CN106374810B - A kind of induction machine high speed field weakening control method - Google Patents
A kind of induction machine high speed field weakening control method Download PDFInfo
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The present invention provides a kind of induction machine high speed field weakening control methods, determine exciting current initial value by motor speed, base speed, setting value, obtain weakening coefficient by voltage close loop, and then obtain exciting current given value；By exciting current given value to torque current amplitude limit；Current regulator is realized that wherein d axis complex vector current regulator output voltage amplitude limit value is maximum value voltage value by complex vector methodThe program solve the problems, such as in traditional control method torque caused by excitation is higher it is insufficient or can not long-time full-load run, while improve each speed interval can not seamlessly transit, constant voltage area electric current vulnerability to jamming poor, and realize the simplification of algorithmic controller.
Description
Technical field
The present invention relates to a kind of induction machine high speed field weakening control methods to solve the motor in induction machine high-speed driving
Torque is insufficient or can not long-time full-load run problem, improve each speed interval transition problem, the electric current anti-interference of constant voltage area and calculation
Method controller simplifies problem.
Background technology
Requirement of the High performance industrial application scenario to high-accuracy high-efficiency rate high quality promotes Induction Motor Drive frequency control
System develops towards high speed direction, such as the driving of electric vehicle, main shaft of numerical control machine tool and electric locomotive field.These occasions
To induction machine speed governing propose specific requirement include：Speed-regulating range width (especially high velocity), high-speed stable running ability, most
Big torque output capability makes full use of limited voltage and current resource, high dynamic response etc..By taking electric vehicle field as an example：Face
To complicated road traffic condition, the driving of electric vehicle needs have the ability run under various working.In low/constant speed area
Domain can export constant and sufficiently large torque to adapt to include quick situations such as starting braking, quick acceleration and deceleration and climbing,
It can realize in medium/high fast region and steadily run at high speed, to meet the needs of people are for comfortable safety.It is actually using
In, the output voltage of battery often operates in a variable voltage range, therefore it is required that motor control can make full use of
The voltage of limit, and remain good operation characteristic, torque capacity output in very wide speed adjustable range and entire voltage range
And higher efficiency.It can be seen that design and Implement a kind of high speed weak magnetic design method meeting above-mentioned requirements for
The skill upgrading of related industries application is meaningful.
With 1/ ω in existing methodrMethod is the most commonly used.The method although range of motor speeds can be widened to a certain degree,
Much cannot be satisfied it has been proposed that above-mentioned requirements.As shown in Figure 1,1/ ωrMethod sets specific rotating speed section switching point
ωb(also referred to as base speed), in base speed hereinafter, it is constant to keep exciting current, more than base speed, exciting current and rotating speed are inversely proportional change
Change.This method is derived under certain approximate condition, and under no-load condition, motor output torque is small, slip ωsl≈ 0,
I can be obtainedsq≈ 0, ωe≈ωr, us=ωeσLsisd≈ωeψr.In order to maintain stator voltage us≤usmax, it is desirable that rotor field and
The product of rotating speed should keep certain, so exciting current isdGiven and rotational speed omegarIt is inversely proportional.The specific equation in weak magnetic area is as follows：
Exciting current given value is：
Torque current is given as：
The current locus that motor is traditionally run is：
On the one hand, pass through specific switching point ωbIt is given and unreasonable to adjust exciting current, being often unable to fully utilize has
The voltage of limit；On the other hand, certain load is further increased or applies with rotating speed, approximate condition is just no longer set up.Cause
This this method is limited to widening for rotating speed, and cannot achieve torque maximization.Such as Fig. 2, shown in 3, to use different electric current tune
Save the corresponding speed waveform of traditional weak magnetic method and current-voltage waveform under device, it can be seen that when motor is increased to centainly
Rotating speed can all make q shaft voltages be in maximum state of value, defective regulator, and cannot achieve torque maximization.
At present for the deficiency of traditional weak magnetic method, many documents are probed into and are proposed all kinds of improved methods, mostly solve
Torque caused by excitation is higher in traditional control method is insufficient or can not long-time full-load run the problem of.But exist mostly
It or algorithm realizes the problems such as complicated or parameter robustness difference or each speed interval can not seamlessly transit or electric current vulnerability to jamming is poor.
Present invention seek to address that torque caused by excitation is higher in traditional control method is insufficient or can not be fully loaded with fortune for a long time
While row problem, improve present in method it is above-mentioned include algorithm is complicated, parameter robustness is poor, each speed interval can not
It seamlessly transits, the problem of electric current vulnerability to jamming difference.
Invention content
The shortcomings that it is an object of the invention to overcome the prior art and deficiency, provide a kind of induction machine high speed weak magnetic control
Method processed, improve each speed interval can not seamlessly transit, constant voltage area electric current vulnerability to jamming poor, realize algorithmic controller
Simplify.
The purpose of the present invention is achieved through the following technical solutions：A kind of induction machine high speed field weakening control method, including such as
Lower step：
Step 1：Motor speed ω is obtained by the code-disc that tests the speedr, determine that exciting current gives initial value
WhereinωbFor base speed, meet ωb=2 π f/p, p are the number of pole-pairs of used motor, work
Frequency lower f=50Hz, isdnFor a setting value, in speed ring, by motor speed ωrWith given rotating speed ωr,refElectricity through speed ring
Throttle regulator obtains torque current given value isq,ref；
Step 2：As virtual voltage usIt is more than maximum voltage u as rotating speed increasessmaxWhen, voltage regulator works, permanent
Power area starts to work, by virtual voltage usWith maximum voltage usmaxInput voltage regulation device carries out closed loop, through amplitude limit, output one
Weakening coefficient k of a numerical value in 0~1 sectionweaken, it is applied to exciting current and gives initial valueTo be encouraged
Magnetoelectricity stream given value isd,ref, and by it by restriction of current to torque current given value isq,refCarry out amplitude limit, wherein usIn dq
Under shaftingRestriction of current is
Step 3：The practical exciting current of motor and torque current value i are obtained by current samplesd、isq, by the practical excitation
It is real that electric current and torque current value obtain dq axis with exciting current given value and torque current given value through complex vector adjuster respectively
Border voltage usd、usq, d shaft voltage amplitude limit values are inside complex vector adjuster
Step 4：By usd、usqIt is realized to motor High-speed Control by frequency converter after coordinate transform.
Further, under the action of voltage regulator, weakening coefficient kweakenAlways it acts onisdIt follows
isd,refReduction and reduce, so that d axis magnetic linkages is remained ideal weak magnetic state, at this time torque current value isqBy
It acts on and increases, rotational speed omega is known according to voltage equationrWith torque current value isqIncrease simultaneously so that usdIt is rapid to rise, due to maximum
The constraint of voltage, usqIt then begins to decline, entire invariable power area motor is simultaneously by maximum voltage and maximum current double constraints.
Further, work as usdIt levels off toWhen, voltage regulator continues to act on, usqAlso it is adjusted toPlace, at this time with the rising of rotating speed, isd、isqIt will be according to isd=σ isqLinear relationship reduce, until rotating speed follows
It is given.
Further, current regulator is realized by complex vector, and d axis complex vector current regulator output voltage amplitude limit values are most
Big threshold voltage value
Description of the drawings
Fig. 1：Conventional method exciting current and rotation speed relation；
Fig. 2：Speed waveform under traditional weak magnetic method；
Fig. 3：Current-voltage waveform under traditional weak magnetic method under dq shaftings；
Fig. 4：Induction conductivity characteristic schematic diagram；
Fig. 5：Induction machine runs ideal optimal voltage current phasor running orbit under dq coordinate systems；
Fig. 6：Induction machine high speed weak magnetic controls design method block diagram；
Fig. 7：The identical band in invariable power area carries rotating speed response；
Fig. 8：The identical band in constant voltage area carries rotating speed response；
Fig. 9：This method and other methods waveform correlation comparison diagram；
Specific implementation mode
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In conjunction with Fig. 4, induction machine range of operation is divided into three speed intervals, obtains current of electric, electricity under each section
The constraints that pressure and motor slip ratio are constituted.It is permanent torque area below rated speed, in this region, exciting current isdIt is given,
Torque current is directly proportional to output torque, and counter electromotive force is less than maximum voltage usmax, at this time the run with load ability of motor only by
Maximum current ismaxLimitation, torque capacity T can be exportedemax.More than rated speed it is weak magnetic area, with the raising of rotating speed, instead
Electromotive force constantly increases and approaches maximum voltage usmax, motor operation is simultaneously by maximum voltage usmaxWith maximum current ismaxLimit
System.In order to ensure the output of torque capacity, it has to reduce exciting current isd, i.e. weak magnetic, motor operation, can be in the areas weak magnetic I
Firm power is exported, therefore the areas weak magnetic I are also referred to as invariable power area, output torque is inversely proportional with rotating speed.As rotating speed is after of continuing rising
Height, by maximum voltage usmaxLimitation can not provide more voltages and maintain full electric currents operation, and output torque and power are with turning
The raising of speed strongly reduces, and motor operation is in the areas weak magnetic II, since this region can remain the constant of voltage, so region
Also referred to as constant voltage area or drop power area.
It will be by the constraints of three aspects in induction machine operational process：Maximum current constrains, maximum voltage constraint, most
Big slip constraint.Wherein, maximum current ismaxConsider two conditions of induction machine winding current limit and inverter current limit；
Maximum voltage usmaxUnder the premise of considering the induction machine class of insulation and pressure-resistant condition, by obtainable maximum DC bus electricity
Pressure and PWM control strategies determine that this place uses SVPWM control modes, maximum voltage usmaxIt is limited toMaximum slip is
Ensure the maximum value of the revolutional slip of motor stabilizing operation.
By slip ωsl(ωsl=s ωe, wherein s is revolutional slip) and electromagnetic torque TeRelationship：
Wherein, RsFor stator resistance；RrFor rotor resistance；LsFor stator inductance；LrFor inductor rotor；LmFor mutual inductance.
With following formula simultaneous：
：
As rotating speed constantly increases, maximum slip angular frequency ω can be acquiredslmaxLimiting value it is as follows：
Wherein TrFor electromagnetic time constant；σ is the leakage inductance factor,
Know again：To derive that restriction of current condition is by revolutional slip constraints：isd≥σisq。
By induction machine dq coordinate system lower rotor part flux linkage orientations stator voltage equation：
Wherein ψrFor rotor flux.
After motor enters stable state, there are p ψr=0, pisd=0, pisq=0, institute's above formula abbreviation is：
Due in the case where rotating speed is very high, pressure drop ratio of the pressure drop on stator resistance relative to counter electromotive force in above formula
It is smaller, therefore can ignore, formula (9) turns to：
By isd≥σisqAbove formula is substituted into, againTo obtain revolutional slip constraints under voltage form：
Summarize to obtain induction machine constraint equation to this as follows：
According to electric machine operating characteristic, above-mentioned constraints is chosen in friction speed section：In permanent torque area, constraint
Condition is (1)；Invariable power area, constraints are (1) (2)；Constant voltage area, constraints is (2) (3), and thus obtains motor
Ideal optimal voltage current phasor running orbit such as Fig. 5 is run under dq coordinate systems.Even control current of electric presses ABO sequences
Operation or control electric moter voltage are run by OCD sequences, you can reach ideal motor operation effect.
Based on the constraints in voltage close loop thought and above-mentioned motor operation course, the present invention provides a kind of induced electricity
Machine high speed field weakening control method, referring to Fig. 6, a kind of induction machine high speed field weakening control method includes the following steps：
Step 1：Motor speed ω is obtained by the code-disc that tests the speedr, determine that exciting current gives initial value
WhereinωbFor base speed, meet ωb=2 π f/p, p are the number of pole-pairs of used motor, work
Frequency lower f=50Hz, isdnFor a setting value, in speed ring, by motor speed ωrWith given rotating speed ωr,refElectricity through speed ring
Throttle regulator obtains torque current given value isq,ref；
Step 2：As virtual voltage usIt is more than maximum voltage u as rotating speed increasessmaxWhen, voltage regulator works, permanent
Power area starts to work, by virtual voltage usWith maximum voltage usmaxInput voltage regulation device carries out closed loop, through amplitude limit, output one
Weakening coefficient k of a numerical value in 0~1 sectionweaken, it is applied to exciting current and gives initial valueTo be encouraged
Magnetoelectricity stream given value isd,ref, and by it by restriction of current to torque current given value isq,refCarry out amplitude limit, wherein usIn dq
Under shaftingRestriction of current is
Step 3：The practical exciting current of motor and torque current value i are obtained by current samplesd、isq, by the practical excitation
It is real that electric current and torque current value obtain dq axis with exciting current given value and torque current given value through complex vector adjuster respectively
Border voltage usd、usq, d shaft voltage amplitude limit values are inside complex vector adjuster
Step 4：By usd、usqIt is realized to motor High-speed Control by frequency converter after coordinate transform.
In traditional weak magnetic, often directly by ωbIt is set as switching point (such as two pairs extremely correspond to 1500rpm), and passes through theory
ω known to analysisbIt is not only related with leakage inductance factor sigma, also there is relationship with maximum current voltage, it is clear that the switching point of conventional method
Selection is inappropriate.If switching value is put into weak magnetic area less than theoretical value when voltage does not also reach maximum voltage, this
Just waste voltage resource；If switching value is more than theoretical value, voltage will exceed maximum voltage range, this is also not allow.
As in the present invention, ω is calculated to obtain according to the parameter of electric machinebTheoretical value is 2010rpm, it is therefore desirable to it is multiplied by appropriate coefficient, it is appropriate to be turned up
Switching point, therefore be arrangedEnsure switching point size, isdnFor a setting value, for by the spy of different induction machines
Property be generally chosen for allow current maxima 35%~45%.In speed ring, by motor speed ωrWith given rotating speed ωr,ref
Current regulator through speed ring obtains torque current and gives isq,ref, wherein electric current loop PI is calculated by parameter, speed ring PI
And other voltage controllers PI is debugged to obtain by engineering, and the realization of anti-windup structures is added and quickly moves back saturation.
Under the action of voltage regulator, weakening coefficient kweakenAlways it acts onisdFollow isd,refReduction and
Reduce, so that d axis magnetic linkages is remained ideal weak magnetic state, at this time torque current value isqByIt acts on and increases, root
Know rotational speed omega according to voltage equationrWith torque current value isqIncrease simultaneously so that usdIt is rapid to rise, due to the constraint of maximum voltage,
usqIt then begins to decline, entire invariable power area motor is simultaneously by maximum voltage and maximum current double constraints.Work as usdIt levels off toWhen, voltage regulator continues to act on, usqAlso it is adjusted toPlace, at this time with the rising of rotating speed,
isd、isqIt will be according to isd=σ isqLinear relationship reduce, until rotating speed follow it is given.Current regulator realized by complex vector, d axis
Complex vector current regulator output voltage amplitude limit value is maximum value voltage value
Above scheme can solve problems with：
1, the area requirement of meeting by suitably choosingWith weakening coefficient kweakenCooperation, be always ensured that given
isd,refFor most suitable value, while avoiding due to setting fixed switching point ωbAnd the current fluctuation problem occurred, it realizes
Permanent torque area seamlessly transitting to invariable power area.
2, pass throughTo torque current given value isq,refAmplitude limit is carried out, ensure that torque current is located always
In ideal maximum rating, the maximization of torque ensure that.
3, the decoupling of electric current is realized using complex vector current regulator.
4, it is added in the d shaft current adjusters of complex vector current regulatorAmplitude limit, this brings three
A benefit：1. avoiding using the larger electric current (i of fluctuationsd=σ isq) mark that enters constant voltage area as motor, it improves
The vulnerability to jamming of system；2. amplitude limit itself has further effect for voltage controller in constant voltage area, to entirely control
In only used a voltage controller, realize the simplification of algorithmic controller；3. real still by the way of closed loop feedback
Now the seamlessly transitting to constant voltage area by invariable power area.
5, entire control program improves system robustness without using complicated equation formula or accurate parameters.
Experiment effect：
In conjunction with Fig. 7, it is 4500rpm (3 times of base speed) to give step rotating speed, when 1.4s, shock load torque 7.5Nm.
Starting stage, modified weak magnetic method is substantially better than traditional weak magnetic method in quick response and overshoot, after shock load, by
Enlarged drawing can see, traditional weak magnetic rotating speed have it is larger fall and vibrate, and cannot achieve rotating speed and follow, and optimize weak magnetic method
Just restore steady-state operation quickly after one smaller fall.Therefore, optimization weak magnetic method has better load capacity.
In conjunction with Fig. 8, it is 9000rpm (6 times of base speed) to give step rotating speed, when 4s, shock load torque 2.3Nm.It is promoted
Effect becomes apparent compared to Fig. 7, and in terms of rotating speed response, speed promotes nearly 16% compared with conventional method, while on load capacity,
Rotating speed falls conventional method due to shock load, and our rule can continue held stationary operation, it is seen that realize good raising speed
Rapidity is promoted and torque magnification.
The current of electric voltage waveform using the method for the present invention and other two methods is compared in conjunction with Fig. 9, Fig. 9.Comparison
The method of the present invention and method I, 1. dotted line can see, from the areas Ji Su (permanent torque area) to the areas weak magnetic I (invariable power area), method I
There is serious transition region jitter problem, and the method for the present invention then transition naturally, this selection and voltage with base speed switching point is closed
Ring strategy is related；Compare the method for the present invention and method II, it can be seen that from the areas weak magnetic I to the areas weak magnetic II, the dq axis electricity of method II
The existing larger ripple of outflow, this is related with constraints selection, and the mark that method II motors enter constant voltage area is isd=σ isq, by
Poor in the robustness of electric current, the influence of small fluctuation and ripple can all lead to torque current iqIt is deteriorated, and the method for the present invention
Current ripples it is then much smaller, while 2. can see from dotted line, after shock load, method II current disturbings are very violent, sternly
Ghost image acoustic system load capacity, and use the method for the present invention current waveform then be improved significantly.
It above to a kind of induction machine high speed field weakening control method provided by the present invention, is described in detail, herein
In apply specific case principle and implementation of the present invention are described, the explanation of above example is only intended to sides
Assistant solves the method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, think of according to the present invention
Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair
The limitation of the present invention.
Claims (4)
1. a kind of induction machine high speed field weakening control method, it is characterised in that：Include the following steps：
Step 1：Motor speed ω is obtained by the code-disc that tests the speedr, determine that exciting current gives initial value
WhereinωbFor base speed, meet ωb=2 π f/p, p is the numbers of pole-pairs of used motor, f under power frequency
=50Hz, isdnFor a setting value, in speed ring, by motor speed ωrWith given rotating speed ωr,refElectric current tune through speed ring
Section device obtains torque current given value isq,ref；
Step 2：As virtual voltage usIt is more than maximum voltage u as rotating speed increasessmaxWhen, voltage regulator works, invariable power
Area starts to work, by virtual voltage usWith maximum voltage usmaxInput voltage regulation device carries out closed loop, through amplitude limit, exports a number
It is worth the weakening coefficient k in 0~1 sectionweaken, it is applied to exciting current and gives initial valueTo obtain exciting current
Given value isd,ref, and by it by restriction of current to torque current given value isq,refCarry out amplitude limit, wherein usUnder dq shaftingsRestriction of current is
Step 3：The practical exciting current of motor and torque current value i are obtained by current samplesd、isq, by the practical exciting current
With torque current value the practical electricity of dq axis is obtained through complex vector adjuster with exciting current given value and torque current given value respectively
Press usd、usq, d shaft voltage amplitude limit values are inside complex vector adjuster
Step 4：By usd、usqIt is realized to motor High-speed Control by frequency converter after coordinate transform.
2. according to the method described in claim 1, it is characterized in that,
Under the action of voltage regulator, weakening coefficient kweakenAlways it acts onisdFollow isd,refReduction and reduce,
D axis magnetic linkages are made to remain ideal weak magnetic state, at this time torque current value isqByIt acts on and increases, according to electricity
Pressure equation knows rotational speed omegarWith torque current value isqIncrease simultaneously so that usdIt is rapid to rise, due to the constraint of maximum voltage, usqThen
It begins to decline, entire invariable power area motor is simultaneously by maximum voltage and maximum current double constraints.
3. according to the method described in claim 2, it is characterized in that,
Work as usdIt levels off toWhen, voltage regulator continues to act on, usqAlso it is adjusted toPlace, at this time with
The rising of rotating speed, isd、isqIt will be according to isd=σ isqLinear relationship reduce, until rotating speed follow it is given, wherein σ is leakage inductance
The factor,LsFor stator inductance, LrFor inductor rotor, LmFor mutual inductance.
4. according to the method described in claim 3, it is characterized in that, current regulator is realized by complex vector method, d axis complex vectors
Current regulator output voltage amplitude limit value is maximum value voltage value
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| CN108092587A (en) * | 2017-12-07 | 2018-05-29 | 北汽福田汽车股份有限公司 | Motor field weakening control method, device, electric machine controller and vehicle |
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| CN108964555A (en) * | 2018-06-05 | 2018-12-07 | 燕山大学 | Permanent magnet synchronous motor low carrier based on complex vector adjuster compares control method |
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| CN110365267B (en) * | 2019-08-23 | 2021-03-09 | 哈尔滨工业大学 | Design method of weak magnetic controller of induction motor based on voltage ring structural simplification |
| CN114033376A (en) * | 2021-11-25 | 2022-02-11 | 宝鸡航天动力泵业有限公司 | Coal mine underground direct-drive type high-power fracturing pump unit system and control method thereof |
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