CN107231109B - A kind of high-power asynchronous motor low switching frequency progress control method - Google Patents
A kind of high-power asynchronous motor low switching frequency progress control method Download PDFInfo
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- CN107231109B CN107231109B CN201710317941.1A CN201710317941A CN107231109B CN 107231109 B CN107231109 B CN 107231109B CN 201710317941 A CN201710317941 A CN 201710317941A CN 107231109 B CN107231109 B CN 107231109B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
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Abstract
A kind of high-power asynchronous motor low switching frequency progress control method, it include: signal acquisition, flux observation, magnetic linkage outer loop control and revolving speed outer loop control, predicted current inner loop control, by obtaining DC side voltage of converter using acquisition signal, motor stator electric current, rotor flux is calculated, realize that magnetic linkage closed-loop obtains d shaft current reference value, Rotational Speed of Asynchronous Motor is obtained using acquisition signal, realize that speed closed loop obtains q shaft current reference value, by predicted current inner loop control, directly generate switching signal, realize control of the current transformer to motor, the present invention is the short ellipse of d axial length q axis in dq synchronous coordinate system by specified boundary, realize linear modulation mode switching frequency operation control lower, switching frequency is reduced by discharging the biggish limits of error to d axis, simultaneously by rotor time constant compared with Big feature avoids increasing additional harmonic current problem, improves electric system reliability of operation and high efficiency under low switching frequency.
Description
Technical field
The present invention relates to a kind of technical field of motors, especially a kind of high-power asynchronous motor low switching frequency operation control
Method processed.
Background technique
The highest component of failure probability is current transformer in electric system, is reached by the motor system fault rate that current transformer causes
57% or more, and switching frequency is excessively high, can generate biggish switching loss, can not only shorten the service life of switching device but also can drop
The output power of low high power induction motor system.Therefore possess mesohigh heavy-duty motor system regions for example high-speed rail, aviation,
Offshore wind farm etc. generally requires switching frequency not higher than 1kHz to improve system reliability of operation and high efficiency.
In general, biggish electric current can be brought in the case where reducing switching frequency using conventional PWM control electric system
Harmonic wave causes biggish copper loss and torque pulsation, seriously affects the safety and efficiency of mechanical equipment, is needed using optimum pulse width modulation
Off-line calculation, bad dynamic performance are carried out, and PREDICTIVE CONTROL is unique to the resolving ideas of this problem effectively, under normal circumstances, often
Using border circle as specified boundary, allows d axis and q shaft current component to have same error, electric current is controlled by specified boundary
Harmonic wave size reduces switching frequency, it will be clear that by electric current d axis component and q axis while controlling current harmonics as much as possible
The variable that component regards congruence property as goes limit error not accurate, i.e. control under the circular pattern of boundary, can not be to greatest extent
Ground reduces switching frequency.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of high-power asynchronous motor low switching frequency operation controlling party
Method is short ellipse of d axial length q axis in dq synchronous coordinate system by specified boundary in the case where current transformer runs on linear modulation mode
Circle realizes the lower switching frequency operation control of linear modulation mode, avoids reducing switching frequency bring harmonic problem, mention
Electric system reliability of operation and high efficiency under high-low switch frequency.
The technical solution of the present invention is as follows: a kind of high-power asynchronous motor low switching frequency progress control method, feature
It is, comprising the following steps:
S1), signal acquisition: t is acquired in real timekThe DC voltage u of moment current transformerdc(k), Regulation for Stator Current of Induction MotorsRotational Speed of Asynchronous Motor ω (k)；
S2), flux linkage observation: in tkMoment utilizes switching signal Sa,b,c(k) and DC voltage udc(k) synthesis electricity
Machine stator voltage vectorIts calculating formula are as follows:
In rest frame, asynchronous machine rotor flux linkage vector are as follows:
And according to obtained rotor flux linkage vectorAcquire its amplitude of rotor flux linkage vector ψr
(k), specific calculation expression are as follows:
And according to rotor flux linkage vector amplitude ψr(k) with its α β coordinate under component ψrα(k)、ψrβ(k) relationship between, obtains
To directional angle θ (k), specifically:
Wherein, LrFor inductor rotor, LmThe mutual inductance between rotor, LsFor stator inductance, RsFor stator resistance；
S3), magnetic linkage outer loop control and revolving speed outer loop control: by the reference quantity ω of revolving speed*With collected tach signal ω
(k) progress PI controls to obtain inner ring q axis stator current specified rate after making difference
Pass through the reference quantity ψ to rotor fluxr *With rotor flux amplitude ψr(k) progress PI controls to obtain inner ring d after making difference
Axis stator current specified rate
S4), predicted current inner loop control: according to collecting tkThe stator current of moment asynchronous machineAnd it combines
Motor model under rest frame:
By single order Euler's discretization, the current forecasting value of subsequent time is obtainedSpecific calculation expression are as follows:
Wherein, RrFor rotor resistance, σ is motor flux leakage coefficient, npFor motor number of pole-pairs, sampling period Ts；
Current forecasting valueAccording to flux linkage orientation angle θ (k) by obtaining current forecasting value in d axis after coordinate transform
With the current component i of q axissd(k+1)、isq(k+1), specific calculation expression are as follows:
Since rotor time constant is larger, there is very strong filter action to d shaft current component, can permit stator electricity
Flow vector carries out large range of sliding in d axis direction, will not increase the pulsation of electromagnetic torque, therefore design d axial length, q axis
Short current phasor ellipse boundary reduces switching frequency, specifically:
And 0 < λ < 1, Δ imin< g < Δ imax,
Wherein, λ is weight, Δ iminFor minimum current error, Δ imaxFor maximum current error, pass through weight λ and Δ
imin、ΔimaxThe length and elliptical range of d axis and q axis are limited, to reduce switching frequency within the scope of ripple；
S5), respectively by voltage vector corresponding to 8 switch statesIn value of import function g, value is calculated
Functional minimum value gmin, save so that the smallest switch state output of cost function, generation obtain switching drive signal Sa,b,c
(k), pass through switching drive signal Sa,b,c(k) control of the current transformer to motor is realized in the conducting of control switch pipe.
Step S1) in, the acquisition of DC voltage udc (k) mainly passes through voltage sensor, Regulation for Stator Current of Induction MotorsAcquisition mainly pass through current sensor, the acquisition of Rotational Speed of Asynchronous Motor ω (k) mainly passes through encoder.
Step S5) in, in order to reduce calculation amount, cost function g is judged in advance, Δ i is less than for gminIt is corresponding
Switching value not with replacement, continue to keep original switch state, to realize the operation control of asynchronous machine under low switching frequency
System.
The invention has the benefit that be the ellipse that d axial length q axis is short in dq synchronous coordinate system by specified boundary,
To realize linear modulation mode switching frequency operation control lower, in addition, being dropped by discharging the biggish limits of error to d axis
Low switching frequency, while can avoid increasing additional harmonic current problem by the larger feature of rotor time constant again,
To further improve electric system reliability of operation and high efficiency under low switching frequency.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is block schematic illustration of the invention；
Fig. 3 is predicted current vector analysis figure of the invention.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
As shown in Figure 1 and Figure 2, a kind of high-power asynchronous motor low switching frequency progress control method, which is characterized in that
The following steps are included:
S1), signal acquisition: t is acquired in real timekThe DC voltage u of moment current transformerdc(k), Regulation for Stator Current of Induction MotorsRotational Speed of Asynchronous Motor ω (k)；
S2), flux linkage observation: in tkMoment utilizes switching signal Sa,b,c(k) and DC voltage udc(k) synthesis electricity
Machine stator voltage vectorIts calculating formula are as follows:
In rest frame, asynchronous machine rotor flux linkage vector are as follows:
And according to obtained rotor flux linkage vectorAcquire rotor flux linkage vector amplitude ψr
(k), specific calculation expression are as follows:
And according to rotor flux linkage vector amplitude ψr(k) with its α β coordinate under component ψrα(k)、ψrβ(k) relationship between, obtains
To directional angle θ (k), specifically:
Wherein, LrFor inductor rotor, LmThe mutual inductance between rotor, LsFor stator inductance, RsFor stator resistance；
S3), magnetic linkage outer loop control and revolving speed outer loop control: by the reference quantity ω of revolving speed*With collected tach signal ω
(k) progress PI controls to obtain inner ring q axis stator current specified rate after making difference
Pass through the reference quantity ψ to rotor fluxr *And rotor flux amplitudeProgress PI controls to obtain inner ring d after making difference
Axis stator current specified rate
S4), predicted current inner loop control: according to collecting tkThe stator current of moment asynchronous machineAnd it combines
Motor model under rest frame:
By single order Euler's discretization, the current forecasting value of subsequent time is obtainedSpecific calculation expression are as follows:
Wherein, RrFor rotor resistance, σ is motor flux leakage coefficient, npFor motor number of pole-pairs, sampling period Ts；
Current forecasting valueAccording to flux linkage orientation angle θ (k) by obtaining current forecasting value in d axis after coordinate transform
With the current component i of q axissd(k+1)、isq(k+1), specific calculation expression are as follows:
When by change d axis and the weight of q shaft current, the length of d axis and q axis can change, when due to rotor
Between constant it is larger, have very strong filter action to d shaft current component, can permit stator current vector d axis direction carry out compared with
Sliding on a large scale will not increase the pulsation of electromagnetic torque, therefore design d axial length, the short current phasor ellipse boundary of q axis,
Specifically:
And 0 < λ < 1, Δ imin< g < Δ imax,
Wherein, λ is weight, Δ iminFor minimum current error, Δ imaxFor maximum current error, by weight λ, and most
Low current error Δ imin, maximum current error delta imaxThe length and elliptical range of d axis and q axis are limited, thus in line
Switching frequency is reduced within the scope of wave；
As shown in Figure 3, wherein weight λ determines that elliptical real axis is long and the imaginary axis is long, that is, determines the operation of current locus
Range, the oval center of circle are current reference valueWithThe variable of elliptic equation is the current forecasting value i of q axis and d axissq(k
+ 1) and isd(k+1), in addition, from figure 3, it can be seen that the track in the oval center of circle is on q axis from zero load to during fully loaded
Variation, predicted current track are limited in ellipse, to guarantee predictive-current control in error range, and due to ellipse
Round area is greater than circle, then it represents that, the oval limits of error is bigger, and switching is slower, then lower switching frequency may be implemented
Operation, and not will lead to harmonic current and become larger, switching frequency is reduced, thus the reliability service under realizing low switching frequency；
S5), respectively by voltage vector corresponding to 8 switch statesIn value of import function g, valence is calculated
The minimum value g of value functionmin, save so that the smallest switch state output of cost function, generation obtain switching drive signal Sa,b,c
(k), pass through switching drive signal Sa,b,c(k) control of the current transformer to motor is realized in the conducting of control switch pipe.
Step S1) in, DC voltage udc(k) acquisition mainly passes through voltage sensor, Regulation for Stator Current of Induction MotorsAcquisition mainly pass through current sensor, the acquisition of Rotational Speed of Asynchronous Motor ω (k) mainly passes through encoder.
Step S5) in, in order to reduce calculation amount, cost function g is judged in advance, Δ i is less than for gminIt is corresponding
Switching value not with replacement, continue to keep original switch state, to realize the operation control of asynchronous machine under low switching frequency
System.
The above embodiments and description only illustrate the principle of the present invention and most preferred embodiment, is not departing from this
Under the premise of spirit and range, various changes and improvements may be made to the invention, these changes and improvements both fall within requirement and protect
In the scope of the invention of shield.
Claims (3)
1. a kind of high-power asynchronous motor low switching frequency progress control method, which comprises the following steps:
S1), signal acquisition: t is acquired in real timekDC voltage udc (k), the Regulation for Stator Current of Induction Motors of moment current transformer
Rotational Speed of Asynchronous Motor ω (k)；
S2), flux linkage observation: in tkMoment utilizes switching signal Sa,b,c(k) and DC voltage udc(k) Synthetic motor is fixed
Sub- voltage vectorIts calculating formula are as follows:
In rest frame, asynchronous machine rotor flux linkage vector are as follows:
And according to rotor flux linkage vectorAcquire rotor flux linkage vector amplitude ψr(k), specific to calculate
Expression formula is；
And according to rotor flux linkage vector amplitude ψr(k) with its α β coordinate under component ψrα(k)、ψrβ(k) relationship between, is determined
To angle, θ (k), specifically:
Wherein, LrFor inductor rotor, LmThe mutual inductance between rotor, LsFor stator inductance, RsFor stator resistance；
S3), magnetic linkage outer loop control and revolving speed outer loop control: by the reference quantity ω of revolving speed*Make with collected tach signal ω (k)
PI is carried out after difference to control to obtain inner ring q axis stator current specified rate
Pass through the reference quantity ψ to rotor fluxr *With rotor flux amplitude ψr(k) making to carry out after difference PI, to control to obtain inner ring d axis fixed
Electron current specified rate
S4), predicted current inner loop control: according to collecting tkThe stator current of moment asynchronous machineAnd combine static seat
Motor model under mark system:
By single order Euler's discretization, the current forecasting value of subsequent time is obtainedSpecific calculation expression are as follows:
Wherein, RrFor rotor resistance, σ is motor flux leakage coefficient, npFor motor number of pole-pairs, sampling period Ts；
Current forecasting valueAccording to flux linkage orientation angle θ (k) by obtaining current forecasting value in d axis and q after coordinate transform
The current component i of axissd(k+1)、isq(k+1), specific calculation expression are as follows:
Since rotor time constant is larger, there is very strong filter action to d shaft current component, stator current can allow for swear
Amount carries out large range of sliding in d axis direction, will not increase the pulsation of electromagnetic torque, therefore design d axial length, q axis is short
Current phasor ellipse boundary reduces switching frequency, specifically:
And 0 < λ < 1, Δ imin< g < Δ imax,
Wherein, λ is weight, Δ iminFor minimum current error, Δ imaxFor maximum current error, pass through weight λ and Δ imin、
ΔimaxThe length and elliptical range of d axis and q axis are limited, to reduce switching frequency within the scope of ripple；
S5), respectively by voltage vector corresponding to 8 switch statesIt is input in cost function g, value letter is calculated
Several minimum value gmin, save so that the smallest switch state output of cost function, generation obtain switching drive signal Sa,b,c(k),
Pass through switching drive signal Sa,b,c(k) control of the current transformer to motor is realized in the conducting of control switch pipe.
2. a kind of high-power asynchronous motor low switching frequency progress control method according to claim 1, feature exist
In: in step S1), the acquisition of DC voltage udc (k) mainly passes through voltage sensor, Regulation for Stator Current of Induction Motors's
Acquisition mainly mainly passes through encoder by the acquisition of current sensor, Rotational Speed of Asynchronous Motor ω (k).
3. a kind of high-power asynchronous motor low switching frequency progress control method according to claim 1, feature exist
In: in step S5), in order to reduce calculation amount, cost function g is judged in advance, Δ i is less than for gminCorresponding opens
Pass is measured not with replacement, continues to keep original switch state, to realize the operation control of asynchronous machine under low switching frequency.
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| CN110943667B (en) * | 2018-09-25 | 2023-06-09 | 欧姆龙(上海)有限公司 | Control device and control method for induction motor |
| CN111987960B (en) * | 2019-05-22 | 2023-06-20 | 上海理工大学 | Hybrid control method for asynchronous motor |
| CN113328674B (en) * | 2021-06-07 | 2022-08-09 | 广西大学 | High-speed permanent magnet motor permanent magnet loss compensation method and system considering time-space harmonic conditions |
| CN114204869B (en) * | 2021-11-10 | 2024-01-30 | 江苏澳洋医药物流有限公司 | Asynchronous motor control system for conveyer belt of intelligent medicine goods shelves |
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| JPH10191677A (en) * | 1996-12-25 | 1998-07-21 | Toshiba Corp | Speed control apparatus for ac motor |
| CN104868815A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Asynchronous motor high reliability control device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55131294A (en) * | 1979-03-30 | 1980-10-11 | Mitsubishi Electric Corp | Controller for synchronous motor |
| JPH10191677A (en) * | 1996-12-25 | 1998-07-21 | Toshiba Corp | Speed control apparatus for ac motor |
| CN104868815A (en) * | 2015-05-26 | 2015-08-26 | 广西大学 | Asynchronous motor high reliability control device and method |
Non-Patent Citations (2)
| Title |
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| 基于准滑模的异步电机直接转矩虚拟磁链控制;李瀛等;《电力电子技术》;20150731;第49卷(第7期);第68-70页 |
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