CN107565863B - Motor control method and circuit for stable operation of alternating current motor in full-frequency section - Google Patents
Motor control method and circuit for stable operation of alternating current motor in full-frequency section Download PDFInfo
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Abstract
The invention provides a motor control method and a circuit for stable operation of an alternating current motor in a full-frequency section, which have the advantages of smooth low-speed and high-speed control switching, widened stable range, large speed regulation range and wide application. The method comprises the steps of carrying out deviation processing on a given current Idref generated according to a set frequency and a feedback current Idfed generated by collecting the current of an alternating current motor; carrying out PID control on the obtained deviation to generate initial given direct axis voltage; limiting the amplitude of the initial given direct axis voltage according to the running direction of the alternating current motor to obtain a given direct axis voltage Udref; obtaining a corresponding set rotating speed according to the set frequency, and obtaining a given quadrature axis voltage Uqref according to the set rotating speed; and synthesizing the given direct axis voltage Udref and the given quadrature axis voltage Uqref, and outputting the value and the angle of the control voltage of the alternating current motor.
Description
Technical Field
The invention relates to full-frequency section control of an alternating current motor, in particular to a motor control method and a motor control circuit for stable operation of the full-frequency section of the alternating current motor.
Background
With the development and the technical progress of the society, the current industrial field uses a plurality of frequency converters to control the operation of a motor, VF control is also called constant voltage frequency ratio control, is an open loop system which is controlled according to the steady-state relation of the motor, and is one of scalar control. Because the torque current loop control is not available and the steady-state control is established, the magnetic field control system has the defects of poor dynamic performance, poor starting performance, slow magnetic field establishment and the like, but because the magnetic field control system is simple and easy to use, is slightly influenced by parameter change, and can meet the general speed regulation requirement, the application is most extensive and is favored by the majority of users.
However, the VF loading capability is poor at low speed due to the influence of the stator resistance and dead zone, and operation is unstable in severe cases. In addition, the encoder-less vector control has a strong low-speed load capability, but is greatly affected by parameters and is unstable.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a motor control method and a circuit for the full-frequency-band stable operation of an alternating current motor, the low-speed and high-speed control is switched smoothly, the stable range is widened, the speed regulation range is wide, and the application is wide.
The invention is realized by the following technical scheme:
a motor control method for the stable operation of an alternating current motor in a full-frequency section comprises the following steps,
carrying out deviation processing on a given current Idref generated according to a set frequency and a feedback current Idfed generated by collecting the current of the alternating current motor;
carrying out PID control on the obtained deviation to generate initial given direct axis voltage;
limiting the amplitude of the initial given direct axis voltage according to the running direction of the alternating current motor to obtain a given direct axis voltage Udref;
obtaining a corresponding set rotating speed according to the set frequency, and obtaining a given quadrature axis voltage Uqref according to the set rotating speed;
and synthesizing the given direct axis voltage Udref and the given quadrature axis voltage Uqref, and outputting the value and the angle of the control voltage of the alternating current motor.
Preferably, the initial given direct-axis voltage generated by the current PID controller is subjected to direction-changing amplitude limiting according to the running direction of the alternating current motor, the voltage is limited to-n-0 during positive rotation, and is limited to 0-n during reverse rotation, wherein n is 25% -100% of the rated voltage.
Preferably, when the given current Idref is generated based on the set frequency, i.e., the set rotational speed, and the rated rotational speed, it is obtained by the following generation formula,
wherein, INRated current, omega, of the motorNFor rated speed of the motor, omegarThe motor speed is currently set for the motor, ω is 60f/p, and p is the number of pole pairs of the motor.
Preferably, the feedback current Idfed is generated after the current of the ac motor is collected and then the clarke transform and the park transform are sequentially performed.
Preferably, the equation for performing the current PID control on the obtained deviation is as follows, and the anti-saturation treatment is performed;
wherein, KpAs a proportional parameter, TIAs integral parameter, TdFor the differential parameters, e (t) is the deviation.
Preferably, given the quadrature axis voltage Uqref, the formula is given as follows,
wherein, UNRated for the motor voltage, omegaNFor rated speed of the motor, omegasThe actual rotation speed of the motor.
Preferably, the given direct axis voltage Udref and the given quadrature axis voltage Uqref are synthesized through inverse park transformation and then modulated through PWM, and the value and angle of the control voltage of the alternating current motor are output; the inverse park transformation is formulated as follows,
uαref＝udrefcosθ-uqrefsinθ
uβref＝udrefsinθ+uqrefcosθ’
wherein theta is an angle formed by integral conversion of the set rotating speed, U α ref and U β ref are voltages in a α - β coordinate system and are input values of the PWM modulator, and Udref and Uqref are voltages in a d-q coordinate system.
A motor control circuit for stable operation of AC motor in full frequency band comprises,
a first harmonic function generator RFG1 for generating a given current Idref according to a set frequency;
the acquisition unit is used for acquiring feedback current Idfed generated by current of the alternating current motor;
the current PID controller is used for carrying out PID control on the deviation of the given current Idref and the feedback current Idfed;
the amplitude limiter is used for limiting the amplitude of the initial given direct-axis voltage obtained by PID control according to the running direction of the alternating current motor to obtain a given direct-axis voltage Udref;
a second harmonic function generator RFG2 for obtaining a corresponding set rotating speed according to the set frequency;
the Uq generator is used for obtaining a given quadrature axis voltage Uqref according to a set rotating speed;
the park inverse transformation unit is used for synthesizing the given direct axis voltage Udref and the given quadrature axis voltage Uqref;
the output end of the park inverse transformation unit is connected with the control end of the alternating current motor through the PWM modulator and the inverter.
Preferably, the acquisition unit comprises a current sampling unit, a clark transformation unit and a park transformation unit which are connected in sequence;
the set rotating speed output by the second harmonic function generator RFG2 is converted into an angle through an integrator, and the angle and the measured three-phase current are converted into two-phase current i through a Clark conversion unitαAnd iβThe feedback current is supplied to a park conversion unit together, and feedback current Idfed is obtained through park conversion;
the set rotating speed output by the second harmonic function generator RFG2 is converted into an angle through an integrator and is provided for the inverse park transformation unit.
Preferably, the set rotating speed output by the second harmonic function generator RFG2 is provided to the limiter through the direction generator to determine the running direction of the alternating current motor, and the initial given direct axis voltage output by the current PID controller is provided to the limiter through the limiter to obtain the given direct axis voltage Udref.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention utilizes amplitude limiting to complete low-speed and high-speed smooth switching, widens the stable range, expands the speed regulation range, generates a given current Idref value through a first harmonic function generator RFG1 to control the size of a stator magnetic field, and solves the problems of unstable operation, poor load capacity and the like caused by poor output voltage calculation effect under low-frequency VF control; with the increase of the frequency, the given current Idref of the direct-axis voltage is reduced to zero, and the stator magnetic field of the direct-axis voltage is close to the rated magnetic field due to the stable high-speed VF operation, so that the given direct-axis voltage Udref can be smoothly limited to be 0 after passing through the current PID controller and the amplitude limiter, and the smooth switching is carried out to the VF control. The needed control does not need to increase other parameters, the parameters provided by the motor nameplate can be calculated and controlled, the VF can be widely applied in various fields, and the method can be simultaneously suitable for the asynchronous motor and the synchronous motor, overcomes the defects of the asynchronous motor and the synchronous motor on the premise of not losing the VF control advantages, and can be better popularized.
Further, as the frequency increases, the set rotation speed increases, the given current Idref decreases to zero, and since the high-speed VF control (constant voltage frequency ratio control) operates stably and the stator magnetic field is near the rated magnetic field, the given direct-axis voltage updref can be smoothly limited to 0 after passing through the current PID controller and the limiter, and the smooth switching to VF control is performed.
Furthermore, the maximum value of the magnetic field of the stator is limited through the current PID controller, so that the overcurrent phenomenon can not occur even if a large torque is set for lifting, and the usability of the algorithm is improved.
Drawings
Fig. 1 is a schematic block diagram of the control method according to the embodiment of the present invention.
Fig. 2 is a control waveform diagram of the first harmonics function generator RFG1 according to an example of the present invention.
Fig. 3 is a waveform diagram of the second harmonics function generator RFG2 according to the example of the present invention.
Fig. 4 is a control waveform diagram of the limiter according to the embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
The invention can control the stable operation of the full frequency section of the alternating current motor, avoids the unstable operation phenomenon of feedback control without an encoder, adopts low-frequency current closed-loop control, has strong loading capacity and high-frequency VF control, fully utilizes the VF control advantages and realizes the smooth switching of two modes.
A motor control circuit for stable operation of an alternating current motor in a full-frequency section comprises a first harmonic function generator RFG1, a current PID controller, a limiter, an integrator, an Uq generator, a Park inverse transformation unit, a PWM modulator, a Park transformation unit, a Clarke transformation unit, a second harmonic function generator RFG2 and a given direct axis voltage Udref direction calculation generator, wherein the current PID controller, the limiter, the integrator, the Uq generator, the Park inverse transformation unit, the PWM modulator, the Park transformation unit, the Clarke transformation unit, the second harmonic function generator RFG2 and the given direct axis voltage Udref.
The first harmonic function generator RFG1 generates an Idref current setpoint for generating the motor stator field. The second harmonic function generator RFG2 is connected with the integrator after generating the rotating speed, after calculating the angle, the angle is input to the Park converter unit to carry out Park conversion, the feedback current Idfed and the given current Idref are generated, after the deviation is solved, the current PID controller is connected, the obtained result is subjected to amplitude limiting through the amplitude limiter according to the running direction obtained by the direction generator through the set rotating speed, and the given straight shaft voltage Udref given value is obtained. The rotational speed generated by the second harmonic function generator RFG2 is used in the Uq generator to calculate a given quadrature axis voltage Uqref value with the rated voltage and rated frequency of the motor. And connecting the given direct axis voltage Udref and the given quadrature axis voltage Uqref to Park inverse transformation, connecting the partial inverse transformation with a PWM (pulse-width modulation) modulator after finishing the inverse transformation by combining angles, and finishing the driving of the motor through an inverter.
The Clark conversion unit converts three-phase current into two-phase stator virtual current through current sampling. The Park transformation unit is used for converting the two-phase stator virtual current into the two-phase rotation coordinate virtual current. The park inverse transformation unit is used for converting the two-phase rotating coordinate virtual current into a two-phase stator virtual current.
The PWM modulator can adopt an SVPWM modulation method or an SPWM modulation method, and the SVPWM modulation method is used more. To improve the voltage utilization of the SPWM modulation method, the accumulation of third harmonics is generally increased.
The invention relates to a control method for a motor stably operating in a full-frequency section of an alternating current motor, which comprises the following steps:
the method comprises the following steps: as shown in fig. 2, the first harmonics generator RFG1 generates a predetermined current Idref, and performs PID control on a deviation from a feedback current Idfed generated after coordinate transformation to generate an initial predetermined direct-axis voltage.
Step two: as shown in fig. 4, the initial given direct-axis voltage is limited according to the operation direction of the motor, and the given direct-axis voltage Udref is obtained.
Step three: as shown in fig. 3, the motor set rotational speed is generated by the second harmonic generator RFG2 and the given quadrature axis voltage Uqref is generated via the Uq generator.
Step four: and integrating the set rotating speed of the motor, calculating an angle, performing coordinate transformation, generating a feedback current Idfed, and performing deviation calculation with a given current Idref.
Step five: and finally synthesizing the output voltage value and the angle according to the given direct-axis voltage Udref, the given quadrature-axis voltage Uqref and the angle obtained in the fourth step.
Where the given quadrature axis voltage Uqref can be subjected to torque up control as in the normal VF control. The limit for the given direct-axis voltage Udref is derived from the motor voltage equation and is finally limited to 0 as the frequency increases, completing the smooth switching.
After the motor current sampling is completed, the feedback current Iqfed is obtained through Clarke transformation and Park transformation.
Idref set current generated by the first harmonics generator RFG1 needs to be set according to the set rotating speed and rated rotating speed of the motor at low frequency, and the cutoff frequency of the Uq generator is more than or equal to the normal load frequency of VF, which is specifically shown in the following formula (1).
The rotational speed generated by the second harmonics generator RFG2 is set according to the load inertia to best effect.
Specifically, in the first harmonic function generator RFG1, a given current Idref is generated, which is generated on the basis that when the set rotation speed is lower than five percent of the rated rotation speed of the motor, the set current is the rated current of the motor or is set according to field application; when the rated rotating speed of the motor is higher than ten percent, the current is set to be zero; at five percent and ten percent rated speed, the rated current of the motor is set according to linear smoothness, and the setting formula is as follows (1):
in the formula (1), INRated current, omega, of the motorNFor rated speed of the motor, omegarThe motor speed is currently set for the motor. The set frequency of the motor can be obtained according to the set rotating speed of the motor, so that the motor can be conveniently controlled.
The current PID controller performs PID control on the deviation amount of the given current Idref and the feedback current Idfed, so that the feedback current Idfed can quickly follow the given current Idref. Wherein the control formula of PID is shown as the following formula (2):
wherein, KpAs a proportional parameter, TIAs integral parameter, TdIs the differential parameter, e (t) is the deviation, u (t) is the PID controlled output value.
Meanwhile, anti-saturation processing is required, and the principle is that when the output reaches the amplitude limit, the integral value can only be integrated in the opposite direction, but not in the same direction, so that the purposes of not deeply saturating and quickly exiting from saturation are achieved.
The amplitude limiter is used for limiting the current PID controller, the positive direction and the negative direction of the current PID controller are from the rotating speed direction of the motor, in the preferred embodiment, the amplitude limiting value is half of the rated voltage of the motor for limiting, namely, the value of the upper limit value.
In an alternating current motor, under a stator synchronous frequency rotating coordinate system, a stator voltage equation is as follows (3):
ud＝Rsid+pψd-ωsψq
uq＝Rsiq+pψq+ωsψd(3)
wherein u isd，uqIs the voltage in the d-q coordinate system, id，iqIs the current in d-q coordinate system,. psid,ψqIs the magnetic flux in d-q coordinate system, p phi is the differential calculation of phi, omegasIs the actual rotational speed of the motor, RsIs the stator resistance.
As can be seen from equation (3), when oriented in the stator field, i.e.. psiqWhen the formula (3) is 0, the following formula (4) can be converted:
ud＝Rsid+pψd
uq＝Rsiq+ωsψd(4)
wherein u isdAnd uqIs the voltage in the d-q coordinate system, idAnd iqIs the current in d-q coordinate system,. psidIs the magnetic flux in d-q coordinate system, p phi is the differential calculation of phi, omegasIs the actual rotational speed of the motor, RsIs the stator resistance.
In the stator field orientation, u is as shown in equation (4)dIs generated by the voltage drop of the stator resistance together with the voltage required to induce the rate of change of the magnetic field, irrespective of the dynamic voltage, and is therefore generated by the voltage drop of the stator resistance, the magnitude of which is equal to idIs related to the magnitude of u, as the synchronization frequency increasesqGreater and greater udThe generated effect is smaller and can be ignored, but at low speed, the voltage drop of the stator resistor can not be ignored, and the output load capacity is seriously influenced. In the control system, the voltage angle is the synchronous frequency accumulation angle, so the current direction is different according to the change of the direction of the rotating speed, and the direction-changing amplitude limit of the current PID controller is required according to the rotating speed. Namely, the angular direction of the output voltage is ensured not to change suddenly, and the amplitude limiting direction needs to change suddenly because the current orientation angle needs to change suddenly.
The integrator is used for integrating the set rotating speed to obtain an angle, and the angle is provided for the park transformation unit for coordinate transformation. The measured three-phase current is converted into two-phase current i through a Clark conversion unitαAnd iβAnd the feedback current is provided for a park transformation unit and is transformed by park to obtain feedback current Idfed.
The set rotating speed output by the second harmonic function generator RFG2 determines the running direction of the alternating current motor through the direction generator and provides the running direction to the amplitude limiter, and the voltage output by the current PID controller obtains the given direct axis voltage Udref through the amplitude limiter.
The Uq generator is used as a control method of the normal VF, and the Uq generating formula is shown as the following formula (5):
wherein, UNAnd ωNFor the rated voltage and rated angular speed of the motor, omega, which is available from the motor name platesThe actual rotation speed of the motor. At low frequencies manual torque boosting may be performed to increase Uq.
The park inverse transformation unit is a process of converting a rotating coordinate system into a static coordinate system, converts the rotating coordinate system into a voltage amplitude value through park inverse transformation and transduction, and transmits waves, and the formula is shown as the formula (6):
uα＝udcosθ-uqsinθ
uβ＝udsinθ+uqcosθ (6)
wherein theta is an angle obtained by converting a set rotating speed through an integrator, and u isdAnd uqIs the voltage in the d-q coordinate system, uαAnd uβIs the voltage in the α - β coordinate system.
In order to effectively utilize bus voltage and ensure a circular magnetic field, the PWM modulator adopts an SVPWM wave-sending mode.
The Park transformation unit needs to perform Park transformation in order to convert the two-phase stationary coordinate system current into the rotating coordinate system, and the formula is shown in the following formula (7):
id＝idcosθ+iqsinθ
iq＝-idsinθ+iqcosθ (7)
wherein theta is an angle obtained by converting the set rotating speed through the integrator, id,iqIs the current in the d-q coordinate system, iα,iβIs the current in the α - β coordinate system.
The Clarke conversion unit converts the three-phase current into two-phase stationary current, and the conversion formula is shown as the following formula (8),
wherein iα,iβIs the current in the α - β coordinate system, iu，iv，iwIs the current in the u-v-w coordinate system.
By the cooperation of the PID function and the common VF, smooth switching of control can be completed, the high-frequency advantage of the VF is utilized, meanwhile, the low-frequency load capacity is improved, the uncontrollable property of manual torque lifting is reduced, in addition, the smooth switching of the two kinds of control is realized, the impact-free switching is realized, and the method has a great application value.
Claims (5)
1. A motor control method for the stable operation of an alternating current motor in a full-frequency section is characterized by comprising the following steps,
carrying out deviation processing on a given current Idref generated according to a set frequency and a feedback current Idfed generated by collecting the current of the alternating current motor;
carrying out PID control on the obtained deviation to generate initial given direct axis voltage;
limiting the amplitude of the initial given direct axis voltage according to the running direction of the alternating current motor to obtain a given direct axis voltage Udref;
obtaining a corresponding set rotating speed according to the set frequency, and obtaining a given quadrature axis voltage Uqref according to the set rotating speed;
synthesizing the given direct axis voltage Udref and the given quadrature axis voltage Uqref, and outputting the value and the angle of the control voltage of the alternating current motor;
carrying out variable-direction amplitude limiting on initial given direct-axis voltage generated by a current PID controller according to the running direction of an alternating current motor, limiting to-n-0 during forward rotation, and limiting to 0-n during reverse rotation, wherein n is 25% -100% of rated voltage;
with the increase of the frequency, the given current Idref is reduced to zero, and after the current PID control and the amplitude limiting, the given direct-axis voltage Udref can be smoothly limited to be 0, and the smooth switching is carried out to VF control;
when the given current Idref is generated based on the set frequency, i.e., the set rotational speed, and the rated rotational speed, it is obtained by the following generation formula,
wherein, INRated current, omega, of the motorNFor rated speed of the motor, omegarSetting the motor rotation speed for the motor currently, wherein omega is 60f/p, and p is the number of pole pairs of the motor;
synthesizing the given direct axis voltage Udref and the given alternating axis voltage Uqref through inverse park transformation, modulating the synthesized voltage by PWM, and outputting the value and the angle of the control voltage of the alternating current motor; the inverse park transformation is formulated as follows,
wherein theta is an angle obtained by integral conversion of the set rotating speed, and UαrefAnd U β ref is the voltage in the α - β coordinate system, which is the input value of the PWM modulator, UdrefAnd Uqref is the voltage in the d-q coordinate system.
2. The motor control method for the full-frequency-band stable operation of the alternating-current motor according to claim 1, wherein the feedback current Idfed is generated after the current of the alternating-current motor is collected and then subjected to clark transformation and park transformation in sequence.
3. The motor control method for the full-frequency-band stable operation of the alternating-current motor according to claim 1, wherein a formula for performing current PID control on the obtained deviation is as follows, and anti-saturation processing is performed;
wherein, KpAs a proportional parameter, TIAs integral parameter, TdFor the differential parameters, e (t) is the deviation.
4. The motor control method for the full-frequency band stable operation of the alternating current motor as claimed in claim 1, wherein the given quadrature axis voltage Uqref is generated by the following formula,
wherein, UNRated for the motor voltage, omegaNFor rated speed of the motor, omegasThe actual rotation speed of the motor.
5. A motor control circuit for the stable operation of an alternating current motor in a full-frequency range is characterized by comprising,
a first harmonic function generator RFG1 for generating a given current Idref according to a set frequency;
the acquisition unit is used for acquiring feedback current Idfed generated by current of the alternating current motor;
the current PID controller is used for carrying out PID control on the deviation of the given current Idref and the feedback current Idfed;
the amplitude limiter is used for limiting the amplitude of the initial given direct-axis voltage obtained by PID control according to the running direction of the alternating current motor to obtain a given direct-axis voltage Udref;
a second harmonic function generator RFG2 for obtaining a corresponding set rotating speed according to the set frequency;
the Uq generator is used for obtaining a given quadrature axis voltage Uqref according to a set rotating speed;
the park inverse transformation unit is used for synthesizing the given direct axis voltage Udref and the given quadrature axis voltage Uqref;
the output end of the park inverse transformation unit is connected with the control end of the alternating current motor through the PWM modulator and the inverter;
the acquisition unit comprises a current sampling unit, a Clark conversion unit and a park conversion unit which are connected in sequence;
the set rotating speed output by the second harmonic function generator RFG2 is converted into an angle through an integrator, and the angle and the measured three-phase current are converted into two-phase current i through a Clark conversion unitαAnd iβThe feedback current is supplied to a park conversion unit together, and feedback current Idfed is obtained through park conversion;
the set rotating speed output by the second harmonic function generator RFG2 is converted into an angle through the integrator and is provided for the park inverse transformation unit;
the set rotating speed output by the second harmonic function generator RFG2 determines the running direction of the alternating current motor through the direction generator and provides the running direction to the amplitude limiter, and the initial given direct axis voltage output by the current PID controller obtains the given direct axis voltage Udref through the amplitude limiter.
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| CN1728542A (en) * | 2004-07-30 | 2006-02-01 | 株式会社日立制作所 | Control process and control device of induction motor ind. appts. |
| JP2010011539A (en) * | 2008-06-24 | 2010-01-14 | Toshiba Corp | Motor controller and semiconductor integrated circuit device |
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| CN1728542A (en) * | 2004-07-30 | 2006-02-01 | 株式会社日立制作所 | Control process and control device of induction motor ind. appts. |
| JP2010011539A (en) * | 2008-06-24 | 2010-01-14 | Toshiba Corp | Motor controller and semiconductor integrated circuit device |
| CN105245149A (en) * | 2015-10-08 | 2016-01-13 | 江苏科技大学 | Amplitude given method for stator flux linkage of permanent-magnet synchronous motor |
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