CN106788119A - A kind of permagnetic synchronous motor frequency converter and its application process - Google Patents
A kind of permagnetic synchronous motor frequency converter and its application process Download PDFInfo
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- CN106788119A CN106788119A CN201710148634.5A CN201710148634A CN106788119A CN 106788119 A CN106788119 A CN 106788119A CN 201710148634 A CN201710148634 A CN 201710148634A CN 106788119 A CN106788119 A CN 106788119A
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
-
- 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
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The present invention is a kind of permagnetic synchronous motor frequency converter and its application process.The composition of the frequency converter includes rectifier module, inverter module, filter module, controller module；Described controller module includes control process device, current detector, voltage detector, potentiometer and driver.The present invention solves the problem that permagnetic synchronous motor starts and runs with power cable speed sensorless more long, can also realize calculating the stator resistance and inductance parameters in the permagnetic synchronous motor course of work in real time so that permagnetic synchronous motor frequency converter can more be accurately controlled permagnetic synchronous motor.The method compare before algorithm it is more simple, easily realize and due to the integral and calculating for using, detection error can be reduced, realize that permanent-magnetic synchronous motor stator parameter detecting is more accurate.
Description
Technical field
Field, especially permagnetic synchronous motor frequency converter and its application process are driven the present invention relates to permagnetic synchronous motor.
Background technology
Permagnetic synchronous motor frequency converter is using converter technique and microelectric technique, by changing motor working power frequency
Mode controls the electric control appliance of ac motor.Frequency converter is main (straight by rectification (AC-DC), filtering, inversion
Rheology is exchanged), driver element, the composition such as detection unit.Permagnetic synchronous motor frequency converter close to the inner portion IGBT cut-off it is defeated to adjust
Go out the voltage and frequency of power supply, be actually needed to provide the supply voltage required for it according to motor, and then reach energy-conservation, adjust
The purpose of speed.With the continuous improvement of industrial automatization, frequency converter has also obtained application widely.At present, permanent magnetism
The power cable of synchronous motor transducer drive motor namely 500m or so most long, seriously constrains answering for permagnetic synchronous motor
With scope, such as power cable is needed to be up to 2000m in application fields such as water pump, submersible electric pumps.Restriction permagnetic synchronous motor becomes
Frequency device drives power cable length main cause as follows：(1) due to using two-level inverter, the height of output current frequency converter more
Subharmonic is very big, if power cable is very long, higher hamonic wave can produce the overvoltage, overvoltage to burn power electric on power cable
Cable, it is serious also to burn permagnetic synchronous motor；(2) in power cable transmission more long can there is very big voltage drop in electric energy,
It is different that this has resulted in the voltage at power cable two ends, the magnitude of current；(3) permagnetic synchronous motor Frequency Converter Control permagnetic synchronous motor
Voltage, the current parameters of detection motor side are needed, and when power cable is very long, it is difficult to measurement motor terminal voltage, electric current ginseng again
(if cable comes the voltage at measurement motor end, current parameters again plus all the way in addition, one is that can increase larger cost to number, and two are
The voltage of the motor for so measuring, current parameters are inaccurate, because the cable interference of more than 500m is sizable).In addition
In the process of running, the resistance and inductance parameters of its stator can inevitably change permagnetic synchronous motor with temperature, such as
Fruit permagnetic synchronous motor frequency converter can not detect that these change, and this can have a strong impact on the control essence of permagnetic synchronous motor frequency converter
Degree, and most of permagnetic synchronous motor frequency converters are not accomplished to detect permanent-magnetic synchronous motor stator resistance and inductance in real time at present
The change of parameter.
The content of the invention
In order to overcome the defect of above-mentioned background technology, the invention provides a kind of permagnetic synchronous motor frequency converter and its application
Method, the frequency converter installs filter module additional using three-level inverter module and behind inverter module so that frequency converter
Output be more nearly sine wave, high-frequency harmonic is smaller, so as to realize frequency converter output transmitted on power cable it is safer will not
There is overvoltage and burn power cable and motor；It is dynamic by the voltage sensor in controller module and current sensor direct measurement
Voltage, the current parameters at power cable converter end (filter module output end), the parameter that then will be measured pass through controller mould
Control process device in block estimates voltage, the current parameters of cable permanent magnet synchronous electric generator terminal long, just without going directly to survey again
Measure voltage, the magnitude of current of power cable permanent magnet synchronous electric generator terminal.In conjunction with known technology high frequency signal injection method, modified is constituted
High frequency signal injection method, so as to solve the problem that permagnetic synchronous motor power cable speed sensorless more long starts.In addition originally
Invention improves permagnetic synchronous motor frequency converter for the change of real-time detection permanent-magnetic synchronous motor stator resistance and inductance parameters
Control accuracy, a kind of simple, accurate method is devised in the control process device of controller module and carrys out real-time detection permanent magnetism
Synchronous motor stator resistance and inductance parameters.
The technical scheme is that：
A kind of permagnetic synchronous motor frequency converter, the composition of the frequency converter includes rectifier module, inverter module, wave filter
Module, controller module；
Wherein, rectifier module input is connected with 1140V AC networks；Rectifier module output end and inverter module
It is connected；Inverter module output end is connected with filter module；Filter module output end passes through power cable and permanent-magnet synchronous
Motor is connected；Filter module output end is also connected with controller module；Controller module output end is connected with inverter module；
Power cable of the controller module also with synchronous motor to be measured is connected；
Described controller module includes control process device, current detector, voltage detector, potentiometer and driver；
Wherein, current detector is connected with the power cable of permagnetic synchronous motor to be measured；Current detector output end and control
Processor processed is connected；Voltage detector is connected with the power cable of permagnetic synchronous motor to be measured；Voltage detector output end and control
Processor processed is connected；Potentiometer is connected with control process device；Control process device output end is connected with driver；Driver 5 is exported
End is connected with inverter module.
Described control process device uses 32 floating number control process devices；Current detector uses open loop Hall current
Sensor；Voltage detector uses Alternative Voltage Converter；Driver uses No. 8 sender units.
The application process of described permagnetic synchronous motor frequency converter, for permagnetic synchronous motor with power cable more long without
The startup of sensor and operation, comprise the following steps：
1) rectification module the three-phase alternating current of power network is rectified into direct current and as the input of inverter module；At control
Reason device injects high frequency voltage behind the output that current regulator is adjusted：Umh、ωhRespectively note
Enter the amplitude and angular frequency of high-frequency voltage signal；The output of current regulator regulation and the high frequency voltage of injectionSuperposition
U is transformed to by IPARK conversion processes togetherα、uβAnd as the input of SVPWM adjusters；
2) control process device produces 12 road PWM as the modulated signal of inverter module, 12 tunnels by SVPWM adjusters
, by controlling 12 turn-on and turn-off of IGBT of inverter module, the DC inverter that rectification module is exported is into three-phase for PWM
Alternating current, the three-phase alternating current of inverter module output filters higher hamonic wave by filter module again, then filter module
The filtered three-phase alternating current of output drives permagnetic synchronous motor by power cable more long；
3) control process device detects the power cable frequency converter end of permagnetic synchronous motor to be measured by current detector
Electric current iA、iB、iC；
4) the electric current i that control process device will be measuredA、iB、iCBiphase current is transformed to by CLARKE conversion processes 5 L=(L defined in itdh+Lqh)/2, Δ L=(Ldh-Lqh)/2,θ represent rotor-position actual value,Represent that rotor position estimate value and Δ θ represent position estimation error；It is i.e. electric
The electric current that current sensor is detected can be write as
5) control process device is by electric current obtained in the previous stepPower cable other end permanent-magnet synchronous are estimated by estimator
The electric current of motor sideWherein x represents power cable somewhere to cable frequency conversion long
The distance at device end；L represents the length of power cable；Propagation constant
Z0=R0+jωL0It is the impedance of unit length；Y0=G0+jωC0It is the admittance of unit length；Characteristic impedance or wave resistance
6) control process device will be obtained in the previous step in parameter of electric machine calculatorBy bandpass filter (BPF), filter
Fundamental-frequency Current component reserved high-frequency current component；
7) control process device will be obtained in the previous stepWith modulated signal sin (ωhT) be multiplied, then it is low-pass filtered after obtain
Input quantity f (Δ θ) needed for motor angle observer, i.e.,
8) f (Δ θ) proportional integral is obtained estimating speed by control process device in motor angle observer
9) control process device willPermanent-magnet synchronous motor rotor position θ is obtained by integrator；
10) the permanent-magnet synchronous motor rotor position θ that control process device will be calculated is sent to PARK conversion processes and IPARK becomes
Process is changed as the necessary condition for carrying out coordinate transform；Control process device is by the output of speed preset and motor angle observer
The result subtracted each other as speed regulator input；Speed regulator input is carried out proportional integral and result is adjusted as electric current
The input of device is saved, it is achieved thereby that the output of motor angle observerSpeed preset is followed to realize that velocity feedback is adjusted；
11) control process device subtracts each other the output of speed regulator with the output of PARK conversion processes, and its result is used as electricity
The input of throttle regulator；Current regulator will be input into carry out proportional integral and result as IPARK conversion processes input, from
And the output for realizing PARK conversion processes follows the output of speed regulator to realize current feedback regulation；Control process device
Subtract each other exciting current is given with the output of PARK conversion processes, its result as current regulator input；Current regulator
Will be input into carry out proportional integral and result as IPARK conversion processes input, it is achieved thereby that PARK conversion processes is defeated
Go out to follow the given current feedback that realizes of exciting current to adjust；
12) by IPARK conversion processes be transformed to for the input of IPARK conversion processes obtained in the previous step by control process device
uα、uβAnd SVPWM adjusters are sent to as input.
13) control process device produces 12 road PWM and is sent to inverter module and is used as modulated signal by SVPWM adjusters,
12 IGBT's of control turns on and off the DC inverter for exporting rectification module into three-phase alternating current, and inverter module is exported
Three-phase alternating current device module filters higher hamonic wave after filtering, filter module export filtered three-phase alternating current by compared with
Power cable long drives permagnetic synchronous motor, it is achieved thereby that startup of the permanent magnet synchronous electric captain cable without sensor and fortune
OK.
The application process of described permagnetic synchronous motor frequency converter, for the stator electricity in the permagnetic synchronous motor course of work
Resistance and inductance parameters detection, comprise the following steps：
(1) first under conditions of permagnetic synchronous motor travels at the uniform speed, control process device is detected by current detector
The electric current i at power cable frequency converter end (ripple device module output end)A、iB、iC；Power cable is detected by voltage detector to become
The voltage u at frequency device end (ripple device module output end)A、uB、uC；
And then control process device is to A phase currents i obtained in the previous step (2)A, (from 0 within the one sine-wave current cycle
Point arrives G points), to permanent-magnetic synchronous motor stator individual event voltage equationIntegration, due to iAFor
Sine wave, soWithIt is zero, calculatesOrder
Individual event voltage equation can be write as
(3) control process device is in A phase sine-wave currents iAI is selected at the B of peak value summitAEqual-sized 2 points：A point C points, from A
Point is to C points to individual event voltage equationIntegration, due to A phase currents iAIt is sine wave, calculating can
Obtain A phase stator winding resistances
(4) control process device is in A phase sine-wave currents iAI is selected near zero point EAOpposite 2 points of amplitude equal direction：D points
With F points, from D points to F points to individual event voltage equationIntegration, due to A phase currents iAIt is sine
Ripple, can be calculated A phase stator winding inductance
(5) control process think highly of multiple previous step (1)~(4), obtain permagnetic synchronous motor B phase resistances RB, inductance LBAnd C
Phase resistance RC, inductance LC；
(6) control process device is by permanent-magnetic synchronous motor stator resistance R obtained in the previous stepA、RB、RCPass through CLARKE respectively
Conversion process and the conversion of PARK conversion processes obtain R0；By permanent-magnetic synchronous motor stator inductance L obtained in the previous stepA、LB、LCPoint
Not Tong Guo CLARKE conversion processes and PARK conversion processes convert and obtain Ldh、Lqh；
(7) control process device is by R obtained in the previous step0、Ldh、LqhPermagnetic synchronous motor is applied to power cable more long
Startup, operating procedure 1 without sensor)~13) in.
Described power cable length more long is 1~2000m, preferably 1000m~2000m.
The beneficial effects of the invention are as follows：
The present invention is using three-level inverter module and installs filter module additional behind inverter module so that frequency converter
Output is more nearly sine wave, and high-frequency harmonic is smaller, is driven so as to the three-phase electricity for realizing frequency converter output is transmitted in power cable
Overvoltage will not be produced power cable and motor is burnt out during motor.Other frequency converter output is more nearly sine wave, more can be accurate
True is joined power cable frequency converter end (filter module output end) voltage, electric current by the control process device in control module
Number is estimated as voltage, the current parameters of power cable permanent magnet synchronous electric generator terminal.So as to solve due to distance and environment etc. because
The limitation of element, it is impossible to directly gather the voltage and current amount of power cable permanent magnet synchronous electric generator terminal as the problem of control signal.
In conjunction with known technology high frequency signal injection method, modified high frequency signal injection method is constituted, so as to solve permagnetic synchronous motor
The problem for starting with power cable speed sensorless more long and running.In addition, the present invention passes through control process device, it is possible to achieve
The stator resistance and inductance parameters in the permagnetic synchronous motor course of work are calculated in real time so that permagnetic synchronous motor frequency converter
Can be more accurate to the control of permagnetic synchronous motor, reliable.Algorithm before the method is compared more simply, is easily realized
With because calculating process uses integral and calculating mostly, detection error can be significantly reduced, realize that permanent-magnetic synchronous motor stator is joined
Number detection is more accurate.
Brief description of the drawings
Fig. 1 is permagnetic synchronous motor frequency changer block diagram of the present invention；
Fig. 2 is the rectification module typical circuit figure of permagnetic synchronous motor frequency converter of the present invention；
Fig. 3 is the inverter module typical circuit figure of permagnetic synchronous motor frequency converter of the present invention；
Fig. 4 is the filter module typical circuit figure of permagnetic synchronous motor frequency converter of the present invention；
Fig. 5 is the controller module structured flowchart of permagnetic synchronous motor frequency converter of the present invention
Fig. 6 is the control mechanism figure of permagnetic synchronous motor frequency converter of the present invention；
Fig. 7 is the output individual event current waveform of permagnetic synchronous motor frequency converter of the present invention；
Fig. 8 is stator resistance and the inductance ginseng of the real-time detection permagnetic synchronous motor of permagnetic synchronous motor frequency converter of the present invention
Number application process block diagram.
In Fig. 1, (1) PWM modulation signal；(2) A phase terminals；(3) B phase terminals.In Fig. 6, (4) speed preset；(5) excitation
Given value of current；(6) high frequency voltage；(7) output of PARK conversion processes 4.1.7；(8) output of PARK conversion processes 4.1.7；
(9) output of current regulator 4.1.2；(10) output of current regulator 4.1.2.
Specific embodiment
The present invention is explained in detail with reference to the accompanying drawings as follows but of the invention rather than limitation for illustrative purposes only.
Permagnetic synchronous motor frequency converter of the present invention includes rectifier module 1, inverter module 2, filter module 3, control
Device module 4, its structured flowchart is as shown in Figure 1.
Wherein the input of rectifier module 1 is connected with 1140V AC networks；The output end of rectifier module 1 and inverter mould
Block 2 is connected；The output end of inverter module 2 is connected with filter module 3；The output end of filter module 3 is by power cable and forever
Magnetic-synchro motor is connected；The output end of filter module 3 is also connected with controller module 4；The output end of controller module 4 and inverter
Module 2 is connected；The power cable of filter module 3, controller module 4 respectively with permagnetic synchronous motor to be measured is connected；
Wherein, power cable is sectional area 13mm2~20mm2, length be 1~2000m, preferably 1000m~2000m.
Wherein rectifier module 1 is known technology, can use various circuit structures, the rectifier module that the present invention is used
1 circuit diagram is as shown in Fig. 2 adopt the structure that simple and convenient, reliability is high, low cost.
Wherein inverter module 2 is known technology, using diode clamp type three-level structure (as shown in Figure 3), specifically
Published with reference to Chemical Industry Press《Application of frequency converter is put into practice》Corresponding contents, three level are output as simultaneously using this structure inversion
And higher harmonic content is few, it is particularly suitable for transmission over long distances, permagnetic synchronous motor frequency converter output quality can be improved.
Its filter module 3 be known technology, the present invention use the circuit diagram of filter module 3 as shown in figure 4, using
This Structure Filter simple structure, reliability high, low cost and can greatly reduce permagnetic synchronous motor frequency converter output
Higher hamonic wave.
Described controller module 4 includes control process device 4.1, current detector 4.2, voltage detector 4.3, potentiometer
4.4th, driver 4.5.
Wherein, current detector 4.2 is connected with the power cable of permagnetic synchronous motor to be measured；Current detector 4.2 is exported
End is connected with control process device 4.1；Voltage detector 4.3 is connected with the power cable of permagnetic synchronous motor to be measured；Voltage detecting
The output end of device 4.3 is connected with control process device 4.1；Potentiometer 4.4 is connected with control process device 4.1；Control process device 4.1 is exported
End is connected with driver 4.5；The output end of driver 4.5 is connected with inverter module 2.
It is at 32 floating number controls that described control process device 4.1 uses TMS320F28335, TMS320F28335
Reason device, dominant frequency 150MHZ, peripheral hardware enriches, can export 12 road PWM to control inverter module 2；Current detector 4.2 uses JCE-
C6FS open loop Hall current sensors, the sensor current measurement range is (- 600A~+600A) wide, and the linearity is good, at control
Reason device 4.1 provides accurate input, it is ensured that control accuracy；Voltage detector 4.3 uses MIK-DJU Alternative Voltage Converters,
The transmitter measurement range is (0V~1000V) wide, accuracy class 0.5%FS, and with high_voltage isolation, interference is small safely, at control
Reason device 4.1 provides accurate input, it is ensured that control accuracy；Potentiometer 4.4 is that the offer of control process device 4.1 control signal is defeated
Enter, it is No. 8 sender units that driver 4.5 uses 74LVC245,74LVC245, and the 12 road PWM for improving control process device 4.1 drive
Kinetic force so that 12 road pwm signals are accurately sent to inverter module 2, improve control accuracy.
Described control process device 4.1 has export voltage detector 4.3, current detector 4.2 and potentiometer 4.4
Analog quantity is converted to the function of digital quantity；With by power cable frequency converter terminal voltage, current parameters estimation power cable permanent magnetism
Synchronous motor terminal voltage, the function of current parameters；With the speed follower speed preset for calculating motor angle observer 4.1.9
(4) velocity feedback regulatory function；Electricity with the current following exciting current for detecting current detector 4.2 given (5)
Stream feedback regulation function；With the function that acquisition permanent-magnetic synchronous motor rotor angle is calculated by injecting high frequency voltage (6)；Have
The function of motor stator parameter is calculated in real time.
Wherein, with power cable frequency converter terminal voltage, current parameters are estimated as into power cable permanent magnet synchronous electric generator terminal
Voltage, the software of the function of current parameters are referred to as estimator 4.1.6；Will be with real-time detection permanent-magnetic synchronous motor stator electricity
The software of resistance, inductance parameters and calculating rotor-position is referred to as parameter of electric machine calculator 4.1.8；Below for known technology (in north
What capital aviation university press published《Modern permanent magnet synchronous motor control principle and MATLAB are emulated》Relevant position in this this book
Reference can be found)：Software with velocity feedback regulatory function is referred to as speed regulator 4.1.1；Will be anti-with electric current
The software for presenting regulatory function is referred to as current regulator 4.1.2；The inverse process of PARK conversion processes 4.1.7 is referred to as into IPARK to become
Change process 4.1.3；To have according to space voltage vector switching to control the algorithm referred to as SVPWM adjusters 4.1.4 of inverter；
Natural system of coordinates ABC is transformed to the process referred to as CLARKE conversion processes 4.1.5 of rest frame alpha-beta；By rest frame
Alpha-beta transforms to the coordinate transformation process referred to as PARK conversion processes 4.1.7 of synchronous rotating frame d-q；Will be with calculating motor
The algorithm of rotor position angle is referred to as motor angle observer 4.1.9；Algorithm with integrating function is referred to as integrator
4.1.10。
For the defect that technical background is previously mentioned, be rectified into for the three-phase alternating current of power network by rectification module 1 by the present invention
Direct current, and using direct current as inverter module 2 input, the three-phase alternating current device after filtering of the output of inverter module 2
Device module 3 filters higher hamonic wave, and the output of filter module 3 then is come into motor by power cable.Because frequency converter
Output is closer to sine wave and higher hamonic wave is low, so as to realize frequency converter output during power cable transmission motor
Overvoltage will not be produced to burn out power cable and motor.The three-phase alternating current of other frequency converter output is more nearly sine wave, can be more
Plus accurately by the control process device 4.1 in controller module 4 by power cable frequency converter end (output end of filter module 3)
Voltage, current parameters are estimated as the voltage of power cable permanent magnet synchronous electric generator terminal, current parameters.So as to solve due to distance with
And the limitation of the factor such as environment, it is impossible to the voltage and current amount for directly gathering power cable permanent magnet synchronous electric generator terminal is believed as control
Number problem.In conjunction with known technology high frequency signal injection method, modified high frequency signal injection method is constituted, so as to solve permanent magnetism
The problem that synchronous motor starts and runs with power cable speed sensorless more long.
Described permagnetic synchronous motor carries startup and operation method of the power cable more long without sensor, including following step
Suddenly (as shown in Figure 6)：
2) rectification module 1 three-phase alternating current of power network is rectified into direct current and as the input of inverter module 2；Control
Processor 4.1 injects high frequency voltage (6) behind the output of current regulator regulation 4.1.2：
Umh、ωhRespectively inject the amplitude and angular frequency of high-frequency voltage signal；The output and injection of current regulator regulation 4.1.2
High frequency voltageIt is superimposed and be transformed to u by IPARK conversion processes 4.1.3α、uβAnd as SVPWM adjusters
4.1.4 input；
2) control process device 4.1 produces 12 road PWM to believe as the modulation of inverter module 2 by SVPWM adjusters 4.1.4
Number, 12 road PWM are by controlling 12 turn-on and turn-off of IGBT of inverter module 2, and the direct current that rectification module 1 is exported is inverse
Become three-phase alternating current, the three-phase alternating current of the output of inverter module 2 filters higher hamonic wave by filter module 3 again, then
The filtered three-phase alternating current of the output of filter module 3 drives permagnetic synchronous motor by power cable more long；
3) control process device 4.1 detects the power cable frequency conversion of permagnetic synchronous motor to be measured by current detector 4.2
The electric current i at device end (output end of ripple device module 3)A、iB、iC；
4) the electric current i that control process device 4.1 will be measuredA、iB、iCTwo-phase electricity is transformed to by CLARKE conversion processes 4.1.5
StreamL=(L defined in itdh+Lqh)/2, Δ L=(Ldh-
Lqh)/2,θ represent rotor-position actual value,Represent that rotor position estimate value and Δ θ represent that location estimation is missed
Difference；The electric current that i.e. current detector 4.2 is detected can be write as
5) control process device 4.1 is by electric current obtained in the previous stepThe power cable other end is estimated forever by estimator 4.1.6
The electric current of magnetic-synchro motor sideWherein x represents that cable somewhere long becomes to power cable
The distance at frequency device end；L represents the length of power cable；Propagation constant
Z0=R0+jωL0It is the impedance of unit length；Y0=G0+jωC0It is the admittance of unit length；Characteristic impedance or wave resistance
6) it is below known technology, control process device 4.1 will be obtained in the previous step in parameter of electric machine calculator 4.1.8
By bandpass filter (BPF), (it is known technology that bandpass filter (BPF) is located in parameter of electric machine calculator 4.1.8, by control
The software in device 4.1 is managed to realize), filter Fundamental-frequency Current component reserved high-frequency current component；
7) control process device 4.1 will be obtained in the previous stepWith modulated signal sin (ωhT) (modulated signal sin (ωhT) position
It is known technology in parameter of electric machine calculator 4.1.8, is realized by the software in control process device 4.1) it is multiplied, then through low pass
Input quantity f (Δ θ) needed for motor angle observer 4.1.9 is obtained after filtering, i.e.,
8) f (Δ θ) proportional integral can be obtained estimating speed by control process device 4.1 in motor angle observer 4.1.9
Degree
9) control process device 4.1 willPermanent-magnet synchronous motor rotor position θ is obtained by integrator 4.1.10；
10) the permanent-magnet synchronous motor rotor position θ that control process device 4.1 will be calculated is sent to PARK conversion processes 4.1.7
Used as the necessary condition for carrying out coordinate transform, (4.1.7 and IPARK are transformed for PARK conversion processes with IPARK conversion processes 4.1.3
Journey 4.1.3 is needed to use permanent-magnet synchronous motor rotor position θ and can just be carried out coordinate transform).Control process device 4.1 is by speed preset
(4) with the output of motor angle observer 4.1.9The result subtracted each other as speed regulator 4.1.1 input；Speed is adjusted
Device 4.1.1 will be input into carry out proportional integral and result as current regulator 4.1.2 input, it is achieved thereby that motor angle
The output of observer 4.1.9Speed preset (4) is followed to realize that velocity feedback is adjusted；
11) control process device 4.1 is by the output of speed regulator 4.1.1 and output (7) phase of PARK conversion processes 4.1.7
The result for subtracting as current regulator 4.1.2 input；Input is carried out proportional integral and result is made by current regulator 4.1.2
It is the input of IPARK conversion processes 4.1.3, it is achieved thereby that the output of PARK conversion processes 4.1.7 follows speed regulator
4.1.1 output is to realize current feedback regulation；Exciting current is given (5) and PARK conversion processes by control process device 4.1
4.1.7 the result that output (8) is subtracted each other as current regulator 4.1.2 input；Current regulator 4.1.2 is compared input
Example integration and using result as IPARK conversion processes 4.1.3 input, it is achieved thereby that the output of PARK conversion processes 4.1.7
Follow exciting current given (5) to realize current feedback to adjust；
12) IPARK obtained in the previous step is converted the input of 4.1.3 by IPARK conversion processes by control process device 4.1
4.1.3 (the permanent-magnet synchronous motor rotor position θ for measuring is most important) is transformed to uα、uβAnd it is sent to SVPWM adjusters 4.1.4 works
It is input；
13) control process device 4.1 produces 12 road PWM and is sent to inverter module 2 and is used as by SVPWM adjusters 4.1.4
Modulated signal, the DC inverter that the turning on and off of 12 IGBT of control exports rectification module 1 is into three-phase alternating current, inversion
Device device module 3 filters higher hamonic wave to the three-phase alternating current of the output of device module 2 after filtering, and filter module 3 exports filtered
Three-phase alternating current drives permagnetic synchronous motor by power cable more long, it is achieved thereby that permanent magnet synchronous electric captain's cable is without biography
The startup of sensor and operation.
Wherein by 5)~10) constitute novel voltage high-frequency signal injection, realize by measuring permagnetic synchronous motor to be measured
The current value at frequency converter end (output end of ripple device module 3) of power cable estimate the electric current at synchronous motor end to be measured, then add
Upper known technology high frequency signal injection method is so as to solve permagnetic synchronous motor band power cable sensorless start-up more long and operation
Problem.
The stator resistance in the permagnetic synchronous motor course of work can be in real time calculated present invention also offers another kind
With the application process of inductance parameters.The method is during permagnetic synchronous motor travels at the uniform speed, by control process device 4.1 pairs
Permanent-magnetic synchronous motor stator individual event voltage equation(wherein uAFor A phases stator winding is mutually electric
Pressure, LAIt is A phase stator winding inductance, RAIt is A phases stator winding resistance, iAIt is A phase windings phase current, ψfIt is the every pole permanent magnetism of rotor
The amplitude of magnetic linkage, ωrFor rotor angular velocity of rotation and θ are the angle of rotor) it is integrated in a current cycle and obtains ψfωr,
Then in A with respect to sine-wave current iAPeak value summit symmetrical region is to permanent-magnetic synchronous motor stator individual event voltage equationIntegration obtains A phase stator winding resistances RA, finally in A phase sine-wave currents iAZero point
Symmetrical region, to permanent-magnetic synchronous motor stator individual event voltage equationIntegration, solves A
Phase stator winding inductance LA.To permagnetic synchronous motor, other two-phases carry out same operation, can be achieved with real-time monitoring permanent magnetism same
Walk the Parameters variation of the threephase stator of motor.
Stator resistance and inductance parameters detection method in the described permagnetic synchronous motor course of work, detailed step are as follows
(as shown in Figure 8)：
(1) first under conditions of permagnetic synchronous motor travels at the uniform speed, control process device 4.1 passes through current detector 4.2
Detect the electric current i of power cable frequency converter end (output end of ripple device module 3)A、iB、iC(as shown in figure waveform 7)；By voltage
Detector 4.3 detects the voltage u of power cable frequency converter end (output end of ripple device module 3)A、uB、uC。
And then control process device 4.1 is to A phase currents i obtained in the previous step (2)A, within the one sine-wave current cycle
(from 0 point to G points), to permanent-magnetic synchronous motor stator individual event voltage equationIntegration, due to
iAIt is sine wave, soWithIt is zero, calculatesOrder
Individual event voltage equation can be write as
(3) control process device 4.1 is in A phase sine-wave currents iAI is selected at the B of peak value summitAEqual-sized 2 points：A point C points,
From A points to C points to individual event voltage equationIntegration, due to A phase currents iAIt is sine wave, calculates
A phase stator winding resistances can be obtained
(4) control process device 4.1 is in A phase sine-wave currents iAI is selected near zero point EAOpposite 2 points of amplitude equal direction：D
Point and F points, from D points to F points to individual event voltage equationIntegration, due to A phase currents iAFor just
String ripple, can be calculated A phase stator winding inductance
(5) control process device 4.1 repeats 1~4 step and can obtain permagnetic synchronous motor B phase resistances RB, inductance LBWith C phases
Resistance RC, inductance LC；
(6) control process device 4.1 is by permanent-magnetic synchronous motor stator resistance R obtained in the previous stepA、RB、RCPass through respectively
CLARKE conversion process 4.1.5 and PARK conversion processes 4.1.7 conversion obtains R0(have ignored the difference of three-phase, it is believed that RA=RB=
RC)；By permanent-magnetic synchronous motor stator inductance L obtained in the previous stepA、LB、LCRespectively by CLARKE conversion processes 4.1.5 and
PARK conversion processes 4.1.7 conversion obtains Ldh、Lqh；
(7) control process device 4.1 is by R obtained in the previous step0、Ldh、LqhPermagnetic synchronous motor is applied to power more long
Startup of the cable without sensor, operating procedure 1)~13) in.
Stator resistance and inductance parameters in real-time detection permagnetic synchronous motor can be realized by above procedure.Due to meter
Integral and calculating is used mostly during calculation, detection error can be reduced.Permagnetic synchronous motor is solved under complex environment
During work, due to its stator parameter change, permagnetic synchronous motor frequency converter is unable to accurate detection, causes frequency converter accurate
Control the problem of permagnetic synchronous motor.
Above unaccomplished matter is known technology.
Claims (4)
1. a kind of permagnetic synchronous motor frequency converter, it is characterized by the composition of the frequency converter include rectifier module, inverter module,
Filter module, controller module；
Wherein, rectifier module input is connected with 1140V AC networks；Rectifier module output end and inverter module phase
Even；Inverter module output end is connected with filter module；Filter module output end passes through power cable and permanent magnet synchronous electric
Machine is connected；Filter module output end is also connected with controller module；Controller module output end is connected with inverter module；Control
Power cable of the device module processed also with synchronous motor to be measured is connected；
Described controller module includes control process device, current detector, voltage detector, potentiometer and driver；
Wherein, current detector is connected with the power cable of permagnetic synchronous motor to be measured；At current detector output end and control
Reason device is connected；Voltage detector is connected with the power cable of permagnetic synchronous motor to be measured；At voltage detector output end and control
Reason device is connected；Potentiometer is connected with control process device；Control process device output end is connected with driver；Driver output end with it is inverse
Become device module to be connected.
2. permagnetic synchronous motor frequency converter as claimed in claim 1, it is characterized by described control process device is floated using 32
Point digital control processor；Current detector uses open loop Hall current sensor；Voltage detector uses alternating voltage pick-up
Device；Driver uses No. 8 sender units.
3. the application process of permagnetic synchronous motor frequency converter as claimed in claim 1, it is characterized by being used for permagnetic synchronous motor
With startup of the power cable more long without sensor and operation, comprise the following steps：
1) rectification module the three-phase alternating current of power network is rectified into direct current and as the input of inverter module；Control process device
High frequency voltage is injected behind the output of current regulator regulation：Umh、ωhRespectively inject high
The amplitude and angular frequency of frequency voltage signal；The output of current regulator regulation and the high frequency voltage of injectionIt is superimposed upon one
Rise and u is transformed to by IPARK conversion processesα、uβAnd as the input of SVPWM adjusters；
2) control process device produces 12 road PWM as the modulated signal of inverter module by SVPWM adjusters, and 12 road PWM lead to
12 turn-on and turn-off of IGBT of control inverter module are crossed, by the DC inverter of rectification module output into three-phase alternating current
Electricity, the three-phase alternating current of inverter module output filters higher hamonic wave by filter module again, then filter module output
Filtered three-phase alternating current drive permagnetic synchronous motor by power cable more long；
3) control process device detects the electric current at the power cable frequency converter end of permagnetic synchronous motor to be measured by current detector
iA、iB、iC；
4) the electric current i that control process device will be measuredA、iB、iCBiphase current is transformed to by CLARKE conversion processes L=(L defined in itdh+Lqh)/2, Δ L=(Ldh-Lqh)/2,θ represent rotor-position actual value,Represent that rotor position estimate value and Δ θ represent position estimation error；It is i.e. electric
The electric current that current sensor is detected can be write as
5) control process device is by electric current obtained in the previous stepPower cable other end permagnetic synchronous motor is estimated by estimator
The electric current at endWherein x represents cable somewhere long to power cable frequency conversion
The distance at device end；L represents the length of power cable；Propagation constant
Z0=R0+jωL0It is the impedance of unit length；Y0=G0+jωC0It is the admittance of unit length；Characteristic impedance or wave resistance
6) control process device will be obtained in the previous step in parameter of electric machine calculatorBy bandpass filter (BPF), fundamental frequency is filtered
Current component reserved high-frequency current component；
7) control process device will be obtained in the previous stepWith modulated signal sin (ωhT) be multiplied, then it is low-pass filtered after obtain motor
Input quantity f (Δ θ) needed for angular observation device, i.e.,
8) f (Δ θ) proportional integral is obtained estimating speed by control process device in motor angle observer
9) control process device willPermanent-magnet synchronous motor rotor position θ is obtained by integrator；
10) the permanent-magnet synchronous motor rotor position θ that control process device will be calculated is sent to PARK conversion processes and IPARK is transformed
Cheng Zuowei carries out the necessary condition of coordinate transform；Control process device is by the output of speed preset and motor angle observerSubtract each other
Result as speed regulator input；Speed regulator input is carried out proportional integral and result as current regulator
Input, it is achieved thereby that the output of motor angle observerSpeed preset is followed to realize that velocity feedback is adjusted；
11) control process device subtracts each other the output of speed regulator with the output of PARK conversion processes, and its result is adjusted as electric current
Save the input of device；Current regulator will be input into carry out proportional integral and result as IPARK conversion processes input so that real
The output for having showed PARK conversion processes follows the output of speed regulator to realize current feedback regulation；Control process device will be encouraged
Magnetic given value of current subtracts each other with the output of PARK conversion processes, its result as current regulator input；Current regulator will be defeated
Enter to carry out proportional integral and using result as IPARK conversion processes input, it is achieved thereby that the output of PARK conversion processes with
Adjusted with the given current feedback that realizes of exciting current；
12) input of IPARK conversion processes obtained in the previous step is transformed to u by control process device by IPARK conversion processesα、uβ
And SVPWM adjusters are sent to as input；
13) control process device produces 12 road PWM and is sent to inverter module and is used as modulated signal by SVPWM adjusters, controls
The DC inverter that the turning on and off of 12 IGBT exports rectification module is into three-phase alternating current, the three of inverter module output
Device module filters higher hamonic wave to cross streams electricity after filtering, and filter module exports filtered three-phase alternating current by more long
Power cable drives permagnetic synchronous motor, it is achieved thereby that startup of the permanent magnet synchronous electric captain cable without sensor and operation.
4. the application process of permagnetic synchronous motor frequency converter as claimed in claim 1, it is characterized by described permanent magnet synchronous electric
The application process of machine frequency converter, detects for the stator resistance in the permagnetic synchronous motor course of work and inductance parameters, including with
Lower step：
(1) first under conditions of permagnetic synchronous motor travels at the uniform speed, control process device detects power by current detector
The electric current i at cable converter end (ripple device module output end)A、iB、iC；Power cable frequency converter is detected by voltage detector
Hold the voltage u of (ripple device module output end)A、uB、uC；
And then control process device is to A phase currents i obtained in the previous step (2)A, (from 0 point to G within the one sine-wave current cycle
Point), to permanent-magnetic synchronous motor stator individual event voltage equationIntegration, due to iAIt is sine
Ripple, soWithIt is zero, calculatesOrderIt is single
Item voltage equation can be write as
(3) control process device is in A phase sine-wave currents iAI is selected at the B of peak value summitAEqual-sized 2 points：A point C points, from A points to
C points are to individual event voltage equationIntegration, due to A phase currents iAIt is sine wave, can be calculated A phases
Stator winding resistance
(4) control process device is in A phase sine-wave currents iAI is selected near zero point EAOpposite 2 points of amplitude equal direction：D points and F
Point, from D points to F points to individual event voltage equationIntegration, due to A phase currents iAIt is sine wave,
Can be calculated A phase stator winding inductance
(5) control process think highly of multiple previous step (1)~(4), obtain permagnetic synchronous motor B phase resistances RB, inductance LBWith C phases electricity
Resistance RC, inductance LC；
(6) control process device is by permanent-magnetic synchronous motor stator resistance R obtained in the previous stepA、RB、RCConverted by CLARKE respectively
Process and the conversion of PARK conversion processes obtain R0；By permanent-magnetic synchronous motor stator inductance L obtained in the previous stepA、LB、LCLead to respectively
Cross CLARKE conversion processes and the conversion of PARK conversion processes obtains Ldh、Lqh；
(7) control process device is by R obtained in the previous step0、Ldh、LqhPermagnetic synchronous motor is applied to power cable more long without biography
In startup, the operating procedure of sensor.
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| CN109775456A (en) * | 2019-01-24 | 2019-05-21 | 杭州电子科技大学 | A kind of hawser automatic retraction device of Deep sea net cage |
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| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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