CN106817063B - The high-precision torque of threephase asynchronous regulates and controls method - Google Patents

The high-precision torque of threephase asynchronous regulates and controls method Download PDF

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Publication number
CN106817063B
CN106817063B CN201710231611.0A CN201710231611A CN106817063B CN 106817063 B CN106817063 B CN 106817063B CN 201710231611 A CN201710231611 A CN 201710231611A CN 106817063 B CN106817063 B CN 106817063B
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torque
threephase asynchronous
voltage
stator
parameter
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CN201710231611.0A
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CN106817063A (en
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张今朝
朱海燕
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嘉兴学院
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Abstract

The invention discloses a kind of high-precision torques of threephase asynchronous to regulate and control method, belongs to threephase asynchronous control field.The system that the control method uses is by controller, the first power drive unit, threephase asynchronous, torque sensor, stator voltage control unit, the second power drive unit, temperature measuring equipment and register instrument, and wherein controller is made of comparator, proportioner, integrator and adder;Control method of the invention is: first identifying the equivalent torque inertia parameter Ai of threephase asynchronous, then adjusts the ratio control parameter Kp and integration control parameter Ki of controller.The present invention is in debugging, since the parameter of PI controller is adjusted according to threephase asynchronous parameter, it is adjusted so PI controller parameter can shoot the arrow at the target, has contained the blindness of PI controller parameter adjustment, time and efforts is saved, and good direct torque effect can be obtained.

Description

The high-precision torque of threephase asynchronous regulates and controls method

Technical field

The invention belongs to threephase asynchronous control fields, are related to threephase asynchronous moment controlling system, more It says to body, the present invention relates to a kind of high-precision torques of threephase asynchronous to regulate and control method.

Background technique

Threephase asynchronous direct torque must could obtain excellent torque control performance, three-phase using closed-loop control Induction motors torque closed-loop control system includes controller and controlled device, meanwhile, threephase asynchronous direct torque system For system how according to different controlled devices, it is then that the prior art needs that PI (proportional integration) controller parameter, which is shot the arrow at the target, which to be adjusted, It solves the problems, such as.Currently, it is well known in the prior art, its ratio control parameter of PI controller and integration control parameter are all direct It is adjusted using trial and error procedure or empirical method, rather than is adjusted according to object parameters, the adjustment ratio of controller parameter Relatively blindly, the debugging of threephase asynchronous moment controlling system is time-consuming and laborious, and torque control performance is difficult to meet the requirements.

Have and related done desk study research, first patent in previously applying for a patent are as follows: publication number is CN103427747B, patent name are the adjusting method of the parameter adjustment system of direct current generator electric current PI control;Publication number is CN103414418B, patent name are a kind of control method of direct current generator electric current PI control system;Publication number is CN103427758B, patent name are the method for adjustment of single phase induction motor exciting current PI control parameter;It is open to be CN103427748B, patent name are a kind of single phase induction motor exciting current PI control method;Open is CN101499755A, Patent name is a kind of DC generator speed by PID control method.But in above-mentioned existing research, be not involved with three-phase motor and Closed-loop control to torque, on the other hand, with the raising of stator winding temperature, the parameter of electric machine can change, and cause to control There is deviation in precision, for this purpose, be badly in need of invent it is a kind of be directed at different temperatures it is a kind of be directed to threephase asynchronous turn Square regulates and controls method.

Summary of the invention

It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.

A further object of the invention is to solve in threephase asynchronous torque closed-loop control using PI controller When, PI controller parameter is difficult to the problem of being adjusted according to object parameters, and proposes a kind of threephase asynchronous and turn Square PI control method.

In order to realize these purposes and other advantages according to the present invention, a kind of the high-precision of threephase asynchronous is provided It spends torque and regulates and controls method, the system that torque regulation method uses includes: controller, the first power drive unit, phase asynchronous Motor, torque sensor, stator voltage control unit, the second power drive unit, temperature measuring equipment and register instrument, wherein The controller is made of comparator, proportioner, integrator and adder, and the first input end of the comparator receives torque and refers to Signal is enabled, the output end of the comparator is connect with the input terminal of the proportioner and the integrator respectively, the proportioner It is connect respectively with the input terminal of the adder with the output end of integrator, the output end of the adder and first power The input terminal of driving unit connects, and controller is used to generate the first control signal of stator voltage, and the first power drive unit is defeated Enter end to connect with the output end of the controller, first power drive unit receives the first control letter of the stator voltage Number, and export the first driving voltage of corresponding size;Stator voltage control unit is used to generate the second control letter of stator voltage Number, the second power drive unit input terminal is connect with the output end of the stator voltage control unit, second power drive Unit receives the second control signal of the stator voltage, and exports the second driving voltage of corresponding size;Three-phase asynchronous electric The power input of machine is connect, by the second switching with the output end of first power drive unit by the first switching switch Switch is connect with the output end of second power drive unit, and the stator of the threephase asynchronous receives described first and drives Dynamic voltage or the second driving voltage;Torque sensor conveys respectively for measuring threephase asynchronous torque output signal To in the register instrument and the second input terminal of the comparator;Temperature measuring equipment is for measuring the threephase asynchronous The temperature of stator winding;The output with the controller, torque sensor and temperature measuring equipment respectively of the input terminal of register instrument End connection, the register instrument change with time process for recording measured data;It includes following that the torque, which regulates and controls method, Step:

Step 1: equivalent torque inertia parameter of the identification threephase asynchronous under different stator winding temperatures, including Following steps:

Step A. temperature measuring equipment acquires the temperature data of the stator winding in real time, and the temperature data is sent to record In instrument, the temperature data is divided into several temperature ranges from small to large;

Step B. disconnects the first switching switch, and closure the second switching switch exports three-phase using stator voltage control unit Stator voltage amplitude is respectively the second control signal of a normal number L;

Output three-phase voltage amplitude is respectively after second power drive unit described in step C. receives the second control signal The stator winding of the second driving voltage of the normal number L, the threephase asynchronous receives second driving voltage, will The stator winding heating;

Step D. disconnects described the when the temperature of the stator winding is more than the median of j-th of temperature range Two switching switches are closed the first switching switch, use controller output stator α shaft voltage amplitude for a normal number N, stator β shaft voltage amplitude is the first control signal of a normal number M, wherein j 1,2,3 ...;

First power drive unit described in step E. exports output stator α shaft voltage width after receiving the first control signal The first driving voltage that value is a normal number N, stator β shaft voltage amplitude is a normal number M, the threephase asynchronous are determined Sub- winding receives first driving voltage, generates torque output signal;

Step F. uses the torque output signal of torque sensor real-time measurement three-phase asynchronous motor rotor;

Step G. register instrument records the first control signal respectively and the torque output signal changes over time Process, and the curve graph of the torque output signal, first control signal and time relationship is established respectively in coordinate system, wherein Time is abscissa, and torque output signal and first control signal are ordinate;

Step H. reads the stable state amplitude C of torque output signal curve in a coordinate system, and it is flat to cross one, stable state amplitude C work Row obtains threephase asynchronous by threephase asynchronous voltage rating Ue divided by stable state amplitude C in the straight line of time shaft Electromagnetic torque parameter K;

Step I. measurement coordinate value T on corresponding time shaft at 0.632 times of torque output signal stable state amplitude C;

Step J. multiplies the electromagnetic torque parameter K and the coordinate value T-phase, obtain threephase asynchronous stator around Group temperature is in equivalent torque inertia parameter Ai, i=1,2 ... the j of j-th of temperature range;

Step K. returns to step B, carries out the measurement of equivalent torque inertia parameter Ai in jth+1 temperature range, directly To by the corresponding equivalent torque inertia parameter Ai of each temperature range, all measurement is finished;

Step 2: adjusting the ratio control parameter Kp and integration control of controller according to the equivalent torque inertia parameter Ai Parameter Ki, to adjust the output excitation voltage of the first power drive unit, the output torque of final adjustment threephase asynchronous.

Preferably, in the step 2, the method for adjustment of ratio control parameter Kp and integration control parameter Ki include following Step:

Step 1. determines the voltage rating Ue of threephase asynchronous (130);

Step 2. determines the nominal torque Ie of threephase asynchronous (130);

Ratio the control parameter Kp, Kp=Ue/Ie of step 3. adjustment controller;

Integration control the parameter Ki, Ki=Kp/Ai of step 4. adjustment controller.

Preferably, in the step D, the stator α shaft voltage amplitude N is the specified electricity of the threephase asynchronous Press Ue's

Preferably, in the step D, the stator β shaft voltage amplitude M is the voltage rating of the threephase asynchronous Ue's

Preferably, the initial value of the integration control parameter Ki in the step 2 is 0.

Preferably, it is different to be greater than described three for the voltage rating of first power drive unit and the second power drive unit The rated current of the voltage rating of step motor, first power drive unit and the second power drive unit is greater than described three The rated current of phase asynchronous motor.

Preferably, the threephase stator voltage magnitude L of the output of stator voltage control unit described in step B is different with described three The rated voltage amplitude for walking motor is equal.

Preferably, the first switching switch and the second switching switch interlock setting, the first switching switch and second Switching switch cannot be closed in synchronization.

Preferably, the temperature measuring equipment is arranged on the casing of the threephase asynchronous, and the temperature measuring equipment is red Outer temperature transducer, the light-emitting window of the infrared temperature probe is towards the stator winding.

Preferably, the temperature range according to locating for the stator winding of threephase asynchronous, selection correspond at such a temperature The equivalent torque inertia parameter Ai, the control parameter of the controller is determined according to the equivalent torque inertia parameter Ai.

The present invention is include at least the following beneficial effects:

1, by carrying out quantitative judge to the parameter of threephase asynchronous, obtaining under different stator winding temperatures Electromagnetic torque parameter K and equivalent torque inertia parameter Ai when to motor torque control, set for the control of threephase asynchronous Meter and debugging save energy and time, improve the controlling to threephase asynchronous under different stator winding temperatures Can, and threephase asynchronous is made to obtain good static properties and dynamic property, it realizes to three-phase asynchronous electric The accurate control of machine;

2, the adjust automatically of torque is realized, and system is in debugging, since the parameter of PI controller is different according to three Step motor parameter is adjusted, and is adjusted so PI controller parameter can shoot the arrow at the target, is accomplished to know what's what, contains The blindness of PI controller parameter adjustment, saves time and efforts, and can obtain good direct torque effect, improves The control precision of threephase asynchronous torque.

Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this The research and practice of invention and be understood by the person skilled in the art.

Detailed description of the invention

Fig. 1 is the structural block diagram of regulator control system of the present invention;

Fig. 2 is regulation method block diagram of the present invention.

Specific embodiment

Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text Word can be implemented accordingly.

It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more The presence or addition of a other elements or combinations thereof.

The present invention provides a kind of high-precision torques of threephase asynchronous to regulate and control method, as shown in Figure 1, the torque tune The system that prosecutor method uses includes: controller 110, the first power drive unit 120, threephase asynchronous 130, torque sensing Device 140, stator voltage control unit 600, the second power drive unit 700, temperature measuring equipment 900 and register instrument 500.

Wherein the controller 110 is made of comparator 111, proportioner 112, integrator 113 and adder 114, described The first input end of comparator 111 receives the torque instruction signal of extraneous input, the output end of the comparator 111 respectively with institute Proportioner 112 is stated to connect with the input terminal of the integrator 113, the output end of the proportioner 112 and integrator 113 respectively with The input terminal of the adder 114 connects, and the output end of the adder 114 is defeated with first power drive unit 120 Enter end connection, controller 110 is used to receive the first control signal of generation stator voltage after torque instruction signal, and the first power drives 120 input terminal of moving cell is connect with the output end of the controller 110, and it is described fixed that first power drive unit 120 receives The first control signal of sub- voltage, and export the first driving voltage of corresponding size;Stator voltage control unit 600 is for generating The second control signal of stator voltage, 700 input terminal of the second power drive unit are defeated with the stator voltage control unit 600 Outlet connection, second power drive unit 700 receives the second control signal of the stator voltage, and exports correspondingly sized The second driving voltage;The power input of threephase asynchronous 130 passes through the first switching switch 810 and first power The output end connection of driving unit 120 passes through the output end of the second switching switch 820 and second power drive unit 700 Connection, the stator of the threephase asynchronous 130 receive first driving voltage or the second driving voltage with to stator around Group excitation, wherein the first switching switch 810 and the second switching switch 820 interlock setting, that is, first switching Switch 810 and the second switching switch 820 cannot be closed in synchronization, so that the first power drive unit 120 and second It can be stator winding excitation that power drive unit 700, which can only have one,.

Torque sensor 140 is delivered to the note for measuring 130 torque output signal of threephase asynchronous respectively Record instrument 500 in and the comparator 111 the second input terminal;Temperature measuring equipment 900 is for measuring the three-phase asynchronous electric The temperature of 130 stator winding of machine, in the present embodiment, the temperature measuring equipment 900 is infrared temperature probe, and other embodiments can be with Select suitable temperature sensor according to actual conditions, the light-emitting window of the infrared temperature probe towards the stator winding, To improve the accuracy of measurement stator winding temperature.

The input terminal of register instrument 500 respectively with the controller 110, torque sensor 140 and temperature measuring equipment 900 Output end connection, the register instrument 500 change with time process for recording measured data;In the present embodiment, record Instrument 500 receives the second control of the torque output signal, the first control signal of stator winding voltage, stator winding voltage The temperature of signal and stator winding, and record respectively the torque output signal, stator winding voltage first control signal, The curve graph of the temperature and time relationship of the second control signal and stator winding of stator winding voltage.

In above-mentioned technical proposal, the voltage rating of first power drive unit 120 and the second power drive unit 700 Greater than the voltage rating of the threephase asynchronous 130;First power drive unit 120 and the second power drive unit 700 rated current is greater than the rated current of the threephase asynchronous 130.

As shown in Fig. 2, the torque regulation method the following steps are included:

Step 1: equivalent torque inertia parameter of the identification threephase asynchronous 130 under different stator winding temperatures, packet Include following steps:

Step A. temperature measuring equipment 900 acquires the temperature data of the stator winding in real time, and the temperature data is sent to In register instrument 500, the temperature data is divided into several temperature ranges from small to large, by the temperature data from it is small to It is divided into several temperature ranges greatly, the temperature range of division is smaller, the corresponding equivalent torque inertia parameter of each temperature range Ai is more accurate, can divide temperature range as the case may be, in the present embodiment, by stator winding temperature from -30 DEG C~110 DEG C every 5 DEG C are divided into a temperature range, altogether 22 temperature ranges;

Step B. disconnects the first switching switch 810, closure the second switching switch 820, using stator voltage control unit 600 Output threephase stator voltage magnitude is respectively the second control signal of a normal number L;In the present embodiment, the stator voltage control unit The threephase stator voltage magnitude L of 600 outputs is equal with the rated voltage amplitude of the threephase asynchronous 300;

Output three-phase voltage amplitude is each after second power drive unit 700 described in step C. receives the second control signal For the second driving voltage of the normal number L, the stator winding of the threephase asynchronous 130 receives the second driving electricity Pressure, the stator winding is heated up, temperature data is fed back to record by the temperature of 900 real-time measurement stator winding of temperature measuring equipment In instrument 500;

Step D. is with the raising for positioning winding temperature, when the temperature of the stator winding is more than j-th of humidity province Between median when, wherein j 1,2,3 ... 22, for example the temperature of stator winding has been more than in the 8th temperature range Between when being worth, that is, when being more than 7.5 DEG C, disconnect the second switching switch 820, be closed described first and switch switch 810, adopt The first control that with 110 output stator α shaft voltage amplitude of controller be a normal number N, stator β shaft voltage amplitude is a normal number M Signal processed;

First power drive unit 120 described in step E. receives output output stator α axis electricity after the first control signal The first driving voltage that pressure amplitude value is a normal number N, stator β shaft voltage amplitude is a normal number M, the stator α shaft voltage Amplitude N is the voltage rating Ue's of the threephase asynchronous 130The stator β shaft voltage amplitude M is described three different Walk the voltage rating Ue's of motor 130The stator winding of the threephase asynchronous 130 receives first driving Voltage generates torque output signal;

Step F. uses the torque output signal of 140 real-time measurement threephase asynchronous of torque sensor, 130 rotor;

Step G. register instrument 500 records the first control signal respectively and the torque output signal changes over time Process, and establish the curve graph of the torque output signal, first control signal and time relationship respectively in coordinate system, In, the time is abscissa, and torque output signal and first control signal are ordinate;

Step H. reads the stable state amplitude C of torque output signal curve in a coordinate system, and it is flat to cross one, stable state amplitude C work Row obtains phase asynchronous electricity by 130 voltage rating Ue of threephase asynchronous divided by stable state amplitude C in the straight line of time shaft The electromagnetic torque parameter K of motivation 130;

Step I. measurement coordinate value T on corresponding time shaft at 0.632 times of torque output signal stable state amplitude C;

Step J. multiplies the electromagnetic torque parameter K and the coordinate value T-phase, obtains threephase asynchronous 130 fixed Sub- winding temperature is in equivalent torque inertia parameter Ai, i=1,2 ... the j of j-th of temperature range, in the present embodiment, that is, surveys Obtained equivalent torque the inertia parameter Ai, i=8 of the 8th temperature range;

Step K. returns to step B, continues to heat up to stator winding, until the temperature of stator winding is more than described in jth+1 The median of temperature range carries out the measurement of equivalent torque inertia parameter Ai in jth+1 temperature range, that is, the Equivalent torque inertia parameter Ai, i=9 are measured in nine temperature ranges, until each temperature range is equivalent turn corresponding All measurement finishes square inertia parameter Ai, obtains the corresponding equivalent torque inertia parameter Ai of each temperature range.

Step 2: adjusting the ratio control parameter Kp and integral of controller 110 according to the equivalent torque inertia parameter Ai Control parameter Ki, to adjust the output excitation voltage of the first power drive unit 120, final adjustment threephase asynchronous 130 Output torque.

In the step 2, the method for adjustment of ratio control parameter Kp and integration control parameter Ki the following steps are included:

Step 1. determines the voltage rating Ue of threephase asynchronous 130 (130);

Step 2. determines the nominal torque Ie of threephase asynchronous 130 (130);

Ratio the control parameter Kp, Kp=Ue/Ie of step 3. adjustment controller 110;

Integration control the parameter Ki, Ki=Kp/Ai of step 4. adjustment controller 110.

In above-mentioned technical proposal, the initial value of the integration control parameter Ki in the step 2 is 0.

The high-precision torque of threephase asynchronous of the invention regulates and controls method, based on to threephase asynchronous torque PI closed-loop control, specifically to the regulation process of torque are as follows: comparator 111 is by input torque command signal and from torque sensor 140 torque output signals fed back are compared, and generate torque error signal;During torque adjustment, according to above-mentioned Method comparative example control parameter Kp and integration control parameter Ki are adjusted, then, proportioner 112 to torque error signal multiplied by Ratio control parameter;Integrator 113 carries out integral to torque error signal and multiplied by integration control parameter;Adder 114 compares Example device 112 is added with 113 output signal of integrator is sent to the first power drive unit 120;First power drive unit, 120 basis The control signal that controller 110 exports, generates excitation voltage of corresponding size, provides in due course for threephase asynchronous 130 suitable When energy, so that threephase asynchronous 130 is generated torque of corresponding size, with to a upper period torque error carry out from Row amendment improves the control essence to threephase asynchronous torque quickly to be adjusted to threephase asynchronous torque Degree, threephase asynchronous drag the object to be controlled, meanwhile, 140 real-time measurement threephase asynchronous of torque sensor 130 torque output signal, and the second input terminal of comparator is fed back to, to verify torque adjustment effect.

Specifically, the temperature range according to locating for the stator winding of threephase asynchronous 130, it is right at such a temperature to select The equivalent torque inertia parameter Ai answered determines the control of the controller 110 according to the equivalent torque inertia parameter Ai Parameter, including ratio control parameter Kp and integration control parameter Ki.Controller of three-phase asynchronous motor can be according to the two Parameter is designed and adjusts, preferably to control threephase asynchronous.

Then, the corresponding equivalent torque inertia of the temperature range according to locating for the stator winding of threephase asynchronous 130 Parameter Ai sets several controllers, according to the equivalent torque inertia parameter Ai corresponding at each temperature, is used for determine Control the control parameter of the torque controller of the three-phase motor operating status.

In threephase asynchronous carrying out practically, the temperature of 900 real-time measurement stator winding of temperature measuring equipment, according to stator Temperature range locating for winding, to select to switch corresponding controller, with according to the parameter of electric machine under different temperatures come to motor Direct torque is carried out, control performance is improved.

From the above mentioned, the present invention is by determining the parameter of threephase asynchronous under different stator winding temperatures Amount identification, electromagnetic torque parameter K and equivalent torque inertia parameter Ai when obtaining to motor torque control, are phase asynchronous electricity The control design case of motivation and debugging save energy and time, improve to threephase asynchronous in different stator winding temperatures Under control performance, and threephase asynchronous is made to obtain good static properties and dynamic property, realized to three The accurate control of phase asynchronous motor;Meanwhile the high-precision torque of threephase asynchronous 130 of the invention regulates and controls method, it is real The adjust automatically of torque is showed, and system is in debugging, since the parameter of PI controller 110 is according to threephase asynchronous What 130 parameters were adjusted, it is adjusted so 110 parameter of PI controller can shoot the arrow at the target, accomplishes to know what's what, contained The blindness of 110 parameter of PI controller adjustment, saves time and efforts, and can obtain good direct torque effect, improves The control precision of 130 torque of threephase asynchronous.

Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited In specific details and legend shown and described herein.

Claims (10)

1. a kind of high-precision torque of threephase asynchronous regulates and controls method, the system that torque regulation method uses includes:
Controller (110), threephase asynchronous (130), torque sensor (140), is determined the first power drive unit (120) Sub- voltage control unit (600), the second power drive unit (700), temperature measuring equipment (900) and register instrument (500), wherein The controller (110) is made of comparator (111), proportioner (112), integrator (113) and adder (114), the ratio Compared with device (111) first input end receive torque instruction signal, the output end of the comparator (111) respectively with the proportioner (112) connected with the input terminal of the integrator (113), the output end of the proportioner (112) and integrator (113) respectively with The input terminal of the adder (114) connects, the output end and first power drive unit of the adder (114) (120) input terminal connection, controller (110) are used to generate the first control signal of stator voltage, the first power drive unit (120) input terminal is connect with the output end of the controller (110), and first power drive unit receives the stator voltage First control signal, and export the first driving voltage of corresponding size;Stator voltage control unit (600) is for generating stator The second control signal of voltage, the output end of the second power drive unit (700) input terminal and the stator voltage control unit Connection, second power drive unit receives the second control signal of the stator voltage, and exports of corresponding size second Driving voltage;The power input of threephase asynchronous is switched defeated with first power drive unit by the first switching Outlet connection is connect by the second switching switch with the output end of second power drive unit, the three-phase asynchronous electric The stator of machine receives first driving voltage or the second driving voltage;Torque sensor (140) is for measuring phase asynchronous electricity Motivation (130) torque output signal, and be delivered in the register instrument respectively and the second input of the comparator (111) End;Temperature measuring equipment is used to measure the temperature of the three phase stator winding;The input terminal of register instrument respectively with institute State the output end connection of controller, torque sensor and temperature measuring equipment, the register instrument for record measured data with The change procedure of time;It is characterized in that, the torque regulation method the following steps are included:
Step 1: equivalent torque inertia parameter of the identification threephase asynchronous under different stator winding temperatures, including it is following Step:
Step A. temperature measuring equipment acquires the temperature data of the stator winding in real time, and the temperature data is sent to register instrument In, the temperature data is divided into several temperature ranges from small to large;
Step B. disconnects the first switching switch, and closure the second switching switch exports threephase stator using stator voltage control unit Voltage magnitude is respectively the second control signal of a normal number L;
Output three-phase voltage amplitude is respectively described after second power drive unit described in step C. receives the second control signal The stator winding of the second driving voltage of normal number L, the threephase asynchronous receives second driving voltage, will be described Stator winding heating;
Step D. disconnects described second and cuts when the temperature of the stator winding is more than the median of j-th of temperature range Switch is changed, the first switching switch is closed, uses controller output stator α shaft voltage amplitude for a normal number N, stator β axis Voltage magnitude is the first control signal of a normal number M, wherein j 1,2,3 ...;
Output output stator α shaft voltage amplitude is after first power drive unit described in step E. receives the first control signal One normal number N, the first driving voltage that stator β shaft voltage amplitude is a normal number M, the stator of the threephase asynchronous around Group receives first driving voltage, generates torque output signal;
Step F. uses the torque output signal of torque sensor (140) real-time measurement three-phase asynchronous motor rotor;
The process that step G. register instrument records the first control signal respectively and the torque output signal changes over time, And the curve graph of the torque output signal, first control signal and time relationship is established respectively in coordinate system, wherein the time is Abscissa, torque output signal and first control signal are ordinate;
Step H. reads the stable state amplitude C of torque output signal curve in a coordinate system, crosses one, stable state amplitude C work and is parallel to The straight line of time shaft obtains three-phase asynchronous electric by threephase asynchronous (130) voltage rating Ue divided by stable state amplitude C The electromagnetic torque parameter K of machine;
Step I. measurement coordinate value T on corresponding time shaft at 0.632 times of torque output signal stable state amplitude C;
Step J. multiplies the electromagnetic torque parameter K and the coordinate value T-phase, obtains threephase asynchronous in stator winding temperature Degree is in equivalent torque inertia parameter Ai, i=1,2 ... the j of j-th of temperature range;
Step K. returns to step B, the measurement of equivalent torque inertia parameter Ai is carried out in jth+1 temperature range, until will All measurement finishes the corresponding equivalent torque inertia parameter Ai of each temperature range;
Step 2: adjusting the ratio control parameter Kp and integration control parameter of controller according to the equivalent torque inertia parameter Ai Ki, to adjust the output excitation voltage of the first power drive unit (120), the output of final adjustment threephase asynchronous turns Square.
2. the high-precision torque of threephase asynchronous according to claim 1 regulates and controls method, which is characterized in that the step In rapid two, the method for adjustment of ratio control parameter Kp and integration control parameter Ki the following steps are included:
Step 1. determines the voltage rating Ue of threephase asynchronous (130);
Step 2. determines the nominal torque Ie of threephase asynchronous (130);
Ratio the control parameter Kp, Kp=Ue/Ie of step 3. adjustment controller;
Integration control the parameter Ki, Ki=Kp/Ai of step 4. adjustment controller.
3. the high-precision torque of threephase asynchronous according to claim 2 regulates and controls method, which is characterized in that the step In rapid D, the stator α shaft voltage amplitude N is the voltage rating Ue's of the threephase asynchronous
4. the high-precision torque of threephase asynchronous according to claim 3 regulates and controls method, which is characterized in that the step In rapid D, the stator β shaft voltage amplitude M is the voltage rating Ue's of the threephase asynchronous
5. the high-precision torque of threephase asynchronous according to claim 4 regulates and controls method, which is characterized in that the step The initial value of the integration control parameter Ki in rapid two is 0.
6. the high-precision torque of threephase asynchronous according to claim 5 regulates and controls method, which is characterized in that described the The voltage rating of one power drive unit and the second power drive unit is greater than the voltage rating of the threephase asynchronous, institute The rated current for stating the first power drive unit and the second power drive unit is greater than the specified electricity of the threephase asynchronous Stream.
7. the high-precision torque of threephase asynchronous according to claim 6 regulates and controls method, which is characterized in that step B Described in stator voltage control unit output threephase stator voltage magnitude L and the threephase asynchronous voltage rating width It is worth equal.
8. the high-precision torque of threephase asynchronous according to claim 7 regulates and controls method, which is characterized in that described the One switching switch and the second switching switch interlock setting, the first switching switch and the second switching switch cannot in synchronization It is closed at.
9. the high-precision torque of threephase asynchronous according to claim 8 regulates and controls method, which is characterized in that the survey Warm device is arranged on the casing of the threephase asynchronous, and the temperature measuring equipment is infrared temperature probe, described infrared The light-emitting window of temperature transducer is towards the stator winding.
10. regulating and controlling method according to the high-precision torque of threephase asynchronous as claimed in claim 9, which is characterized in that root Temperature range locating for stator winding according to threephase asynchronous selects the corresponding equivalent torque inertia at such a temperature Parameter Ai determines the control parameter of the controller according to the equivalent torque inertia parameter Ai.
CN201710231611.0A 2017-04-11 2017-04-11 The high-precision torque of threephase asynchronous regulates and controls method CN106817063B (en)

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CN103414418A (en) * 2013-07-26 2013-11-27 江苏科技大学 Current PI control system and method of direct current motor

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