CN106788068B - The method of rotor revolving speed and position angle is estimated when stator current low distortion - Google Patents
The method of rotor revolving speed and position angle is estimated when stator current low distortion Download PDFInfo
- Publication number
- CN106788068B CN106788068B CN201611225641.2A CN201611225641A CN106788068B CN 106788068 B CN106788068 B CN 106788068B CN 201611225641 A CN201611225641 A CN 201611225641A CN 106788068 B CN106788068 B CN 106788068B
- Authority
- CN
- China
- Prior art keywords
- stage
- phase
- rotor
- position angle
- stator current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Eletrric Generators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of methods that rotor revolving speed and position angle are estimated when stator current low distortion, including the following steps carried out in order: the S1 stage of measurement three-phase rotor current, the S2 stage for carrying out 3s/2s transformation, the S3 stage for carrying out mean filter, the S4 stage for carrying out slip angular velocity calculating, the S5 stage for carrying out clipping, the S6 stage that synchronous rotational speed is superimposed with slip angular velocity, the S7 stage that speed limit is carried out to stack result and the S8 stage for estimating rotor position angle；Estimate that the method for rotor revolving speed and position angle is economical and practical, save the cost when the stator current low distortion, it is not required to consider initial phase when in use, and it is smaller to the dependence of stator current, the validity of estimation is still ensured that in the case where stator current low distortion.
Description
Technical field
The invention belongs to estimate rotor when a kind of technical field of wind power generation, in particular to stator current low distortion
The method of revolving speed and position angle.
Background technique
Double feedback electric engine is widely used to wind generator system at present, and the double-fed frequency converter control being connected with double feedback electric engine is big
Flux linkage orientation vector control technology is all used, the rotor position angle of encoder measurement double feedback electric engine is needed；Meanwhile the measurement of revolving speed
Also encoder is used；In order to save the hardware cost of encoder, the estimation of double feedback electric engine revolving speed and rotor position angle seems especially
It is important.
The method of current estimation double feedback electric engine revolving speed and rotor position angle mainly has open-loop method and closed-loop policy；Open loop side
Method is obtained by calculating rotor electric current, and precision is lower, is mainly used for the occasion not high to required precision；Closed-loop policy is
Different observation methods is used by motor model equation, and combines (such as electric current) school of measurands such as sensor (mutual inductors)
Just, final observation obtains revolving speed and rotor position angle, and similar with the closed loop observation method of stator magnetic linkage, precision is higher, but before it
Mentioning is the accurate measurement for correcting input quantity；In view of the performance requirement of vector controlled, in Wind turbines the revolving speed of double feedback electric engine and
Rotor position angle need to use closed-loop policy, and input measurement variable includes: stator current, stator voltage, rotor current etc..It is usually fixed
The measurement of electron current uses mutual inductor, and when grid voltage sags, very big DC component can be induced on motor, thus mutually
The stator current of sensor measurement will appear a degree of distortion；When network voltage either shallow is fallen, stator current low distortion,
Phase is substantially accurate, but amplitude deep fades；When network voltage depth is fallen, the distortion of stator current severe, phase and amplitude
Inaccuracy.
Summary of the invention
The object of the present invention is to provide the sides that rotor revolving speed and position angle are estimated when a kind of stator current low distortion
Method.
For this purpose, technical solution of the present invention is as follows:
A kind of method that rotor revolving speed and position angle are estimated when stator current low distortion, including what is carried out in order
The following steps:
1) it measures the S1 stage of three-phase rotor current: in this stage, utilizing sensor measurement double feedback electric engine three-phase rotor electricity
Stream, subsequently into the S2 stage；
2) the S2 stage of 3s/2s transformation is carried out: in this stage, what the controller of double-fed frequency converter obtained sensor measurement
Three-phase rotor current carries out 3s/2s coordinate transform, two coordinate components under two-phase stationary coordinate system is obtained, subsequently into S3 rank
Section；
3) carry out the S3 stage of mean filter: in this stage, using frequency is the mean filter of 50Hz in step 2)
Two obtained coordinate components are filtered, subsequently into the S4 stage；
4) the S4 stage of rotor slip angular velocity calculating is carried out: in this stage, according to current sample time rotor current two
Coordinate components under phase rest frame, the coordinate components under upper sampling instant rotor current two-phase stationary coordinate system and sampling
Process cycle calculates rotor slip angular velocity, subsequently into the S5 stage；
5) it carries out the S5 stage of clipping: in this stage, amplitude restriction being carried out to slip angular velocity obtained in step 4), so
Enter the S6 stage afterwards；
6) the S6 stage for being superimposed synchronous rotational speed with rotor slip angular velocity: in this stage, after synchronous rotational speed and clipping
The opposite number of rotor slip angular velocity is overlapped, subsequently into the S7 stage；
7) the S7 stage of speed limit is carried out to stack result: in this stage, the stack result in step 6) being subjected to rate limit
Fixed, the result after rate limits as estimates obtained double fed electric machine rotor revolving speed；
8) it estimates the S8 stage of rotor position angle: in this stage, the double fed electric machine rotor that estimation obtains in step 7) being turned
Speed is overlapped estimation with phase compensation value after being integrated and obtains rotor position angle.
Amplitude in the step 5) limits range as -125~125.
Rate in the step 7) limits range as -125~125.
The calculation method of phase compensation value includes the following steps carried out in order in the step 8):
A, the reference power of double feedback electric engine is calculated；
B, the threephase stator electric current of mutual inductor acquisition is subjected to 3s/2s coordinate transform and obtains two under two-phase stationary coordinate system
A coordinate components, and the phase sinusoidal value and cosine of stator current are obtained according to two coordinate components under two-phase stationary coordinate system
Value, according to the phase sinusoidal value and cosine value of stator current and by the sine value of stator voltage phase of phase lock loop locks and remaining
The sine value and cosine value of string value calculating stator current and stator voltage phase difference；
C, the sine of stator current and stator voltage phase difference according to obtained in reference power and step b in step a
Value and cosine value calculate the actual power of feedback motor；
D, actual power obtained in step c is filtered and extracts the DC component in actual power；
E, DC component error ε obtained in step d is calculated；
F, amplitude limit value is carried out to DC component error ε, and passes through PI controller output phase offset.
In the step f by the amplitude limit value of DC component error ε between -1~1.
DC component error ε is before entering PI controller multiplied by two cordic phase rotator of reference power in the step f
The inverse of component square.
Compared with prior art, the method economy of rotor revolving speed and position angle is estimated when the stator current low distortion
It is practical, it is not required to consider initial phase when in use, it is smaller to the dependence of stator current, and the stator current low distortion the case where
Under still ensure that the validity of estimation.
Detailed description of the invention
Motor rotor position angle evaluation method schematic diagram when Fig. 1 is stator current low distortion.
The schematic diagram of rotor turn count method when Fig. 2 is stator current low distortion.
The schematic diagram of phase compensation value is calculated when Fig. 3 is stator current low distortion.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described further, but following embodiments are absolutely not to this hair
It is bright to have any restrictions.
As shown in Figure 1-3, the method that rotor revolving speed and position angle are estimated when the stator current low distortion, including press
The following steps that sequence carries out:
A kind of method that rotor revolving speed and position angle are estimated when stator current low distortion, including what is carried out in order
The following steps:
1) it measures the S1 stage of three-phase rotor current: in this stage, utilizing sensor measurement double feedback electric engine three-phase rotor electricity
Stream, subsequently into the S2 stage；
2) the S2 stage of 3s/2s transformation is carried out: in this stage, what the controller of double-fed frequency converter obtained sensor measurement
Three-phase rotor current carries out 3s/2s coordinate transform, two coordinate components under two-phase stationary coordinate system is obtained, subsequently into S3 rank
Section；
3) carry out the S3 stage of mean filter: in this stage, using frequency is the mean filter of 50Hz in step 2)
Two obtained coordinate components are filtered, subsequently into the S4 stage；
4) the S4 stage of rotor slip angular velocity calculating is carried out: in this stage, according to current sample time rotor current two
Coordinate components under phase rest frame, the coordinate components under upper sampling instant rotor current two-phase stationary coordinate system and sampling
Process cycle calculates rotor slip angular velocity, subsequently into the S5 stage；
5) it carries out the S5 stage of clipping: in this stage, amplitude restriction being carried out to slip angular velocity obtained in step 4), so
Enter the S6 stage afterwards；
6) the S6 stage for being superimposed synchronous rotational speed with rotor slip angular velocity: in this stage, after synchronous rotational speed and clipping
The opposite number of rotor slip angular velocity be overlapped, subsequently into the S7 stage；
7) the S7 stage of speed limit is carried out to stack result: in this stage, the stack result in step 6) being subjected to rate limit
Fixed, the result after rate limits as estimates obtained double fed electric machine rotor revolving speed；
8) it estimates the S8 stage of rotor position angle: in this stage, the double fed electric machine rotor that estimation obtains in step 7) being turned
Speed is overlapped estimation with phase compensation value after being integrated and obtains rotor position angle.
Amplitude in the step 5) limits range as -125~125.
Rate in the step 7) limits range as -125~125.
The calculation method of phase compensation value includes the following steps carried out in order in the step 8):
A, the reference power of double feedback electric engine is calculated；
B, the threephase stator electric current of mutual inductor acquisition is subjected to 3s/2s coordinate transform and obtains two under two-phase stationary coordinate system
A coordinate components, and the phase sinusoidal value and cosine of stator current are obtained according to two coordinate components under two-phase stationary coordinate system
Value, according to the phase sinusoidal value and cosine value of stator current and by the sine value of stator voltage phase of phase lock loop locks and remaining
The sine value and cosine value of string value calculating stator current and stator voltage phase difference；
C, the sine of stator current and stator voltage phase difference according to obtained in reference power and step b in step a
Value and cosine value calculate the actual power of double feedback electric engine；
D, actual power obtained in step c is filtered and extracts the DC component in actual power；
E, DC component error ε obtained in step d is calculated；
F, amplitude limit value is carried out to DC component error ε, and passes through PI controller output phase offset.
In the step f by the amplitude limit value of DC component error ε between -1~1.
DC component error ε is before entering PI controller multiplied by two cordic phase rotator of reference power in the step f
The inverse of component square.
The implementation of the method for rotor revolving speed and position angle is estimated when stator current low distortion provided by the invention
Journey is as follows:
By the three-phase rotor current of sensor measurement double feedback electric engine, the controller of double-fed frequency converter obtains sensor measurement
Double feedback electric engine three-phase rotor current transform to two-phase stationary coordinate system from three-phase static coordinate system, and obtain two-phase static coordinate
Two coordinate components under system, and two coordinate components under two-phase stationary coordinate system are carried out using the mean filter of 50Hz
Filtering calculates rotor slip angular velocity ω according to formula (1)s,
Wherein, IrαnAnd IrβnFor the coordinate components under current sample time rotor current two-phase stationary coordinate system, Irαn-1With
Irβn-1For the coordinate components under upper sampling instant rotor current two-phase stationary coordinate system, TsFor the sampling processing period；
Then amplitude restriction is carried out to rotor slip angular velocity, the amplitude of rotor slip angular velocity is limited to -125~
Between 125, the opposite number of rotor slip angular velocity is overlapped after synchronous rotational speed is limited with clipping, carries out speed to stack result
Rate limits, and the result after restriction as estimates obtained double fed electric machine rotor revolving speed；
Estimation, which is overlapped, with phase compensation value after the double fed electric machine rotor revolving speed that estimation obtains is integrated obtains rotor position
Angle setting, wherein the calculation method of phase compensation value is as follows:
The reference power P_ref and Q_ref of double feedback electric engine are calculated according to formula (2),
Wherein, Lm is double feedback electric engine mutual inductance parameter, and Ls is double feedback electric engine stator self inductance parameter, and K is rotor no-load voltage ratio, and Us is
Stator voltage amplitude, IrD_ref and IrQ_ref are respectively the coordinate components in given rotor two-phase rotating coordinate system；
Then, the threephase stator electric current of mutual inductor acquisition 3s/2s coordinate transform is carried out to obtain under two-phase stationary coordinate system
Two coordinate components Is α and Is β, the phase sinusoidal value SIN_Is and cosine value COS_ of stator current are acquired according to formula (3)
Is；
Sine value the SIN_ Δ θ and cosine value COS_ of stator voltage and stator current phase difference θ are calculated according to formula (4)
Δ θ, wherein Δ θ is the phase difference of the stator voltage and stator current by phase lock loop locks,
Wherein SIN_Us is the sine value of stator voltage phase, and SIN_Us is the cosine value of stator voltage phase；
The actual power P and Q under the two-phase rotating coordinate system of double feedback electric engine are calculated according to formula (5)；
In the actual power being calculated according to formula (5) in addition to containing DC component, also containing the humorous of 50Hz, 2*50Hz
Wave component, thus the mean filter that selected frequency is 50Hz is filtered the actual power being calculated by formula (5)
Reason, filters out DC component therein；
The DC component error ε of actual power P and Q are calculated according to formula (6),
And by PI controller output compensation phase, DC component error ε is before entering PI controller multiplied by reference function
The inverse of two cordic phase rotator component square of rate, by the amplitude of the DC component error ε of actual power P and Q be limited to -1~1 it
Between, estimation, which is overlapped, with phase compensation value after finally being integrated the double fed electric machine rotor revolving speed estimated obtains rotor position
Angle setting.
Claims (7)
1. estimating the method for rotor revolving speed and position angle when a kind of stator current low distortion, wherein double feedback electric engine is determined
Son is directly connected to power grid, and rotor is connected by double-fed frequency converter with power grid, and double feedback electric engine uses phase lock loop locks double feedback electric engine
The phase of stator voltage, which is characterized in that estimation rotor revolving speed and position angle when the described stator current low distortion
Method includes the following steps carried out in order:
1) the S1 stage of three-phase rotor current is measured: in this stage, using sensor measurement double feedback electric engine three-phase rotor current, so
Enter the S2 stage afterwards；
2) the S2 stage of 3s/2s transformation is carried out: in this stage, three-phase that the controller of double-fed frequency converter obtains sensor measurement
Rotor current carries out 3s/2s coordinate transform, two coordinate components under two-phase stationary coordinate system is obtained, subsequently into the S3 stage；
3) it carries out the S3 stage of mean filter: in this stage, frequency being used to obtain for the mean filter of 50Hz in step 2)
Two coordinate components be filtered, subsequently into the S4 stage；
4) the S4 stage of slip angular velocity calculating is carried out: in this stage, according to the static seat of current sample time rotor current two-phase
Component, upper sampling instant rotor current two-phase static coordinate component and sampling processing period calculating slip angular velocity are marked, then
Into the S5 stage；Slip angular velocity ωsCalculation method are as follows:
Wherein, IrαnAnd IrβnFor the coordinate components under current sample time rotor current two-phase stationary coordinate system, Irαn-1And Irβn-1
For the coordinate components under upper sampling instant rotor current two-phase stationary coordinate system, TsFor the sampling processing period；
5) carry out the S5 stage of clipping: in this stage, amplitude restriction being carried out to slip angular velocity obtained in step 4), then into
Enter the S6 stage；
6) the S6 stage for being superimposed synchronous rotational speed with slip angular velocity: in this stage, by slip angle speed after synchronous rotational speed and clipping
The opposite number of degree is overlapped, subsequently into the S7 stage；
7) the S7 stage of speed limit is carried out to stack result: in this stage, the stack result in step 6) being subjected to rate restriction, speed
Result after rate limits as estimates obtained double fed electric machine rotor revolving speed；
8) estimate the S8 stage of rotor position angle: in this stage, by estimation obtains in step 7) double fed electric machine rotor revolving speed into
Estimation, which is overlapped, with phase compensation value after row integral obtains rotor position angle.
2. the method that rotor revolving speed and position angle are estimated when stator current low distortion according to claim 1,
It is characterized in that, the amplitude in the step 5) limits range as -125~125.
3. the method that rotor revolving speed and position angle are estimated when stator current low distortion according to claim 1,
It is characterized in that, the rate in the step 7) limits range as -125~125.
4. the method that motor speed and rotor position angle are estimated when stator current low distortion according to claim 1,
It is characterized in that, the calculation method of phase compensation value includes the following steps carried out in order in the step 8):
A, the reference power of double feedback electric engine is calculated；
B, the threephase stator electric current of mutual inductor acquisition is subjected to 3s/2s coordinate transform and obtains two seats under two-phase stationary coordinate system
Component is marked, and obtains the phase sinusoidal value and cosine value of stator current according to two coordinate components under two-phase stationary coordinate system,
The sine value and cosine of stator voltage phase according to the phase sinusoidal value and cosine value of stator current and by phase lock loop locks
Value calculates the sine value and cosine value of stator current and stator voltage phase difference；
C, the sine value of stator current and stator voltage phase difference according to obtained in reference power and step b in step a and
Cosine value calculates the actual power of feedback motor；
D, actual power obtained in step c is filtered and extracts the DC component in actual power；
E, the error ε of DC component obtained in step d is calculated；
F, amplitude limit value is carried out to error ε, and passes through PI controller output phase offset.
5. the method that rotor revolving speed and position angle are estimated when stator current low distortion according to claim 4,
It is characterized in that, in the step f by the amplitude limit value of error ε between -1~1.
6. the method that rotor revolving speed and position angle are estimated when stator current low distortion according to claim 4,
It is characterized in that, error ε is before entering PI controller multiplied by two cordic phase rotator component square of reference power in the step f
Inverse.
7. the method that rotor revolving speed and position angle are estimated when stator current low distortion according to claim 4,
It is characterized in that, calculates the two-phase of reference power in the step a according to the coordinate components under given two-phase rotating coordinate system
Coordinate components under rotating coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225641.2A CN106788068B (en) | 2016-12-27 | 2016-12-27 | The method of rotor revolving speed and position angle is estimated when stator current low distortion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611225641.2A CN106788068B (en) | 2016-12-27 | 2016-12-27 | The method of rotor revolving speed and position angle is estimated when stator current low distortion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106788068A CN106788068A (en) | 2017-05-31 |
| CN106788068B true CN106788068B (en) | 2019-03-01 |
Family
ID=58921276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611225641.2A Active CN106788068B (en) | 2016-12-27 | 2016-12-27 | The method of rotor revolving speed and position angle is estimated when stator current low distortion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106788068B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111010060B (en) * | 2019-12-13 | 2021-04-27 | 苏州智感电子科技有限公司 | DC compensation method and circuit for stepping motor |
| CN111551848B (en) * | 2019-12-30 | 2022-09-02 | 瑞声科技(新加坡)有限公司 | Motor experience distortion index testing method, electronic equipment and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101977011A (en) * | 2010-10-28 | 2011-02-16 | 天津大学 | Control method of double-fed induction generator under power grid voltage three-phase symmetrical drop fault |
| CN104362926A (en) * | 2014-10-05 | 2015-02-18 | 国网吉林省电力有限公司 | Method for calculating maximum increment of rotor current of doubly-fed induction generator in case of terminal voltage drop |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3627683B2 (en) * | 2001-06-29 | 2005-03-09 | 日産自動車株式会社 | Motor control device |
-
2016
- 2016-12-27 CN CN201611225641.2A patent/CN106788068B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101977011A (en) * | 2010-10-28 | 2011-02-16 | 天津大学 | Control method of double-fed induction generator under power grid voltage three-phase symmetrical drop fault |
| CN104362926A (en) * | 2014-10-05 | 2015-02-18 | 国网吉林省电力有限公司 | Method for calculating maximum increment of rotor current of doubly-fed induction generator in case of terminal voltage drop |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106788068A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Jiang et al. | An improved third-order generalized integral flux observer for sensorless drive of PMSMs | |
| CN106788054B (en) | A kind of Speed Sensorless Control Method based on rotation high-frequency signal injection | |
| CN101714844B (en) | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor | |
| CN105680754B (en) | A kind of rectangular axis current phasor composite controller of permagnetic synchronous motor | |
| CN105610369B (en) | A kind of asynchronous machine Flux Observation Method based on sliding mode observer | |
| CN110350835A (en) | A kind of permanent magnet synchronous motor method for controlling position-less sensor | |
| CN103825525B (en) | A kind of permagnetic synchronous motor without sensor speed estimation method of improvement | |
| CN107659237B (en) | A kind of model-free dead beat predictive current control devices and methods therefor of permanent magnet synchronous motor | |
| CN106655942B (en) | Permanent magnet synchronous motor method for controlling position-less sensor | |
| Wang et al. | An integration algorithm for stator flux estimation of a direct-torque-controlled electrical excitation flux-switching generator | |
| CN110198150A (en) | A kind of permanent magnet synchronous motor multi-parameter on-line identification method | |
| CN101630938A (en) | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor | |
| CN103178769A (en) | Parameter offline identification method for permanent magnet synchronous motor under condition of rest | |
| CN102611381A (en) | Direct torque control system of permanent-magnet synchronous motor | |
| CN103414424B (en) | AC motor stator flux linkage estimation method | |
| CN104901600A (en) | Sensorless control method of permanent magnet synchronous motor in wide rotating speed scope | |
| CN106208864A (en) | A kind of senseless control system based on SMO | |
| CN108233807A (en) | Dead beat Direct Torque Control based on the identification of permanent magnet flux linkage sliding formwork | |
| Karthikeyan et al. | A versatile rotor position computation algorithm for the power control of a grid-connected doubly fed induction generator | |
| CN107911057A (en) | A kind of rotor-position robust observation procedure for flywheel energy storage system | |
| CN105227010A (en) | A kind of permagnetic synchronous motor position-sensor-free position detection error harmonic pulse removing method | |
| CN104852652B (en) | Synchronous wind driven generator closed-loop vector control method and system | |
| CN105024615A (en) | Permanent magnet synchronous motor low-speed sensorless control method and device | |
| CN108377117A (en) | Permanent magnet synchronous motor recombination current control system based on PREDICTIVE CONTROL and method | |
| CN106788068B (en) | The method of rotor revolving speed and position angle is estimated when stator current low distortion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210929 Address after: 300308 100 Hangtian Road, Airport Economic Zone, Binhai New Area, Tianjin Patentee after: TIANJIN RUIYUAN ELECTRICAL Co.,Ltd. Address before: 300385 Xiqing District, Tianjin No. 1, Xinghua 7th Branch Road, economic development zone, Xiqing District, Tianjin Patentee before: Tianjin Ruineng electric Co.,LTD. |
|
| TR01 | Transfer of patent right |