CN107733308B - Weak magnetic control method and device for asynchronous motor - Google Patents
Weak magnetic control method and device for asynchronous motor Download PDFInfo
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- CN107733308B CN107733308B CN201711048066.8A CN201711048066A CN107733308B CN 107733308 B CN107733308 B CN 107733308B CN 201711048066 A CN201711048066 A CN 201711048066A CN 107733308 B CN107733308 B CN 107733308B
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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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- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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Abstract
The application discloses a method and a device for controlling weak magnetism of an asynchronous motor, wherein the method comprises the following steps: acquiring a stator voltage vector amplitude Us of the asynchronous motor in real time; judging whether Us exceeds a set value Us _ set; when the Us exceeds the Us _ set, determining an adjusting track of the stator current vector of the asynchronous motor in a d-q coordinate system; the starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and Us reaches Us _ set; and adjusting the stator current vector of the asynchronous motor according to the variation of the deviation degree between the Us _ set and the Us, so that the stator current vector of the asynchronous motor moves along the adjusting track until the Us is reduced below the Us _ set, and the flux weakening control requirement of the asynchronous motor is met.
Description
Technical Field
The invention relates to the technical field of flux weakening control, in particular to a flux weakening control method and device for an asynchronous motor.
Background
In the vector control of the asynchronous motor, because the voltage on the direct current side of the inverter is limited, when the rotating speed of the asynchronous motor rises to a certain degree, the amplitude of the voltage vector of the stator of the asynchronous motor reaches a limit value (namely the maximum voltage which can be output by the inverter), so that a current regulator is saturated, and at the moment, the inverter loses the regulation capability of the current vector of the stator of the asynchronous motor. In order to obtain a wide speed regulation range, the field weakening control of the asynchronous motor is required, that is, the exciting current is reduced to weaken the magnetic field of the asynchronous motor, so that the amplitude of the stator voltage vector of the asynchronous motor is stabilized within a range smaller than a limit value.
Disclosure of Invention
In view of this, the present invention provides a method and a device for controlling field weakening of an asynchronous motor, so as to meet the field weakening control requirement of the asynchronous motor.
A flux weakening control method for an asynchronous motor comprises the following steps:
acquiring the voltage vector amplitude of the stator of the asynchronous motor in real time;
judging whether the amplitude of the voltage vector of the stator of the asynchronous motor exceeds a set value;
when the amplitude of the voltage vector of the stator of the asynchronous motor exceeds the set value, determining the regulation track of the current vector of the stator of the asynchronous motor in a d-q coordinate system; the starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and the amplitude of the stator voltage vector of the asynchronous motor reaches the set value;
and adjusting the stator current vector of the asynchronous motor according to the change of the deviation degree between the set value and the stator voltage vector amplitude of the asynchronous motor, so that the stator current vector of the asynchronous motor moves along the adjusting track until the stator voltage vector amplitude of the asynchronous motor is reduced below the set value.
Optionally, the adjustment track is a line segment pointing from the starting point to the ending point.
Optionally, the adjustment track is a curve from the starting point to the ending point.
Optionally, the curve is a sine or cosine curve.
Optionally, the end point coordinate is (id _ min, 0).
A flux weakening control device of an asynchronous motor comprises:
the acquisition unit is used for acquiring the voltage vector amplitude of the stator of the asynchronous motor in real time;
the judging unit is used for judging whether the amplitude of the voltage vector of the stator of the asynchronous motor exceeds a set value or not;
the determining unit is used for determining the adjusting track of the stator current vector of the asynchronous motor under a d-q coordinate system when the judging unit judges that the amplitude of the stator voltage vector of the asynchronous motor exceeds the set value; the starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and the amplitude of the stator voltage vector of the asynchronous motor reaches the set value;
and the adjusting unit is used for adjusting the stator current vector of the asynchronous motor according to the change of the deviation degree between the set value and the stator voltage vector amplitude of the asynchronous motor, so that the stator current vector of the asynchronous motor moves along the adjusting track until the stator voltage vector amplitude of the asynchronous motor is reduced below the set value.
Optionally, the adjustment track is a line segment pointing from the starting point to the ending point.
Optionally, the adjustment track is a curve from the starting point to the ending point.
Optionally, the curve is a sine or cosine curve.
Optionally, the end point coordinate is (id _ min, 0).
According to the technical scheme, when the amplitude Us of the stator voltage vector of the asynchronous motor exceeds the set value Us _ set, an adjusting track of the stator current vector of the asynchronous motor is planned, then the stator current vector of the asynchronous motor is adjusted according to the difference value of the Us _ set and the Us, so that the stator current vector of the asynchronous motor gradually moves towards the end point along the adjusting track, the exciting current and the torque current are gradually reduced in the moving process, the Us is reduced, the adjustment is stopped until the Us is reduced below the Us _ set, and the flux weakening control requirement of the asynchronous motor is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of a flux weakening control method for an asynchronous motor disclosed by an embodiment of the invention;
fig. 2 is a schematic diagram of an adjusting track when the terminal coordinate of the adjusting track of the stator current vector of the asynchronous motor is (0,0) in the electric state of the asynchronous motor;
fig. 3 is a schematic diagram of an adjusting track when the terminal coordinate of the adjusting track of the stator current vector of the asynchronous motor is (0,0) in the power generation state of the asynchronous motor;
fig. 4 is a schematic structural diagram of a flux weakening control device of an asynchronous motor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention discloses a flux weakening control method for an asynchronous motor, including:
step S01: and acquiring the stator voltage vector amplitude Us of the asynchronous motor in real time.
Step S02: and judging whether the stator voltage vector magnitude Us of the asynchronous motor exceeds a set value Us _ set, and entering step S03 when the result that Us is greater than Us _ set is obtained.
Specifically, in vector control of the asynchronous motor, because the voltage on the direct current side of the inverter is limited, when the rotating speed of the asynchronous motor rises to a certain degree, the amplitude value Us of the stator voltage vector of the asynchronous motor reaches a limit value, so that the current regulator is saturated.
Step S03: and determining the adjusting track of the stator current vector of the asynchronous motor under a d-q coordinate system. The starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and Us is Us _ set.
Specifically, the exciting current is the stator current vector of the asynchronous motorThe d-axis component of the quantity. Under the condition that the asynchronous motor reaches a steady state and the influence of resistance on voltage is ignored, as can be known from an asynchronous motor stator voltage equation,
ωe_maxsynchronous electrical angular frequency, L, corresponding to the highest rotational speed of the asynchronous motorsIs the stator inductance.
Under the condition that the highest rotating speed of the asynchronous motor is known, because id _ min can be calculated according to the formula, the end point of the adjusting track of the stator current vector of the asynchronous motor can be set to be coordinates (a,0), and a is more than or equal to 0 and less than or equal to id _ min. And under the condition that the highest rotating speed of the asynchronous motor is unknown, because id _ min cannot be calculated according to the formula, the end point of the adjusting track of the stator current vector of the asynchronous motor can only be set to be coordinates (0, 0).
Of course, in the case of a known maximum rotational speed of the asynchronous machine, the end point of the adjustment trajectory of the stator current vector of the asynchronous machine is preferably the coordinate (id _ min,0), in which case the torque response speed of the asynchronous machine is faster.
Step S04: and adjusting the stator current vector of the asynchronous motor according to the variation of the deviation degree between the Us _ set and the Us, so that the stator current vector of the asynchronous motor moves along the adjusting track until the Us is reduced below the Us _ set.
Specifically, under the condition that the rotating speed of the asynchronous motor is constant, the voltage limit of the stator of the asynchronous motor is an ellipse which takes an original point as a center under a d-q coordinate system and is called as a voltage limit ellipse according to an asynchronous motor stator voltage equation; as the rotation speed of the asynchronous motor increases, the voltage limit ellipse gradually decreases.
The asynchronous motor stator current vector locus is a circle taking the origin as the center of a circle under a d-q coordinate system, and the radius of the asynchronous motor stator current vector locus is the amplitude of the asynchronous motor stator current vector. The current regulator is not saturated until the stator current vector of the asynchronous machine is located within the voltage limit ellipse.
Based on this, when Us > Us _ set (i.e. there is a hidden danger of current regulator saturation), the embodiment of the present invention plans an adjustment trajectory of the stator current vector of the asynchronous motor, that is, a movement trajectory of a vertex of the stator current vector of the asynchronous motor, and then inputs a difference value between Us _ set and Us into the voltage regulator, where an output of the voltage regulator is an adjustment quantity or an adjustment coefficient for the current stator current vector of the asynchronous motor, and the adjustment quantity or the adjustment coefficient represents an adjustment degree for the stator current vector of the asynchronous motor. And then, adjusting the stator current vector of the asynchronous motor according to the adjustment quantity or the adjustment coefficient output by the voltage regulator, so that the stator current vector of the asynchronous motor gradually moves to the end point along the adjustment track, the larger the difference value between Us _ set and Us is, the larger the adjustment degree of the stator current vector of the asynchronous motor is, the closer the stator current vector of the asynchronous motor is to the end point, and correspondingly, the smaller the excitation current (namely the d-axis component of the given current vector of the asynchronous motor) and the torque current (namely the q-axis component of the given current vector of the asynchronous motor) are. As can be known from the asynchronous motor stator voltage equation, the reduction of the exciting current and the torque current can reduce Us, so that the embodiment of the invention can quickly reduce Us below Us _ set, and the stator current vector of the asynchronous motor is positioned in the voltage limit ellipse under the current rotating speed, thereby avoiding the saturation of a current regulator and meeting the flux weakening control requirement of the asynchronous motor.
The adjustment track of the stator current vector of the asynchronous motor may be a line segment pointing from the starting point to the end point, or may be a curve pointing from the starting point to the end point, such as a sine/cosine curve, without limitation.
For example, when the regulation track of the stator current vector of the asynchronous motor is a line segment which points from a starting point to an end point (0,0), I is usedsRepresenting stator current vectors of asynchronous machines before regulation, denoted by Is' denotes the regulated stator current vector of the asynchronous machine, then Is'＝Is(1+ k), the adjustment quantity of the stator current vector of the asynchronous motor is k.Is', k is an adjustment factor, -1. ltoreq. k < 0, k decreasing with increasing degree of deviation between Us set and Us, I decreasing when k decreases to-1s' move to the end point (0,0) as shown in FIGS. 2-3.
FIG. 2 is a schematic diagram of an adjusting track of a stator current vector of an asynchronous motor in an electric state of the asynchronous motor, and FIG. 3 is a schematic diagram of an adjusting track of a stator current vector of the asynchronous motorThe regulation track schematic diagram of stator current vector of asynchronous motor in power generation state of step motor, two ellipses in fig. 2 and 3 represent voltage limit ellipses at different rotation speeds, represented by IsThe line segment pointing to (0,0) at the vertex of (c) is the adjustment trajectory l.
In addition, the embodiment of the invention also discloses a flux weakening control device of the asynchronous motor, which comprises:
the acquiring unit 100 is used for acquiring the voltage vector amplitude of the stator of the asynchronous motor in real time;
the judging unit 200 is used for judging whether the amplitude of the voltage vector of the stator of the asynchronous motor exceeds a set value;
the determining unit 300 is configured to determine an adjusting track of a stator current vector of the asynchronous motor in a d-q coordinate system when the determining unit 200 determines that the amplitude of the stator voltage vector of the asynchronous motor exceeds the set value; the starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and the amplitude of the stator voltage vector of the asynchronous motor reaches the set value;
and the adjusting unit 400 is configured to adjust the stator current vector of the asynchronous motor according to a variation of a deviation degree between the set value and the stator voltage vector amplitude of the asynchronous motor, so that the stator current vector of the asynchronous motor moves along the adjusting track until the stator voltage vector amplitude of the asynchronous motor is reduced below the set value.
Optionally, the adjustment track determined by the determining unit 300 is a line segment pointing from the starting point to the ending point.
Optionally, the adjustment track determined by the determining unit 300 is a curve pointing from the starting point to the ending point, such as a sine/cosine curve.
Optionally, the end point coordinate is (id _ min, 0).
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the embodiments. Thus, the present embodiments are not intended to be limited to the embodiments shown herein but are to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A flux weakening control method for an asynchronous motor is characterized by comprising the following steps:
acquiring the voltage vector amplitude of the stator of the asynchronous motor in real time;
judging whether the amplitude of the voltage vector of the stator of the asynchronous motor exceeds a set value;
when the amplitude of the voltage vector of the stator of the asynchronous motor exceeds the set value, determining the regulation track of the current vector of the stator of the asynchronous motor in a d-q coordinate system; the starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and the amplitude of the stator voltage vector of the asynchronous motor reaches the set value;
adjusting the stator current vector of the asynchronous motor according to the change of the deviation degree between the set value and the stator voltage vector amplitude of the asynchronous motor, so that the stator current vector of the asynchronous motor moves to the end point along the adjusting track until the stator voltage vector amplitude of the asynchronous motor is reduced below the set value; the closer the stator current vector of the asynchronous motor is to the terminal point, the smaller the d-axis component and the q-axis component of the stator current vector of the asynchronous motor are.
2. The flux weakening control method for an asynchronous motor according to claim 1, wherein said adjustment trajectory is a line segment pointing from said start point to said end point.
3. The flux weakening control method for an asynchronous motor according to claim 1, wherein said adjustment trajectory is a curve pointing from said start point to said end point.
4. The field weakening control method for the asynchronous motor according to claim 3, wherein the curve is a sine curve or a cosine curve.
5. The field weakening control method of an asynchronous motor according to claim 1, characterized in that said end point coordinate is (id _ min, 0).
6. A flux weakening control device for an asynchronous motor is characterized by comprising:
the acquisition unit is used for acquiring the voltage vector amplitude of the stator of the asynchronous motor in real time;
the judging unit is used for judging whether the amplitude of the voltage vector of the stator of the asynchronous motor exceeds a set value or not;
the determining unit is used for determining the adjusting track of the stator current vector of the asynchronous motor under a d-q coordinate system when the judging unit judges that the amplitude of the stator voltage vector of the asynchronous motor exceeds the set value; the starting point of the adjusting track is the current coordinate of the stator current vector of the asynchronous motor, the end point is the coordinate (a,0), a is more than or equal to 0 and less than or equal to id _ min, and id _ min is the corresponding exciting current when the asynchronous motor reaches the highest rotating speed, the torque current of the asynchronous motor is zero and the amplitude of the stator voltage vector of the asynchronous motor reaches the set value;
the adjusting unit is used for adjusting the stator current vector of the asynchronous motor according to the change of the deviation degree between the set value and the stator voltage vector amplitude of the asynchronous motor, so that the stator current vector of the asynchronous motor moves to the end point along the adjusting track until the stator voltage vector amplitude of the asynchronous motor is reduced below the set value; the closer the stator current vector of the asynchronous motor is to the terminal point, the smaller the d-axis component and the q-axis component of the stator current vector of the asynchronous motor are.
7. The flux weakening control device for an asynchronous motor according to claim 6, wherein said adjustment track is a line segment pointing from said starting point to said ending point.
8. The flux weakening control device for an asynchronous motor according to claim 6, wherein said adjustment track is a curve pointing from said starting point to said ending point.
9. The flux weakening control device of an asynchronous motor according to claim 8, wherein said curve is a sine or cosine curve.
10. The flux weakening control device of an asynchronous motor according to claim 6, characterized in that said end point coordinate is (id _ min, 0).
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