesDigital signal Fluctuation compensate, its torque current expected value isq *By formula isq * =kaωs-kbψs */ψsIt is calculated, wherein ka、kb For proportionality coefficient, ψs *For asynchronous machine stator magnetic linkage expected value；Exciting current expected value isd *By formula isd *=ψr */LmCalculate Obtain, wherein ψr *For rotor flux expected value, LmFor the mutual inductance value of asynchronous machine；
Step 3: by the torque current expected value i of step 2 gainedsq *With exciting current expected value isd *Supplied with digital signal processes Module, introduces the outside decoupling branch road K of asynchronous machine at the deviation that asynchronous machine gives current expected value and feedback current1And K2Offset the coupling of asynchronous machine cross-couplings voltage, only given by its d axle according to full decoupled condition i.e. d shaft current Periodically hope current value isd *Control, therefore K can be drawn1、K2Expression formula,, , wherein ω1For rotor synchronous angular velocity, σ is asynchronous machine leakage inductance coefficient and σ=1-(Lm 2/LrLs), LsLeak for asynchronous machine stator Sense, RsFor stator resistance of asynchronous motor, p is differential operator, PIFor decoupling transmission function and the P of the current controller of moduleI=kp+ ki/ p, wherein kpWith p and the i parameter that ki is respectively current controller, then obtained deviation de-couple by the schematic diagram of whole deviation de-couple Voltage Δ usdAnd Δ usq, finally give the torque current expected value i after decouplingsq ’And exciting current expected value isd ’；
Step 4: rotor velocity ω and the slip ω that will gather in step onesThe torque that integration after summation and step 3 obtain Current expected value isq ’And exciting current expected value isd ’Vector calculus controller in input pre-excitation module, by vector calculus control The asynchronous machine three-phase current expected value i of device processed outputA *、iB *And iC *The hysteresis comparison control device being passed through in pre-excitation module, To controlling pulse；
Step 5: the pulse obtained in step 4 is switched on-off and drives asynchronous machine controlling IGBT in inverter module Startup.
Asynchronous motor DC pre-excitation based on flux compensation and deviation de-couple the most according to claim 1 starts method, It is characterized in that: the described angular velocity omega gathered from asynchronous machine and asynchronous machine three-phase electricity flow valuve iA、iBAnd icThrough detection Loop is filtered processing, and removes the burr signal of interference.
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CN109842337A (en) * 2017-11-27 2019-06-04 华为技术有限公司 A kind of magnetic linkage measures of dispersion processing method and motor control assembly
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CN113489383A (en) * 2021-07-01 2021-10-08 青岛海信日立空调系统有限公司 Compressor starting control method
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CN110474585A (en) * 2019-08-21 2019-11-19 中车永济电机有限公司 A kind of high-power direct-drive permanent magnet synchronous motor control modulator approach
CN113489383A (en) * 2021-07-01 2021-10-08 青岛海信日立空调系统有限公司 Compressor starting control method
CN113489383B (en) * 2021-07-01 2023-11-07 青岛海信日立空调系统有限公司 Compressor starting control method
WO2024008203A1 (en) * 2022-07-06 2024-01-11 徐州徐工矿业机械有限公司 Mining dump truck converter drive control system and algorithm

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