CN106788032A - Alternating current generator rotary speed tracing control method - Google Patents
Alternating current generator rotary speed tracing control method Download PDFInfo
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- CN106788032A CN106788032A CN201611231209.4A CN201611231209A CN106788032A CN 106788032 A CN106788032 A CN 106788032A CN 201611231209 A CN201611231209 A CN 201611231209A CN 106788032 A CN106788032 A CN 106788032A
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- motor
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
Abstract
The invention discloses a kind of rotating-speed tracking method of use adaptive PI control, when motor is restarted, control simultaneously obtain the running frequency and phase signal of motor by simple PI, make entirely to track process motor torque steadily additionally by current amplitude constant control, the identification of motor operation frequency can be completed within 2~5 electric cycles, and response is fast, direct torque is smoothed, the algorithm that the present invention is provided is simple, it is easy to accomplish, it is not necessary to increase system cost.
Description
Technical field
The present invention relates to a kind of alternating current generator rotary speed tracing control method.
Background technology
In the motor driving system of many Speedless sensors, the particularly application scenario such as blower fan, water pump, its rotor connects
The rotary inertia for connecing equipment is larger, and generally the long period is needed to static from rotation status.If there is transducer power-down, motor
Re-powered immediately when being rotated in fair speed and directly initiated, due to the running status of motor cannot be judged, particularly run
Frequency, often causes over current of motor, and frequency converter, motor and its driving equipment can all be caused damage.If waiting motor complete
After coming to a complete stop again by frequency converter start from scratch Accelerating running then existence time waste, the problem of inefficiency.In order to prevent frequency conversion
The exception that device belt speed exists when starting, it is desirable to which the governing system of motor possesses rotating-speed tracking and restarts function.
In Application No. " 201210490524.4 " entitled " a kind of low voltage frequency converter started with rotating-speed tracking "
Proposed in state's patent application using increase motor output detection circuit method real-time detection motor running frequency, and according to
The output frequency driving frequency consistent with institute testing result when the testing result starts frequency converter, this method needs increase volume
Fixed hardware, although and have detected motor running frequency do not mention whether the phase i.e. electrical angle of motor is carried out with
Track is controlled.
For motor speed tracing control, Speed Identification is typically carried out by software algorithm in the prior art, such as applied
Number for " 201210453696.4 " entitled " high-pressure frequency-conversion motor idler revolutions tracking " Chinese patent application in pass through
The method of frequency scanning, as Application No. " 201310695259.8 " is entitled " a kind of based on Adaptive Fuzzy Neural-network
Method of the Chinese patent application of motor speed tracking and controlling method " by setting up fuzzy neural network, such as Application No.
The China of " 201310723403.4 " entitled " a kind of rotating-speed tracking method of alternating current generator, arrangements for speed regulation and alternating current generator " is specially
By the method for flux linkage estimation in profit application, such as entitled " a kind of high voltage converter turns Application No. " 201510831699.0 "
The method tracked by torque current in the Chinese patent application of speed tracking Restart Method ", such as Application No.
Pass through in the Chinese patent application of " 201610322986.3 " entitled " a kind of permagnetic synchronous motor rotary speed tracing control method "
The method of extended Kalman filter, the tracking that above method can be realized to motor speed, but realize complex, it is unfavorable for
The realization of digitial controller；And the above method mostly according to torque current is zero or is sentenced according to power input to machine zero passage
Disconnected, the dynamic characteristic influence of controlled algorithm, can make motor constantly in generating, electronic shape during whole rotating-speed tracking
In state switching, there is torque ripple and a certain amount of rush of current.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of alternating current generator rotary speed tracing control method,
In order to solve the above technical problems, the alternating current generator rotary speed tracing control method that the present invention is provided, uses for tracking
The rotating speed when alternating current generator that three-phase full-bridge inverting circuit drives is restarted, it is characterised in that comprise the following steps：
When step one, motor are restarted, the driving of the device for power switching of the upper bridge arm of three-phase full-bridge inverting circuit is believed
Number close, the device for power switching to the lower bridge arm of three-phase full-bridge inverting circuit uses chopping modulation, dutycycle D during chopping modulation
Initial value D (0)=1；
Step 2, sampling a, b biphase current, and two-phase α β coordinates are transformed to using CLARKE, then obtain current operation
The motor electrical angle actual value in cycleThe current of electric amplitude in current operation cycle is obtained simultaneouslyWherein iα(nTs) and iβ(nTs) it is two-phase α β coordinates, TsExecution cycle is represented, n is represented
Execution cycle number；
Step 3, amplitude control is carried out to current of electric, obtain the power switch of the lower bridge arm of three-phase full-bridge inverting circuit
Device carries out dutycycle D (nT during chopping modulations), whereinWherein kpiIt is electric current
The proportionality coefficient of PI rings, kiiIt is the integral coefficient of electric current PI rings, 1/s represents integral operation, irefTo give current amplitude, TsTable
Show execution cycle, n represents execution cycle number, then export the lower bridge arm of duty cycle signals control three-phase full-bridge inverting circuit
Device for power switching works；
Step 4, Self Adaptive Control is carried out to motor speed, obtain the motor operation frequency estimation in current operation cycle
fs(nTs), whereinWherein kpsIt is the proportionality coefficient of adaptive PI ring, kis
It is the integral coefficient of adaptive PI ring, 1/s represents integral operation, θs((n-1)Ts) refer to last execution cycle motor electrical angle
Estimate, θi(nTs) refer to the current operation cycle motor electrical angle actual value, × represent vector multiplication cross；
Step 5, the motor operation frequency estimation f to the current operation cycles(nTs) be integrated, obtain current operation
The motor electrical angle estimated values theta in cycles(nTs), then judge the motor electrical angle estimated values thetas(nTs) whether more than 360 degree,
If it is, by electric periodicity PsPlus 1；
Step 6, judgement current electricity cycle PsWhether A is more than or equal to, if it is not, then return to step two, into next fortune
The calculation cycle；If it is, by electric cycle PsReset, and will obtain the current operation cycle motor operation frequency estimation fs
(nTs) motor given frequency value is set to, wherein 2≤A≤5.
Preferably, described alternating current generator rotary speed tracing control method is further comprising the steps of：
Step 7, the motor operation frequency estimation f in the current operation cycle that will be obtaineds(nTs) be set to motor give
After frequency values, the open loop of motor admission velocity, the at the uniform velocity maintenance state of current closed-loop now set motor torque electric current isqref=0,
Setting motor energization current isdrefIt is a constant, if the motor is threephase asynchronous machine, now uses based on orthogonal magnetic linkage
Without velocity track algorithm, stator magnetic linkage is obtained by the stator counter electromotive force relation mutually orthogonal with stator magnetic linkage, and then obtain
To rotor flux and the actual speed of current motor is derived from, if the motor is three-phase synchronous motor, now using assuming
Method of multiblade coordinates, the actual speed of current motor is extrapolated according to the error for setting armature spindle and actual rotor axle；Then lead to
Cross the actual speed of current motor to extrapolate current motor electrical angle, and whether judge current motor electrical angle more than 360 degree,
If it is, by electric periodicity PsPlus 1；
Step 8, judgement current electricity cycle PsWhether B is more than or equal to, if it is not, then return to step seven, if it is, electric
Machine switches to the normal operating condition, motor to carry out acceleration and deceleration operation, wherein B >=10 according to actual frequency.
After above method, the present invention compared with prior art, has the following advantages that：
The present invention proposes a kind of rotating-speed tracking method of use adaptive PI control, when motor is restarted, by letter
Single PI controls can simultaneously obtain the running frequency and phase signal of motor, make entirely additionally by current amplitude constant control
Tracking process motor torque is steady, and the identification of motor operation frequency can be completed within 2~5 electric cycles, and response is fast, direct torque
Smooth, the algorithm that the present invention is provided is simple, it is easy to accomplish, it is not necessary to increase system cost.
Brief description of the drawings
Fig. 1 is flow chart of the invention.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawings and detailed description.
As shown in Figure 1, alternating current generator rotary speed tracing control method of the present invention, comprises the following steps：
When step one, motor are restarted, by the drive of each device for power switching of the upper bridge arm of three-phase full-bridge inverting circuit
Dynamic signal Close All, each device for power switching to the lower bridge arm of three-phase full-bridge inverting circuit is adjusted using identical copped wave
System, the initial value D (0)=1 of dutycycle D during chopping modulation, the lower bridge arm of three-phase full-bridge inverting circuit when representing chopping modulation
Device for power switching is full-gear in original state；
A, b biphase current of step 2, sample motor, and two-phase α β coordinates are transformed to using CLARKE, then obtain and work as
The motor electrical angle actual value of preceding execution cycleThe motor electricity in current operation cycle is obtained simultaneously
Stream amplitudeWherein iα(nTs) and iβ(nTs) it is two-phase α β coordinates, TsRepresent execution cycle,
N to represent be now the 1st execution cycle when representing that execution cycle number, i.e. n are 1, n to represent be now the 2nd computing week when being 2
Phase, by that analogy；
Step 3, amplitude control is carried out to current of electric, obtain the power switch of the lower bridge arm of three-phase full-bridge inverting circuit
Device carries out dutycycle D (nT during chopping modulations), whereinWherein kpiIt is electric current
The proportionality coefficient of PI rings, kiiIt is the integral coefficient of electric current PI rings, 1/s represents integral operation, irefTo give current amplitude, give
Current amplitude is a constant, can be manually set according to the rated current of motor, ibk(nTs) it is what is obtained in step 2
The current of electric amplitude in current operation cycle, i.e. feedback current amplitude, TsExecution cycle is represented, n represents execution cycle number, i.e. n
For 1 when represent now as the 1st execution cycle, n represents to be now the 2nd execution cycle when being 2, by that analogy, then export
Each device for power switching work of the lower bridge arm of duty cycle signals control three-phase full-bridge inverting circuit；
Step 4, Self Adaptive Control is carried out to motor speed, obtain the motor operation frequency estimation in current operation cycle
fs(nTs), whereinWherein kpsIt is the proportionality coefficient of adaptive PI ring, kis
It is the integral coefficient of adaptive PI ring, 1/s represents integral operation, θs((n-1)Ts) refer to last execution cycle motor electrical angle
Estimate, θi(nTs) refer to the current operation cycle motor electrical angle actual value, × represent vector multiplication cross；
Step 5, the motor operation frequency estimation f to the current operation cycles(nTs) be integrated, obtain current operation
The motor electrical angle estimated values theta in cycles(nTs), then judge the motor electrical angle estimated values thetas(nTs) whether more than 360 degree,
If it is, by electric periodicity PsPlus 1, if it is not, then electric periodicity PsIt is constant；
Step 6, judgement current electricity cycle PsWhether 3 are more than or equal to, if it is not, then return to step two, into next fortune
The calculation cycle, if it is, by electric cycle PsReset, and will obtain the current operation cycle motor operation frequency estimation fs
(nTs) it is set to motor given frequency value；
Step 7, the motor operation frequency estimation f in the current operation cycle that will be obtaineds(nTs) be set to motor give
After frequency values, the open loop of motor admission velocity, the at the uniform velocity maintenance state of current closed-loop now set motor torque electric current isqref=0,
Setting motor energization current isdrefIt is a constant, if the motor is threephase asynchronous machine, now uses based on orthogonal magnetic linkage
Without velocity track algorithm, stator magnetic linkage is obtained by the stator counter electromotive force relation mutually orthogonal with stator magnetic linkage, and then obtain
To rotor flux and the actual speed of current motor is derived from, if the motor is three-phase synchronous motor, now using assuming
Method of multiblade coordinates, the actual speed of current motor is extrapolated according to the error for setting armature spindle and actual rotor axle；Then lead to
Cross the actual speed of current motor to extrapolate current motor electrical angle, and whether judge current motor electrical angle more than 360 degree,
If it is, by electric periodicity PsPlus 1, if it is not, then electric periodicity is constant；
Step 8, judgement current electricity cycle PsWhether 50 are more than or equal to, if it is not, then return to step seven, if it is, electric
Machine switches to the normal operating condition, motor to carry out acceleration and deceleration operation according to actual frequency.
Below only just present invention application preferably example is made that explanation, but is not to be construed as the limit to claim
System, structure of the invention can have other to change, be not limited to said structure.In a word, it is all in independent claims of the invention
Protection domain in the various change made it is within the scope of the present invention.
Claims (4)
1. a kind of alternating current generator rotary speed tracing control method, the alternating current generator of three-phase full-bridge inverting circuit driving is used for tracking
Rotating speed when restarting, it is characterised in that comprise the following steps：
When step one, motor are restarted, the drive signal of the device for power switching of the upper bridge arm of three-phase full-bridge inverting circuit is closed
Close, the device for power switching to the lower bridge arm of three-phase full-bridge inverting circuit uses chopping modulation, dutycycle D's is first during chopping modulation
Initial value D (0)=1；
Step 2, sampling a, b biphase current, and two-phase α β coordinates are transformed to using CLARKE, then obtain the current operation cycle
Motor electrical angle actual valueThe current of electric amplitude in current operation cycle is obtained simultaneouslyWherein iα(nTs) and iβ(nTs) it is two-phase α β coordinates, TsExecution cycle is represented, n is represented
Execution cycle number；
Step 3, amplitude control is carried out to current of electric, obtain the device for power switching of the lower bridge arm of three-phase full-bridge inverting circuit
Carry out dutycycle D (nT during chopping modulations), whereinWherein kpiIt is electric current PI rings
Proportionality coefficient, kiiIt is the integral coefficient of electric current PI rings, 1/s represents integral operation, irefTo give current amplitude, TsRepresent fortune
Calculation cycle, n represents execution cycle number, then exports the power of the lower bridge arm of duty cycle signals control three-phase full-bridge inverting circuit
Switching device works；
Step 4, Self Adaptive Control is carried out to motor speed, obtain the motor operation frequency estimation f in current operation cycles
(nTs), whereinWherein kpsIt is the proportionality coefficient of adaptive PI ring, kisFor
The integral coefficient of adaptive PI ring, 1/s represents integral operation, θs((n-1)Ts) refer to that the motor electrical angle of last execution cycle is estimated
Evaluation, θi(nTs) refer to the current operation cycle motor electrical angle actual value, × represent vector multiplication cross；
Step 5, the motor operation frequency estimation f to the current operation cycles(nTs) be integrated, obtain the current operation cycle
Motor electrical angle estimated values thetas(nTs), then judge the motor electrical angle estimated values thetas(nTs) whether more than 360 degree, if
It is, then by electric periodicity PsPlus 1；
Step 6, judgement current electricity cycle PsWhether A is more than or equal to, if it is not, then return to step two, into next computing week
Phase；If it is, by electric cycle PsReset, and will obtain the current operation cycle motor operation frequency estimation fs(nTs) set
Motor given frequency value is set to, wherein 2≤A≤5.
2. alternating current generator rotary speed tracing control method according to claim 1, it is characterised in that further comprising the steps of：
Step 7, the motor operation frequency estimation f in the current operation cycle that will be obtaineds(nTs) it is set to motor given frequency
After value, the open loop of motor admission velocity, the at the uniform velocity maintenance state of current closed-loop now set motor torque electric current isqref=0, setting
Motor energization current isdrefBe a constant, if the motor is threephase asynchronous machine, now using based on orthogonal magnetic linkage without speed
Degree vector tracking algorithm, obtains stator magnetic linkage, and then turned by the stator counter electromotive force relation mutually orthogonal with stator magnetic linkage
Sub- magnetic linkage is simultaneously derived from the actual speed of current motor, if the motor is three-phase synchronous motor, now using assuming to rotate
Coordinate method, the actual speed of current motor is extrapolated according to the error for setting armature spindle and actual rotor axle；Then by working as
Whether the actual speed of front motor extrapolates current motor electrical angle, and judges current motor electrical angle more than 360 degree, if
It is, then by electric periodicity PsPlus 1；
Step 8, judgement current electricity cycle PsWhether B is more than or equal to, if it is not, then return to step seven, if it is, motor switches
It is normal operating condition, motor carries out acceleration and deceleration operation, wherein B >=10 according to actual frequency.
3. alternating current generator rotary speed tracing control method according to claim 1, it is characterised in that：Described A is 3.
4. alternating current generator rotary speed tracing control method according to claim 1, it is characterised in that：Described B is 50.
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| CN201611231209.4A CN106788032B (en) | 2016-12-28 | 2016-12-28 | Alternating current generator rotary speed tracing control method |
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| CN201611231209.4A CN106788032B (en) | 2016-12-28 | 2016-12-28 | Alternating current generator rotary speed tracing control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108075707A (en) * | 2017-11-16 | 2018-05-25 | 中冶南方（武汉）自动化有限公司 | Based on the asynchronous machine Restart Method and system under V/f control models |
| CN109243285A (en) * | 2018-11-12 | 2019-01-18 | 湖北文理学院 | A kind of motor speed control experiment porch and method based on rapid control prototyping |
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| CN102299679A (en) * | 2011-08-30 | 2011-12-28 | 中冶南方（武汉）自动化有限公司 | Method for determining rotating speed of restarted asynchronous motor |
| CN103795319A (en) * | 2013-12-25 | 2014-05-14 | 常熟开关制造有限公司(原常熟开关厂） | AC motor revolving speed tracking method, speed control device and AC motor |
| CN105915144A (en) * | 2016-05-16 | 2016-08-31 | 南京航空航天大学 | Permanent magnet synchronous motor rotating speed tracking control method |
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2016
- 2016-12-28 CN CN201611231209.4A patent/CN106788032B/en active Active
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| CN1375125A (en) * | 1999-09-21 | 2002-10-16 | 株式会社安川电机 | Method of controlling AC motor and controller |
| CN102299679A (en) * | 2011-08-30 | 2011-12-28 | 中冶南方（武汉）自动化有限公司 | Method for determining rotating speed of restarted asynchronous motor |
| CN103795319A (en) * | 2013-12-25 | 2014-05-14 | 常熟开关制造有限公司(原常熟开关厂） | AC motor revolving speed tracking method, speed control device and AC motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108075707A (en) * | 2017-11-16 | 2018-05-25 | 中冶南方（武汉）自动化有限公司 | Based on the asynchronous machine Restart Method and system under V/f control models |
| CN108075707B (en) * | 2017-11-16 | 2021-02-02 | 中冶南方（武汉）自动化有限公司 | Asynchronous motor restarting method and system based on V/f control mode |
| CN109243285A (en) * | 2018-11-12 | 2019-01-18 | 湖北文理学院 | A kind of motor speed control experiment porch and method based on rapid control prototyping |
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| Publication number | Publication date |
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| CN106788032B (en) | 2019-04-05 |
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