CN107508516A - The induction machine High-speed Control method of voltage development area weak magnetic field operation - Google Patents

The induction machine High-speed Control method of voltage development area weak magnetic field operation Download PDF

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CN107508516A
CN107508516A CN201710839095.XA CN201710839095A CN107508516A CN 107508516 A CN107508516 A CN 107508516A CN 201710839095 A CN201710839095 A CN 201710839095A CN 107508516 A CN107508516 A CN 107508516A
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voltage
weak magnetic
induction machine
given
value
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CN107508516B (en
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于泳
董震
徐殿国
董清华
张旭
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Harbin Institute of Technology
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Harbin Institute of Technology
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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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The induction machine High-speed Control method of voltage development area weak magnetic field operation, belongs to motor control technology field.The present invention be in order to solve the voltage close loop weak magnetic in existing induction machine high speed field weakening control method control voltage development area bad dynamic performance, and DC bus-bar voltage utilization rate it is low the problem of.It sets voltage adjusting parameter k firstext, the weak magnetic factor is obtained after overvoltage gives adjustable weak magnetic controller processing；Then calculate and obtain torque component amplitude limit initial value；It is final to obtain q axle given voltage values and d axle given voltage values again by the processing to giving rotor speed and actual rotor rotating speed；Induction machine in changeover portion by being controlled from spacing module, subsequently into the area of weak magnetic one；In the area of weak magnetic two, output is made by PI regulations | usd| stabilization is extremelyUntil rotor speed reaches set-point.The voltage development area weak magnetic field operation that the present invention is used for induction machine controls.

Description

The induction machine High-speed Control method of voltage development area weak magnetic field operation
Technical field
The present invention relates to the induction machine High-speed Control method of voltage development area weak magnetic field operation, belongs to electric machines control technology neck Domain.
Background technology
With the development of science and technology, need the occasion of high speed operation of motor more and more, such as Digit Control Machine Tool, electric automobile, sky Compressor of tune or refrigerator etc..These occasions propose more requirements to induction machine speed governing, such as：Speed-regulating range width, at a high speed It is stable, torque capacity fan-out capability, voltage x current resource is made full use of, fast response time etc..High-speed electric expreess locomotive has Following advantage：One is due to rotating speed height, and volume is less than common electric machine, can effectively save material.Second, can be with prime mover It is connected, eliminates traditional reducing gear, transmission efficiency, noise is small.Three be due to that high-speed electric expreess locomotive rotary inertia is small, so dynamic State response is fast.At present, high speed machining has been to be concerned by more and more people, and it can not only obtain bigger productivity ratio, and Very high crudy can be also obtained, and production cost can be reduced, thus is considered as 21 century most promising advanced One of manufacturing technology.In industrially-advanced country, high speed machining is widely used to Aeronautics and Astronautics and die industry.Near In 5 years, the high speed machining in China also achieves significant progress.
The key of alternating current generator high-performance speed governing is whether can quickly and accurately control its transient state magnetic torque, especially When being the transition between subregion, when at this moment often the fluctuation of dq shaft currents is maximum.In existing induction machine at a high speed In field weakening control method the weak magnetic control (VCFS) of voltage close loop due to its easily realize and to the hyposensitivity of Parameters variation and It is considered as an extremely successful control strategy.
But following two in VCFS systems be present：
1. producing trigger pulse even if the modulator approach using SVPWM the three-phase phase voltage amplitude of output can only also reached DC bus-bar voltageAnd the maximum voltage vector magnitude that SVPWM modules can export is 2Udc/ 3, this generates right The waste of DC bus-bar voltage resource, the voltage regime not utilized is defined as voltage development area here.
2. the transition region by permanent torque area to weak magnetic area is defined as " changeover portion ".System is run to weak magnetic from permanent torque area Qu Shi, the dynamic characteristic of changeover portion are remarkably decreased.
The content of the invention
The invention aims to solve the control of the voltage close loop weak magnetic in existing induction machine high speed field weakening control method In the bad dynamic performance of voltage development area, and DC bus-bar voltage utilization rate it is low the problem of, there is provided a kind of voltage is expanded The induction machine High-speed Control method of area's weak magnetic field operation.
The induction machine High-speed Control method of voltage development area weak magnetic field operation of the present invention, is used in induction machine system Under voltage development area weak magnetic field operation state, it comprises the following steps：
Step 1：Voltage adjusting parameter k is set in voltage gives adjustable weak magnetic controllerext, voltage adjusting parameter kext After the given adjustable elements adjustment of voltage in adjustable weak magnetic controller is given by voltage, voltage set-point is obtainedWherein uαβFor inverter output voltage, UdcFor DC bus-bar voltage；Voltage set-pointThe PI regulations of adjustable weak magnetic controller are given through overvoltage and amplitude limit acts on, output again Weak magnetic factor isd,weaken, weak magnetic factor isd,weakenInitial value be 0；
Step 2：Initial stator current excitation component value is set as isd,rated, by initial stator current excitation component value isd,ratedWith weak magnetic factor isd,weakenSuperposition obtains exciting current set-point isd,ref, thus calculate at the beginning of obtaining torque component amplitude limit Initial value isq,limit：
I in formulasmaxFor maximum allowed current value；
Step 3：Using the code-disc collection actual rotor rotational speed omega that tests the speedr, by given rotor speed ωr,refWith actual rotor Rotational speed omegarAdjust to obtain stator current torque component set-point i again by PI after making differencesq,ref；Stator current torque component gives Value isq,refWith exciting current set-point isd,refObtain q axle given voltage values u respectively after current regulator is adjusted* sqWith d axles Given voltage value
Step 4：Work as given voltageEqual to inverter limit output voltage usmaxWhen, whereinSensing Motor enters changeover portion；Now given using voltage in adjustable weak magnetic controller and redistribute given voltage from spacing module
The initial value of the switching value switch from spacing module is set as 0, to u* sqAnd isd,weakenValue supervised online Control, works as u* sq＞ usq, and isd,weakenDuring ＜ 0, switch value is put 1, and makes q axle given voltage values u* sqAmplitude limit value for work as Preceding inverter reality output q shaft voltage values usq-ins；Wherein usqFor inverter reality output q shaft voltage values；
Work as u* sq＜ usqWhen, indicate that changeover portion terminates, by q axle given voltage values u* sqAmplitude limit value be arranged to former acquiescence Value；Switch value is reset to 0 simultaneously, induction machine operation enters the area of weak magnetic one；
Step 5：WhenWhen, induction machine operation enters the area of weak magnetic two, wherein usdIt is actually defeated for inverter Go out d shaft voltage values；By PI adjustment effect, makeWhen, final output | usd| stabilization is extremely So thatInduction machine maintains this running status to reach set-point until rotor speed, completes sense Motor is answered in the High-speed Control of voltage development area weak magnetic field operation.
Advantages of the present invention：The inventive method can further widen the torque capacity fan-out capability of induction machine, optimization Dynamic property in the quick accelerator of motor.
The present invention is by choosing appropriate voltage adjusting parameter kext, output torque capacity is increased, improves dc bus The utilization rate of voltage, accelerates the lifting speed of motor speed, while will not cause the excessive increase of torque pulsation.
By adding SLLB modules to voltage development area q shaft voltage amplitude limits, eliminate q shaft current adjusters mistake integration and draw The dynamic problem risen, given voltage has been redistributed in voltage development area, makes in the boosting velocity procedure of voltage development area to have more preferably Dynamic characteristic.And SLLB modules only play a role in changeover portion, therefore do not interfere with the control of permanent torque area and weak magnetic area Performance.
Brief description of the drawings
Fig. 1 is the structured flowchart of the induction machine High-speed Control method of voltage development area weak magnetic field operation of the present invention；
Fig. 2 is the maximum voltage trajectory diagram introduced after voltage adjusting parameter；
Fig. 3 is the composition frame chart that voltage gives adjustable weak magnetic controller；
Fig. 4 is SLLB module workflow diagrams；
Fig. 5 be add SLLB modules after given voltage vector in voltage development area change schematic diagram；
Fig. 6 be the inventive method and prior art control method in given voltage and virtual voltage vector locus contrast Figure；
Wherein Fig. 6 (a) is given voltage vector locus oscillogram before improvement；Fig. 6 (b) is given voltage vector rail after improvement Mark oscillogram；Fig. 6 (c) is virtual voltage vector locus oscillogram before improvement；Fig. 6 (d) is virtual voltage vector locus after improvement Oscillogram；
Fig. 7 be the inventive method and prior art control method in voltage development area dq shaft currents to set-point with Track situation contrasts；
Wherein Fig. 7 (a) is tracking situation oscillogram of the d shaft currents to set-point before improvement；Fig. 7 (b) is d axles after improvement Tracking situation oscillogram of the electric current to set-point；Fig. 7 (c) is tracking situation oscillogram of the q shaft currents to set-point before improvement；Figure 7 (d) is tracking situation oscillogram of the q shaft currents to set-point after improvement；
Fig. 8 is existing VCFS methods and the inventive method in kextWhen=1.10, the current-responsive figure under identical band load；
Wherein Fig. 8 (a) uses the current-responsive figure of VCFS methods；Fig. 8 (b) is in k using the inventive methodext=1.10 When current-responsive figure；
Fig. 9 is torque capacity in the weak magnetic control VCFS of the voltage close loop of existing induction machine high speed field weakening control method Control process voltage x current track schematic diagram；
Figure 10 is the structured flowchart of existing VCFS control systems；
Figure 11 be in existing VCFS control induction machine in the dynamic characteristic figure of changeover portion；
Wherein Figure 11 (a) is that voltage gives oscillogram；Figure 11 (b) is actual output voltage oscillogram；Figure 11 (c) be to Determine d shaft currents and reality output d shaft current oscillograms；Figure 11 (d) is given q shaft currents and reality output q shaft current waveforms Figure.
Embodiment
The technical scheme in the embodiment of the present invention is carried out below in conjunction with the accompanying drawing in the embodiment of the present invention clear, complete Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on this Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made Example is applied, belongs to the scope of protection of the invention.
Illustrate present embodiment with reference to Fig. 1, the induction machine of voltage development area weak magnetic field operation described in present embodiment High-speed Control method, it is used in induction machine system and is under voltage development area weak magnetic field operation state, it comprises the following steps：
Step 1：Voltage adjusting parameter k is set in voltage gives adjustable weak magnetic controllerext, voltage adjusting parameter kext After the given adjustable elements adjustment of voltage in adjustable weak magnetic controller is given by voltage, voltage set-point is obtainedWherein uαβFor inverter output voltage, UdcFor DC bus-bar voltage；Voltage set-pointThe PI regulations of adjustable weak magnetic controller are given through overvoltage and amplitude limit acts on, output again Weak magnetic factor isd,weaken, weak magnetic factor isd,weakenInitial value be 0；
Step 2：Initial stator current excitation component value is set as isd,rated, by initial stator current excitation component value isd,ratedWith weak magnetic factor isd,weakenSuperposition obtains exciting current set-point isd,ref, thus calculate at the beginning of obtaining torque component amplitude limit Initial value isq,limit：
I in formulasmaxFor maximum allowed current value；
Step 3：Using the code-disc collection actual rotor rotational speed omega that tests the speedr, by given rotor speed ωr,refWith actual rotor Rotational speed omegarAdjust to obtain stator current torque component set-point i again by PI after making differencesq,ref；Stator current torque component gives Value isq,refWith exciting current set-point isd,refObtain q axle given voltage values u respectively after current regulator is adjusted* sqWith d axles Given voltage value
Step 4：Work as given voltageEqual to inverter limit output voltage usmaxWhen, whereinSensing Motor enters changeover portion；Now given using voltage in adjustable weak magnetic controller and redistribute given voltage from spacing module
The initial value of the switching value switch from spacing module is set as 0, to u* sqAnd isd,weakenValue supervised online Control, works as u* sq＞ usq, and isd,weakenDuring ＜ 0, switch value is put 1, and makes q axle given voltage values u* sqAmplitude limit value for work as Preceding inverter reality output q shaft voltage values usq-ins；Wherein usqFor inverter reality output q shaft voltage values；
Work as u* sq＜ usqWhen, indicate that changeover portion terminates, by q axle given voltage values u* sqAmplitude limit value be arranged to former acquiescence Value；Switch value is reset to 0 simultaneously, induction machine operation enters the area of weak magnetic one；
Step 5：WhenWhen, induction machine operation enters the area of weak magnetic two, wherein usdIt is actually defeated for inverter Go out d shaft voltage values；By PI adjustment effect, makeWhen, final output | usd| stabilization is extremely So thatInduction machine maintains this running status to reach set-point until rotor speed, completes sense Motor is answered in the High-speed Control of voltage development area weak magnetic field operation.
Following for the advantage that can preferably describe the disclosure, first to existing induction machine high speed weak magnetic controlling party The weak magnetic control VCFS of voltage close loop is illustrated in method：
VCFS methods are to 1/ traditional ωrThe further optimization of control method, solves 1/ ω of traditionrIt can not meet most The problem of big torque output.1/ traditional ωrMethod is derived under certain approximate condition, under no-load condition, electricity Machine output torque is small, slip ωsl≈ 0, i can be obtainedsq≈ 0, ωe≈ωr, us=ωeσLsisd≈ωeψr.In order to maintain stator electric Press us≤usmax, it is desirable to the product of rotor field and rotating speed should keep certain, so exciting current isdGiven and rotational speed omegarInto Inverse ratio.And it just there will be no ω when induction machine loadse≈ωrSet up, at this moment according to 1/ ωrAsking just occurs in method control Topic, the appearance of VCFS methods just solve the problem.
By by the constraints of three aspects in induction machine running：Maximum current constrains, maximum voltage constraint, most Big slip constraint.Wherein, maximum current ismaxConsider two conditions of induction machine winding current limit and inverter current limit； Maximum voltage usmaxOn the premise of considering the induction machine class of insulation and pressure-resistant condition, by obtainable maximum dc bus electricity Pressure and PWM control strategies determine, according to SVPWM control modes, maximum voltage usmaxIt is defined toMaximum slip is guarantee The maximum of the revolutional slip of motor stabilizing operation.Maximum is derived according to mathematical model of induction motor under dq coordinate systems first below Expectation electric current, voltage trace under torque output control.Induction motor model is under synchronous rotating frame：
ψ in formularFor rotor flux, usd、usdD shaft voltages component and q shaft voltages point respectively under synchronous rotating frame Amount, isd、isdRespectively d shaft voltage component of the stator current under synchronous rotating frame and q shaft voltage components, p calculate for differential Son, LmFor mutual inductance, LrFor inductor rotor, LsFor stator self inductance, RsFor equivalent stator resistance.ωeFor synchronous angular rate.σ is leakage Feel the factor.
After motor enters stable state, there are p ψr=0, pisd=0, pisq=0, institute's above formula abbreviation is：
Voltage x current track is derived below：
1. it is with constraints in permanent torque area control targe：
Control targe：Te=kisdisq, take maximum；
Wherein TeFor torque value, coefficients of the k between electromagnetic torque and dq axle stator current products, is definite value.
Constraints：
Can be in the hope of working as by the method for conditional extremumWhen, TeMaximum can be obtained.
2. it is with constraints in the area's control targe of weak magnetic one：
Control targe：Te=kisdisq, take maximum；
Constraints：
Can be in the hope of working as by the method for conditional extremum When, TeMaximum can be obtained.
To consider that maximum revolutional slip will cause induction machine unstable simultaneously, by slip ωslWith electromagnetic torque TeRelation：
Wherein, ωsl=s ωe, wherein s is revolutional slip, RsFor stator resistance；RrFor rotor resistance；LsFor stator inductance； LrFor inductor rotor；LmFor mutual inductance.
With following formula simultaneous：
Obtain：
As rotating speed constantly raises, maximum slip angular frequency ω can be tried to achieveslmaxLimiting value it is as follows：Wherein TrFor electromagnetic time constant；σ is the leakage inductance factor,Know again：So as to derive that restriction of current condition is by revolutional slip constraints：isd≥σisq.Then obtain the final area's phase of weak magnetic one Hope that current locus is：
3. it is with constraints in the area's control targe of weak magnetic two：
Constraints：(ωeLsisd)2+(ωeσLsisq)2≤u2 smax；
Control targe：Te=kisdisq, it is maximum；
It is again by asking conditional extremum to obtain current locus equation：
According to above-mentioned calculating conclusion, corresponding electric current when drawing permanent torque area with exporting torque capacity in weak magnetic one, 2nd area, Voltage trace is as shown in Figure 9.
A points in Fig. 9 in current locus permanent torque area corresponding with the OC sections in voltage trace；The AB sections of current locus with The CD sections of voltage trace have corresponded to the area of weak magnetic one；The BO sections of current locus weak magnetic two area corresponding with the D points of voltage trace.By electricity The characteristics of flowing voltage trace can obtain the basic control targe that torque capacity exports：1. induction machine runs on weak magnetic area bag When including invariable power area and constant voltage area, under the operating mode that torque maximizes output, its terminal voltage remains maximum voltage, it is seen that needs Stator voltage is controlled as maximum voltage to reach the purpose of output torque capacity.2. when in invariable power area, torque capacity exports Stator current also remains maximum current, therefore the control targe in invariable power area is：Before motor stabilizing reliability service is ensured Put, realize the control result that can obtain maximum voltage, maximum current.3. in constant voltage area, limited by maximum slip frequency, Stator current can not remain maximum, but the limitation of maximum slip frequency is equivalent to ensure that stator dq shaft voltages component meets：Voltage vector is fixed on figure midpoint D, it can be considered that the torque in constant voltage area to be realized is maximum Change output, it is necessary to meet said stator voltage coordinated allocation condition.
According to above-mentioned 3 control targes, VCFS Control system architecture block diagrams are obtained, as shown in Figure 10.
E in Figure 10jθ, e-jθDenotation coordination converts.Tu Zhong I areas are No.1 voltage controller, and II areas are that No. two voltages control Device.Figure 10 is made up of five closed loops altogether, is respectively：The given voltage that outermost speed closed loop, No.1 voltage controller are formed D shaft voltages closed loop, d shaft currents closed loop and the q shaft current closed loops that closed loop, No. two voltage controllers are formed.Wherein No.1 voltage control The closed loop that device processed is formed acts on always in the area of weak magnetic one and the area of weak magnetic two, and the closed loop that No. two voltage controllers are formed is only in weak magnetic two Work in area.
Brief analysis is carried out to the running of VCFS control systems.Electric motor starting is operated in permanent torque area, stator current Excitation component set-point is definite value i* sd,rated, permanent torque sound zone system is only limited by maximum current, so controlIt can be seen from the voltage equation under synchronous rotating frame, stator voltage with turn Speed rise and raise, when stator voltage is increased to stator voltage maximum, system starts to be limited by maximum voltage, enter The area of weak magnetic one, No.1 voltage controller are started working.The stator voltage maximum of setting is subtracted each other with actual stator given voltage, The attenuation components i of d shaft currents is produced by PI linkssd,weaken, i* sdReduction cause u* sqReduction, while i* sqWith i* sd's Reduce and increase.u* sdWith i* sqIncrease and increase.Stator voltage is moved with electric current according to the track in Fig. 9.According to slip angle Frequency and stator current excitation component isqWith torque component isdRelation：
Understand in the area of weak magnetic one, with isqIncrease and isdReduction ωslConstantly increase, works as ωslWhen increasing to maximum System, which starts to be limited by maximum revolutional slip, enters the area of weak magnetic two.According to foregoing description control targe, now controlExportable torque capacity.Controlled by No. two voltage controllersAnd produce and turn The attenuation components i of square current componentsq,weaken, ensureTorque component is set to be set up in the area of weak magnetic two.According to upper Control process is stated, VCFS control systems ensure that motor exports torque capacity all the time in boosting velocity procedure.
But following two in VCFS systems be present：
1. there is the waste of resource in pair DC bus-bar voltage；
2. there is dynamic problem in system when being run from permanent torque area to weak magnetic area.
Labor is carried out to the dynamic problem below：
As given voltage u* sdqIncrease to maximum voltage umaxWhen, because now still constantly rise to give synchronous angular frequency The amplitude for determining voltage vector continues to raise to above umax, now enter changeover portion.Under ideal conditions, if No.1 voltage PI parameter designings in controller it is good, current phasor will change according to optimal current vector locus, and motor also just will smoothly enter Enter weak magnetic area.But due to the presence of rotor intrinsic time constant, given voltage could be readjusted by generally requiring certain time To maximum voltage, and then isqSet-point can not be followed, so as to Δ isqConstantly integration causes u* sqConstantly rise, on the one hand u* sqContinuous increase will cause the serious saturation problem of current regulator, on the other hand it will trigger the field orientation of mistake, will The dynamic characteristic of changeover portion is caused to be remarkably decreased, this influence can be seen that come as shown in Figure 11 by experimental waveform.
The disclosure is directed to deficiency of the prior art, on the one hand to improve voltage development area dynamic property, on the other hand The utilization rate of DC bus-bar voltage is improved, torque capacity is optimized with further lifting.
With reference to shown in Fig. 1, compared with Fig. 9, adjustable weak magnetic controller is given with the voltage of the structure of amplitude limit containing self-locking in Fig. 1 (Voltage Reference Adjustable Flux-weakening Controller with Self-Locking Limit Block), i.e. SLLB-VRAFC controllers, the No.1 voltage controller in alternate figures 9, it is specifically described below：
Step 1：This step improves DC bus-bar voltage utilization rate by increasing maximum voltage value：In order to improve direct current mother The utilization rate of line voltage, to increase maximum voltage Usmax, but due to SVPWM (space vector pulse width Modulation, space vector pulse width modulation) module output maximum voltage vector magnitude be 2Udc/ 3, so UsmaxCan not be unlimited Increase, this, which is in SLLB-VRAFC controllers, introduces voltage adjusting parameter kext, its value can 1 withBetween, when kextWhen=1,WhenWhen, Usmax=2Udc/ 3, work as kextIt is less than more than 1When Can freely it choose as needed, value is bigger, and voltage expansion is bigger, and torque magnification is higher, but Torque ripple is accordingly serious, it is proposed that preferred value can be between 1.05-1.10.Now, system is in achievable voltage Development area weak magnetic field operation state.Introduce voltage adjusting parameter kextAdjustable elements are given by voltage afterwards, i.e., after the effect of VRA units, Voltage will be given to be automatically set asFurther pass through SLLB-VRAFC in PI and Amplitude limit acts on, output weak magnetic factor isd,weaken, the step can be summarized as following formula expression：
Wherein, Δ u represents voltage difference.
Specifically with reference to shown in Fig. 2：After introducing voltage regulation factor, maximum voltage occurs can be defeated more than SVPWM modules Go out the situation of the upper limit of voltage, i.e. the dotted portion of the circular trace outside hexagon in Fig. 2, when there is such case When maximum voltage is taken on regular hexagon, i.e., maximum voltage is made up of a part for circle and the part of hexagon in Fig. 2. Maximum voltage accounting equation isWherein | uαβ| corresponding to corresponding to hexagon in Fig. 2 Voltage vector magnitude.
By this step, the load capacity of induction machine system has obtained further raising.
With kextIncrease, output torque capacity can increase, but can also become all the more severe along with torque ripple, institute With kextTake a suitable value.Because hexagon summit can produce very severe torque ripple, and people are wished The lifting for the more constant torque capacity hoped does not help effectively, so maximum voltage track is to pass through hexagon Six summits.In addition the simplicity calculated, error voltage Δ u are considered2To replace Δ u to avoid extraction of square root operation.
In step 2：The value for setting initial stator current excitation component is isd,rated, with isd,weakenSuperposition obtains isd,ref, It is i to obtain torque component amplitude limit initial value againsq,limit。
In step 3, q axle given voltage values u is obtained* sqWith d axle given voltage values
In step 4, as rotating speed raises, the synchronous angular frequency that stator is powered constantly raises, and given voltage is with synchronizing frequency Rise and constantly raise, work as given voltageEqual to maximum voltage usmaxWhen initially enter changeover portion, Functioned in SLLB-VRAFC controllers from spacing module SLLB, simultaneously because weak magnetic factor isd,weakenLess than zero, isd,refStart to reduce.
The maximum voltage set during stator voltage vector track is according to step 1 in the presence of the SLLB-VRAFC controllers Trail change.The AB sections movement of stator current vector in fig.9, with the continuous rising of rotating speed, stator current vector is by Fig. 9 A points move to B points.
SLLB modules are introduced in this step, redistributing given voltage in changeover portion ensures changeover portion in voltage development area Dynamic characteristic.
With the raising of motor speed, synchronous angular frequency improves constantly, and given voltage increases to maximum voltage, into transition Section.In order to improve dynamic property of the motor in changeover portion, above-mentioned dynamic problem is avoided the occurrence of, using redistributing given voltage Method, introduce self-locking limit module SLLB, with SLLB modules export u* sq-SLLBInstead of former u* sq, redistributed given electricity Press u* sdWith u* sq, SLLB module specific workflow figures are as shown in Figure 4.
SLLB modules workflow diagram is illustrated in the voltage development area module routine with reference to shown in Fig. 4.Set Switch initial values are 0, and the amplitude with the rising given voltage vector of frequency constantly increases, when given voltage is more than with reference to electricity Ovennodulation occurs during pressure, now u* sq＞ usq, isd-weaken＜ 0, when detecting that ovennodulation occurs, namely represent motor and enter transition Section, puts 1, and it is u to change q axle given voltages amplitude limit value by switch valuessq-insSo that q axles given voltage not over usq-ins.When detecting u* sq＜ usqWhen, the end of changeover portion is indicated, q axle given voltage amplitude limit values are arranged to former default value, Q shaft voltage set-points start to change according to the voltage trace of output torque capacity, into the area of weak magnetic one.The q axles given voltage The former default value of amplitude limit value is the amplitude limit value in current regulator PI outputs, such as the initial setting of system in classical control system It can be 1.5p.u. (perunit value), suggest being at least above 1p.u. in actual motion.Designed SLLB modules are only in changeover portion Switch is just triggered, it is then consistent with VCFS control systems in permanent torque and weak magnetic area, in the presence of SLLB modules, given voltage Track can be represented in the situation of change of voltage development area with Fig. 5.
The situation of change of given voltage vector in Fig. 5 is illustrated：When no SLLB modules with the lifting of frequency With the integral action of current regulator, will quickly increase in the amplitude of voltage development area given voltage vector, such as the u in Fig. 5* sdq.After adding SLLB modules, in the presence of the self-locking amplitude limit Self-LockingLimit modules of setting, given voltage vector U will be limited in* sdq-SLLB, given voltage is by u* sdqBecome for u* sdq-SSLB.Compared with before not adding SLLB modules, q axles give Voltage have one it is obvious decline, drop-out value be in Fig. 5-Δ usq, and d shaft voltages have redistributed Δ usdVoltage it is abundant Amount, thus redistributing for given voltage is completed in the presence of Self-LockingLimit, and due to d shaft voltage quilts Δ u is redistributedsd, d shaft currents can smoothly reduce in the presence of transient state component, ensure that system smoothly spends transition Section.
Smoothly enter the area of weak magnetic one in the presence of SLLB modules, the CD sections in voltage trace such as Fig. 9, current locus such as figure AB sections in 9.SLLB modules no longer play a role, and rail it is expected on voltage x current vector edge in the presence of No.1 voltage controller Mark moves.
The core of the disclosure is the design and parameter setting of SLLB-VRAFC controllers.
Step 5：With the rise of rotating speed, | usd| constantly increase, whenWhen, induction machine operation enters The area of weak magnetic two, now slip angular frequency holding maximum rating.In the synthesis of SLLB-VRAFC controllers and No. two voltage controllers Under effect, | usd| stabilization is extremelySo as to meetMotor will maintain this state until turn up To given.
Experiment effect：Experimental verification is carried out to control method proposed by the present invention below, contrast first adds SLLB modules The difference of the front and rear given voltage vector locus in same boosting velocity procedure.As shown in Figure 6.
From the voltage vector trajectory diagram shown in Fig. 6, given voltage vector is substantially increased base voltage development area This is suppressed, and this is with SLLB modules to u* sqAmplitude limit it is relevant, and given voltage is assigned with again, to usdVoltage is redistributed Transient state component, and the voltage trace of permanent torque area and weak magnetic area is unchanged, and this is consistent with theory analysis before.Enter one Tracking situation of the voltage development area dq shaft currents to set-point before and after comparison system improves is walked, as shown in Figure 7, it is seen that add SLLB Realized after module in changeover portion and the good of given value of current value is followed.The operation of voltage development area is finally provided for maximum to turn The castering action of square.As shown in figure 11, under the same load, context of methods shows more stable load capacity, so as to Demonstrate and realize the operation of voltage development area so that torque capacity is further lifted.
In the disclosure, voltage adjusting parameter kextWhen value is 1.05-1.10, lifting while the torque ripple of torque can guarantee that Dynamic and unobvious.Meet the requirement of d shaft currents reduction for needing more d shaft voltages allowances in changeover portion simultaneously, and deposit The integral action due to q shaft current differences makes q axles given voltage be far above actual demand the problem of, propose that SLLB makes transition Total voltage vector more reasonably distributes to d axles and q axles during the phase, so as to improve the dynamic characteristic of motor operation.SLLB modules Key is at 2 points, first, switch state is initially 0, it is 1 in changeover portion, other states are 0；Second, by u* sqWith usq's Magnitude relationship is as the mark for judging disengaging changeover portion.
In the disclosure, exciting current is equal to d shaft currents, is represented as isd；Torque current is equal to q shaft currents, equal table It is shown as isq。

Claims (2)

1. a kind of induction machine High-speed Control method of voltage development area weak magnetic field operation, it is used in induction machine system and is in voltage Under development area weak magnetic field operation state, it is characterised in that it comprises the following steps：
Step 1：Voltage adjusting parameter k is set in voltage gives adjustable weak magnetic controllerext, voltage adjusting parameter kextPass through After the voltage that voltage is given in adjustable weak magnetic controller gives adjustable elements adjustment, voltage set-point is obtainedWherein uαβFor inverter output voltage, UdcFor DC bus-bar voltage；Voltage set-pointThe PI regulations of adjustable weak magnetic controller are given through overvoltage and amplitude limit acts on, output again Weak magnetic factor isd,weaken, weak magnetic factor isd,weakenInitial value be 0；
Step 2：Initial stator current excitation component value is set as isd,rated, by initial stator current excitation component value isd,rated With weak magnetic factor isd,weakenSuperposition obtains exciting current set-point isd,ref, thus calculate and obtain torque component amplitude limit initial value isq,limit：
<mrow> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>q</mi> <mo>,</mo> <mi>lim</mi> <mi>i</mi> <mi>t</mi> </mrow> </msub> <mo>=</mo> <msqrt> <mrow> <msub> <msup> <mi>i</mi> <mn>2</mn> </msup> <mrow> <mi>s</mi> <mi>max</mi> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>i</mi> <mn>2</mn> </msup> <mrow> <mi>s</mi> <mi>d</mi> <mo>,</mo> <mi>r</mi> <mi>e</mi> <mi>f</mi> </mrow> </msub> </mrow> </msqrt> <mo>,</mo> </mrow>
I in formulasmaxFor maximum allowed current value；
Step 3：Using the code-disc collection actual rotor rotational speed omega that tests the speedr, by given rotor speed ωr,refWith actual rotor rotating speed ωrAdjust to obtain stator current torque component set-point i again by PI after making differencesq,ref；Stator current torque component set-point isq,refWith exciting current set-point isd,refObtain q axle given voltage values u* respectively after current regulator is adjustedsqGiven with d axles Magnitude of voltage
Step 4：Work as given voltageEqual to inverter limit output voltage usmaxWhen, whereinInduction machine Into changeover portion；Now given using voltage in adjustable weak magnetic controller and redistribute given voltage from spacing moduleIf The fixed switching value switch from spacing module initial value is 0, to u* sqAnd isd,weakenValue carry out on-line monitoring, work as u* sq＞ usq, and isd,weakenDuring ＜ 0, switch value is put 1, and makes q axle given voltage values u* sqAmplitude limit value it is real for current inverter Border output q shaft voltage values usq-ins；Wherein usqFor inverter reality output q shaft voltage values；
Work as u* sq＜ usqWhen, indicate that changeover portion terminates, by q axle given voltage values u* sqAmplitude limit value be arranged to former default value；Together When switch value reset to 0, induction machine operation enters the area of weak magnetic one；
Step 5：WhenWhen, induction machine operation enters the area of weak magnetic two, wherein usdFor inverter reality output d axles Magnitude of voltage；By PI adjustment effect, makeWhen, final output | usd| stabilization is extremelySo as to MakeInduction machine maintains this running status to reach set-point until rotor speed, completes induced electricity High-speed Control of the machine in voltage development area weak magnetic field operation.
2. the induction machine High-speed Control method of voltage development area weak magnetic field operation according to claim 1 or 2, its feature exist In,
Voltage adjusting parameter kextSpan for 1 to
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CN109687791A (en) * 2019-01-23 2019-04-26 广东工业大学 The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation
CN110365267A (en) * 2019-08-23 2019-10-22 哈尔滨工业大学 The design method of induction machine weak magnetic controller based on Voltage loop structure abbreviation
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CN103595324A (en) * 2013-11-21 2014-02-19 东南大学 Field weakening control method of hybrid excitation motor
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