CN107154767B - A kind of discrimination method of single-phase bridge type inverter inverse electromotive force - Google Patents
A kind of discrimination method of single-phase bridge type inverter inverse electromotive force Download PDFInfo
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- CN107154767B CN107154767B CN201710397873.4A CN201710397873A CN107154767B CN 107154767 B CN107154767 B CN 107154767B CN 201710397873 A CN201710397873 A CN 201710397873A CN 107154767 B CN107154767 B CN 107154767B
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- Prior art keywords
- electromotive force
- inverse electromotive
- phase bridge
- bridge type
- type inverter
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Classifications
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
Abstract
A kind of single-phase bridge type inverter inverse electromotive force discrimination method of the present invention, based on single-phase bridge type inverter model, establish the state-space model of augmentation, according to one Luenberger observer of modelling, obtain the dynamical system of error signal, by selecting parameter matrix appropriate, so that error system is restrained, to observe the inverse electromotive force of system.The present invention can quick and precisely track single-phase bridge type inverter inverse electromotive force, strong interference immunity, can be realized the counter electromotive force identification of no sensor.
Description
Technical field
The present invention relates to field of inserter control, more particularly, to a kind of single-phase bridge type inverter inverse electromotive force identification side
Method.
Background technique
Between past decades, Development of Power Electronic Technology is swift and violent, and inversion transformation technique is mended in active power filtering, reactive power
It repays, be all widely used in AC power dragging.In exchange kinetic control system, it is desirable that the revolving speed and corner of motor can
Preset value is quick and precisely tracked, core is the accurate control realized to motor torque, and the alternating current of inverter output is straight
The control effect for determining torque is connect, pulsation of current is presented as the pulsation of torque.
In the application of single-phase bridge inversion driving motor, for the equivalent model of motor load other than resistance, inductance, there are also anti-
To electromotive force.When high speed operation of motor, if motor inverse electromotive force is big, the control of electric current can be seriously affected, to influence
To the control to motor torque.Therefore how inverse electromotive force is observed, becomes the major issue in motor control.It is reversed electronic
Gesture is difficult to directly, accurately obtain, general to pass through the indirect gains such as measurement motor speed, external voltage, winding current.However, In
In the electromagnetic environment of motor running and power switch high frequency on-off, whether contact or contactless measurement are all difficult to avoid that
The interference of noise.Error in measurement will have a direct impact on the effect of controller, and from the angle of engineering significance, increase sensor
It also implies that cost improves, while also increasing some uncertainties.
Many research has also been made in observation for motor inverse electromotive force, domestic and foreign scholars.Yang Shuying, fourth senior captain etc.
Vector Control System of Induction Motor (" Electric Machines and Control " 2,016 20 (10)) based on counter electromotive force sliding mode observer, by setting
Non-singular terminal sliding mode observer is counted to realize the observation to inverse electromotive force.The present invention uses Parameter Estimation Method, passes through building
Augmentation model designs Luenberger observer, realizes the observation to inverse electromotive force.This method principle is simple, stability is good, and
In system parameter perturbation, load disturbance, this method is still able to achieve quick tracking, and anti-interference ability is good.
Summary of the invention
The object of the present invention is to provide a kind of single-phase bridge type inverter inverse electromotive force discrimination methods, are observed using building
Device, by selection parameter matrix appropriate, it can be achieved that the quick and precisely estimation of inverse electromotive force, uncertain to disturbance of system etc.
Factor has good robustness, and tracking without sensor for inverse electromotive force may be implemented.
A kind of single-phase bridge type inverter inverse electromotive force discrimination method of the present invention, includes the following steps:
Step 1, according to Kirchhoff's second law, the circuit that single-phase bridge type inverter translator loads is simplified,
Simplified circuit topology is indicated by formula (1):
Wherein, UsFor DC side input voltage, i is sample rate current, and R, L respectively represent the equivalent resistance and equivalent electricity of motor
Sense, UdFor inverse electromotive force, t represents time, S1、S2、S3、S4Four switches for representing single-phase bridge type inverter, by controller control
Being switched on and off for four switches is made, s is control signal, and value range is { -1,0,1 }, works as S1、S4It opens, S2、S3Shutdown
When, s=1 indicates the input of input side DC voltage forward direction；Work as S2、S3It opens, S1、S4When shutdown, s=-1 indicates that input side is straight
Flow voltage reversal input；Work as S1、S3It opens, S2、S4When shutdown, or work as S2、S4It opens, S1、S3When shutdown, s=0 indicates do not have
Voltage input；
Step 2, under stable working condition, inverse electromotive force UdFor SIN function, by inverse electromotive force UdWrite as sine
Form:
Wherein, angular frequency=2 π f, frequency f is consistent with winding power current, f=50Hz, and t represents time, phase
Amplitude A is unknown quantity, observes parameter by Luenberger observer in the next stepsValue, that is, realize pair
Inverse electromotive force UdIdentification；
By the current signal i of sampling and inverse electromotive force U to be observeddAs new quantity of state, augmented state sky is established
Between model:
Wherein, x1=i, x2=Ud,U=sUs,It is the derivative of vector x, y is output electric current；
The augmented state space model that step 3, the formula (3) indicate is a line style stational system, for the model
Design a Luenberger observer, observer equation are as follows:
Wherein,Indicate the observation of x,Indicate the observation of y, parameter matrix Ls=[L1 L2 L3]TFor adjustable ginseng
Matrix number；Define error signalThen error signal system may be expressed as:
Select suitable parameter matrix Ls=[L1 L2 L3]T, so that as t → ∞, state variableX can be converged on, i.e.,
0 is leveled off to, at this point, Luenberger observer can observe state variable x2、x3, x2=Ud, using Liapunov and draw plug
Your invariant set principle proves the validity of the Luenberger observer；
Above-mentioned observer equation is carried out discretization using the method for backward difference by step 4, in systems in practice:
Wherein, parameter matrix L is had determined that in step 3s=[L1 L2 L3]T, the circuit conditions at k expression k moment, TsExpression is adopted
The sample time, in the reverse electromotive force U at k momentdIt is calculated by formula (7):
The present invention is based on single-phase bridge type inverter models, establish the state-space model of augmentation, according to modelling one
Luenberger observer obtains the dynamical system of error signal, by choosing suitable quantity of state, so that error system is restrained, from
And observe the inverse electromotive force of system.The present invention can quick and precisely track single-phase bridge type inverter inverse electromotive force,
Strong interference immunity can be realized the counter electromotive force identification of no sensor.
Detailed description of the invention
Fig. 1 is single-phase bridge type inverter topological diagram involved in the present invention；
Fig. 2 is the inverse electromotive force observation analogous diagram of linearly invariant model involved in the present invention.
Specific embodiments of the present invention are described in further detail with reference to the accompanying drawing.
Specific embodiment
Single-phase bridge type inverter topology of the invention is as shown in Figure 1, UsDC side input voltage is represented, i is output electric current,
R, L respectively represents the equivalent resistance and equivalent inductance of motor, UdRepresent inverse electromotive force size, S1、S2、S3、S4Represent inverter
Four switch, by controller control four switch be switched on and off, s { 1,0, -1 } represent control signal, work as S1、S4It opens,
S2、S3When shutdown, s=1 indicates the input of input side DC voltage forward direction；Work as S2、S3It opens, S1、S4When shutdown, s=-1 indicates defeated
Enter side DC voltage reversely to input；Work as S1、S3It opens, S2、S4When shutdown or work as S2、S4It opens, S1、S3When shutdown, s=0 table
Show no voltage input.
A kind of single-phase bridge type inverter inverse electromotive force discrimination method of the present invention, specifically comprises the following steps:
Step 1, according to Kirchhoff's second law, the circuit that single-phase bridge type inverter translator loads is simplified,
Simplified circuit topology is indicated by formula (1):
Wherein, UsFor DC side input voltage, i is sample rate current, and R, L respectively represent the equivalent resistance and equivalent electricity of motor
Sense, UdFor inverse electromotive force, t represents time, S1、S2、S3、S4Four switches for representing single-phase bridge type inverter, by controller control
Being switched on and off for four switches is made, s is control signal, and value range is { -1,0,1 }, works as S1、S4It opens, S2、S3Shutdown
When, s=1 indicates the input of input side DC voltage forward direction；Work as S2、S3It opens, S1、S4When shutdown, s=-1 indicates that input side is straight
Flow voltage reversal input；Work as S1、S3It opens, S2、S4When shutdown, or work as S2、S4It opens, S1、S3When shutdown, s=0 indicates do not have
Voltage input；
Step 2, under stable working condition, inverse electromotive force UdFor SIN function, frequency is network voltage 50Hz,
By inverse electromotive force UdWrite as sinusoidal form:
Wherein, angular frequency=2 π f, frequency f is consistent with winding power current, f=50Hz, and t represents time, phase
Amplitude A is unknown quantity, observes parameter by Luenberger observer in the next stepsValue, that is, realize pair
Inverse electromotive force UdIdentification；
By the current signal i of sampling and inverse electromotive force U to be observeddAs new quantity of state, augmented state sky is established
Between model:
Wherein, x1=i, x2=Ud,U=sUs,It is the derivative of vector x, y is to export electric current, R,
L respectively represents the equivalent resistance and equivalent inductance of motor；
The augmented state space model that step 3, the formula (3) indicate is a line style stational system, for the model
Design a Luenberger observer, observer equation are as follows:
Wherein,Indicate the observation of x,Indicate the observation of y, parameter matrix Ls=[L1 L2 L3]TFor adjustable ginseng
Matrix number；Define error signalThen error signal system may be expressed as:
By formula (5) it is found that parameter matrix LsIt directly determines the dead-center position of error signal system, and then determines mistake
The convergence rate of difference, in other words, by selecting suitable matrix Ls=[L1 L2 L3]T, so that as t → ∞, state variable
X can be converged on, i.e.,Level off to 0, then Luenberger observer can observe state variable x2、x3, x2=Ud, realize to UdIt is fast
Fast accurate recognition；The validity of the Luenberger observer is proved using Liapunov and Russell's invariant set principle；
Step 4, in systems in practice, the present invention are carried out above-mentioned observer equation using the method for backward difference discrete
Change:
Wherein, parameter matrix L is determined in step 3s=[L1 L2 L3]T, the circuit conditions at k expression k moment, TsIndicate sampling
The proof present invention of time, the stability about discrete form just repeat no more, and can refer to pertinent texts, reversed at the k moment
Electromotive force UdIt is calculated by formula (7):
In order to verify to the accuracy of inverse electromotive force observation in the present invention, using in Matlab software
Simulink platform is emulated, and to the stability of the observation method, dynamic and identification speed are tested.Fig. 2 is this
Analogous diagram in invention about linearly invariant model back-EMF observer, the upper figure in figure are the comparison of observation and actual value
Figure, as seen from the figure, in a cycle, observer can promptly track actual value；And it can according to following figure error curve diagram
Know, tracking error very little, observer can accurately track, and illustrate that method of the present invention is feasible.
The above is only present pre-ferred embodiments, is not intended to limit the scope of the present invention, therefore
Any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention, still belong to
In the range of technical solution of the present invention.
Claims (1)
1. a kind of single-phase bridge type inverter inverse electromotive force discrimination method, it is characterised in that include the following steps:
Step 1, according to Kirchhoff's second law, the circuit that single-phase bridge type inverter translator loads is simplified, simplify
Circuit topology by formula (1) indicate:
Wherein, UsFor DC side input voltage, i is sample rate current, and R, L respectively represent the equivalent resistance and equivalent inductance of motor, Ud
For inverse electromotive force, t represents time, S1、S2、S3、S4Four switches for representing single-phase bridge type inverter, by controller control four
A switch is switched on and off, and s is control signal, and value range is { -1,0,1 }, works as S1、S4It opens, S2、S3When shutdown, s
=1, indicate the input of input side DC voltage forward direction；Work as S2、S3It opens, S1、S4When shutdown, s=-1 indicates input side direct current
The reversed input of pressure；Work as S1、S3It opens, S2、S4When shutdown, or work as S2、S4It opens, S1、S3When shutdown, s=0 indicates no voltage
Input；
Step 2, under stable working condition, inverse electromotive force UdFor SIN function, by inverse electromotive force UdWrite as sinusoidal
Formula:
Wherein, angular frequency=2 π f, frequency f is consistent with winding power current, f=50Hz, and t represents time, phaseAmplitude A
For unknown quantity, parameter is observed by Luenberger observer in the next stepsValue, that is, realize to reversed electricity
Kinetic potential UdIdentification；
By the current signal i of sampling and inverse electromotive force U to be observeddAs new quantity of state, augmented state spatial mode is established
Type:
Wherein, x1=i, x2=Ud,U=sUs,It is the derivative of vector x, y is output electric current；
The augmented state space model that step 3, the formula (3) indicate is a line style stational system, for the modelling
One Luenberger observer, observer equation are as follows:
Wherein,Indicate the observation of x,Indicate the observation of y, parameter matrix Ls=[L1 L2 L3]TFor adjustable parameter square
Battle array；Define error signalThen error signal system may be expressed as:
Select suitable parameter matrix Ls=[L1 L2 L3]T, so that as t → ∞, state variableX can be converged on, i.e.,Approach
In 0, at this point, Luenberger observer can observe state variable x2、x3, x2=Ud, not using Liapunov and Russell
Become collection principle to prove the validity of the Luenberger observer；
Above-mentioned observer equation is carried out discretization using the method for backward difference by step 4, in systems in practice:
Wherein, parameter matrix L is had determined that in step 3s=[L1 L2 L3]T, the circuit conditions at k expression k moment, TsWhen indicating sampling
Between, in the reverse electromotive force U at k momentdIt is calculated by formula (7):
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106374765A (en) * | 2016-11-04 | 2017-02-01 | 龙岩学院 | Inverter control system of sensor without back electromotive force and control method thereof |
| CN106452140A (en) * | 2016-11-10 | 2017-02-22 | 厦门大学 | Method for controlling single-phase inverters by aid of adaptive current models in predictive manner |
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| US9143066B2 (en) * | 2013-02-06 | 2015-09-22 | Texas Instruments Incorporated | Permanent magnet motor with sinusoidal back-EMF waveform and related motor controller for position sensorless drives |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106374765A (en) * | 2016-11-04 | 2017-02-01 | 龙岩学院 | Inverter control system of sensor without back electromotive force and control method thereof |
| CN106452140A (en) * | 2016-11-10 | 2017-02-22 | 厦门大学 | Method for controlling single-phase inverters by aid of adaptive current models in predictive manner |
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