CN108183646A - A kind of induction machine speed-sensorless control low frequency evaluation method and system - Google Patents
A kind of induction machine speed-sensorless control low frequency evaluation method and system Download PDFInfo
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- CN108183646A CN108183646A CN201711325084.6A CN201711325084A CN108183646A CN 108183646 A CN108183646 A CN 108183646A CN 201711325084 A CN201711325084 A CN 201711325084A CN 108183646 A CN108183646 A CN 108183646A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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Abstract
The present invention relates to a kind of induction machine low frequency evaluation method and system are controlled without velocity vector, on the basis of existing no speed velocity sensor vector control system, stator resistance offset is obtained by pi regulator by exciting current deviation in low-frequency range, and carry out P parameters and I parameter linearization process, then stator resistance offset is introduced into the low frequency estimating system of speed-less sensor vector control system, to improve low-frequency velocity estimation accuracy, improve speed-less sensor vector control system low-frequency range operation stability and load capacity, with larger practical value.
Description
Technical field
Field is used the present invention relates to voltage model magnetic linkage speed observer, more particularly to a kind of induction machine is without speed
Sensor vector controls low frequency evaluation method and system.
Background technology
In the past few years, induction machine speed sensorless vector control technology, which has, significantly develops, induced electricity
There are two types of the common magnetic linkage velocity estimation models of machine：One kind is current model, it is to be determined according to stator current and rotating speed to calculate
Sub- magnetic linkage；Another kind is voltage model, it is to obtain stator magnetic linkage by integral operation using stator voltage equation.Relative to
Current model, voltage model is main only to be influenced by stator resistance parameters, thus with the required parameter of electric machine is few, is not easy by motor
The advantages that influence of Parameters variation, implementation method simple, of low cost, so as in induction machine speed-sensorless control
Extensive use is obtained in system.
It is trivial in low speed in the Speedless sensor Induction Motor Vector Control System of voltage model magnetic linkage speed observer
Its magnetic linkage of domain and turn count and parameter of electric machine stator resistance are closely related.When high frequency is run, winding back emf is larger, stator electricity
Influence of the resistive to back-emf is smaller.During low-frequency operation, winding back emf is smaller, and stator resistance changes the influence to back-emf
It is larger.Therefore, when parameter of electric machine Stator resistance identification is inaccurate or leads to the offset of stator resistance value due to Wen Sheng, it will serious shadow
Ring the low-frequency velocity estimation accuracy of Speedless sensor Induction Motor Vector Control System, so influence its operation stability and
Load capacity.
Invention content
In view of this, it is low to provide a kind of online stator resistance compensation improvement induction machine ensorless control by the present invention
The method and system of frequency velocity estimation accuracy can significantly improve the stability of system operation, and low speed is kept to have stronger band
Loading capability.
A kind of induction machine speed-sensorless control low frequency evaluation method, the method step are as follows：
1st, a kind of induction machine speed-sensorless control low frequency evaluation method, it is characterised in that：The method walks
It is rapid as follows：
1) induction machine speed-less sensor vector control system passes through PI tune under low frequency state with exciting current deviation
Section device obtains stator resistance offset；
2) stator resistance offset is subjected to P parameters and I parameter linearization process；
3) stator resistance offset is introduced into the low frequency estimation of speed-less sensor vector control system.
In the above-mentioned technical solutions, it is described that stator resistance offset is obtained by pi regulator in the step 1), in fact
Existing step is as follows：
1a) induction Motor Vector Control is in dq axis coordinate systems, definitionFor d axis given voltages,For q axis given voltages,It is d axis to constant current,It is q axis to constant current, usdFor d axis virtual voltages, usqFor q axis virtual voltages, isdFor d axis reality
Electric current, isqFor q axis actual currents, Δ RsFor stator resistance changing value, it is in dq axis coordinate system voltage vector equations：
1b) from above-mentioned voltage vector equation formulations (1), stator resistance variation will influence d shaft currents and q axis magnetic linkage occurs
Variation,It is expressed as by actual current and magnetic linkage：
Formula (2) subtracts each other with above-mentioned voltage vector equation (1)：
In above-mentioned formula 1c) subtracted each other In stable state
When, formula (3) is stated as：
Find out from above-mentioned formula (4), stator resistance variation can lead to exciting current deviation, while become in very little stator resistance
Change it is believed that d shaft currents are constant, stator resistance variation and exciting current deviation are linear, are mended by introducing pi regulator
Repay stator resistance variation, i.e. Δ Rsc=-(KPed+KI∫edDt) -- (5), wherein P parameters are KP, and I parameters are KI.
In the above-mentioned technical solutions, the step 2), P the and I parameters linearisation processing step are as follows：
2a) according to setpoint frequency threshold value ωpLinearization process is carried out, as given frequency ωsetLess than frequency threshold ωpWhen, P
Being linearized since 0 with I parameters increases to the default value of default, realizes stator resistance online compensation, and calculation is：
2b) as given frequency ωsetHigher than in frequency threshold ωpWhen, P and I parameters are forced to 0, and calculation is：
2c) obtaining final stator resistance offset according to above-mentioned formula (6) and (7) is：ΔRscn=-(KPn·ed+KIn∫
eddt)。
Invention additionally discloses a kind of induction machine speed-sensorless control low frequency estimating systems, it is characterised in that：
The system comprises PI adjustment modules, P parameters and I parameter linearization blocks, stator resistance compensation introduce module；
Under low frequency state, stator resistance is obtained using exciting current deviation by pi regulator for the PI adjustment modules
Offset；
The P parameters and I parameter linearization blocks carry out stator resistance offset at P parameters and I parameter linearisations
Reason；
The stator resistance compensation introduces module, and stator resistance offset is introduced the low of speed-sensorless control
During frequency is estimated.
In the above-mentioned technical solutions, in the PI adjustment modules, exciting current set-point is given as, is fed back to exciting current
Value of feedback obtains exciting current deviation, and exciting current deviation carries out ratio by P parameters and I parameters and Integral Processing obtains
To stator resistance offset.
In the above-mentioned technical solutions, in the P parameters and I parameter linearization blocks, according to setpoint frequency threshold value into line
Propertyization processing, when given frequency is less than frequency threshold, P and I parameters linearize the acquiescence for increasing to default since 0
Value realizes stator resistance online compensation；When given frequency is higher than frequency threshold, P and I parameters are forced to 0, exit stator resistance
Compensation model.
A kind of induction machine speed-sensorless control low frequency evaluation method of the present invention and system, for existing voltage
Model Speedless sensor Induction Motor Vector Control System, since Wen Sheng leads to the offset of stator resistance value or motor ginseng when running
Number Stator resistance identification is inaccurate, and then low-frequency velocity is caused to estimate the defects of inaccurate, provides a kind of online stator resistance compensation
Improve induction machine ensorless control low-frequency velocity estimation accuracy, the stability of system operation can be significantly improved,
Low speed is kept to have stronger load capacity.
Description of the drawings
Fig. 1 is a kind of induction machine speed-less sensor vector control system block diagram of the present invention；
Fig. 2 is the simulation waveform of traditional speed-sensorless control pattern；
Fig. 3 is a kind of simulation waveform of induction machine speed-sensorless control pattern of the present invention；
Fig. 4 is the experimental waveform of traditional speed-sensorless control pattern；
Fig. 5 is a kind of experimental waveform of induction machine speed-sensorless control pattern of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings
The present invention discloses a kind of induction machine speed-sensorless control low frequency evaluation method, and the method step is such as
Under：
1) induction machine speed-less sensor vector control system passes through PI tune under low frequency state with exciting current deviation
Section device obtains stator resistance offset；
2) stator resistance offset is subjected to P parameters and I parameter linearization process；
3) stator resistance offset is introduced into the low frequency estimation of speed-sensorless control.
Wherein, traditional speed-sensorless control principle is as follows：
Induction Motor Vector Control defines u under α β axis coordinate systemssαFor α shaft voltages, usβFor β shaft voltages, isαFor α axis electricity
Stream, isβFor β shaft currents, RsFor stator resistance value, Δ RsFor stator resistance changing value, ψsαStator magnetic linkage, ψ are observed for α axissβFor β
Axis observes stator magnetic linkage,α axis actual stator magnetic linkages after changing for stator resistance,β axis is practical after changing for stator resistance
Stator magnetic linkage estimates that stator magnetic linkage is in α β axis coordinate systems：
Rotor flux is according to stator-rotator magnetic chain relation：
L in formulasFor stator inductance, LrFor inductor rotor, LmFor mutual inductance,For magnetic leakage factor.
It is obtained by formula (1) and formula (2)
And the magnetic linkage velocity estimation based on voltage model is：Calculate rotor flux angle θe, then carry out differential and obtain
Motor synchronizes angular frequencye, pass through same frequency angular frequency latereWith slip frequency ωsDifference obtains mechanical angular frequencyr：
It can be seen that from formula (3) and (4), when stator resistance since the offset of temperature liter or the identification of original system stator resistance parameters are inaccurate
When, the final mechanical angular frequency of motor estimation can be influencedr, and then influence system low-frequency operation stability and load capacity.
Wherein, the implementation that stator resistance offset is obtained by pi regulator is as follows：
1a) induction Motor Vector Control is under dq axis coordinate systems, definitionFor d axis given voltages,Electricity is given for q axis
Pressure,It is d axis to constant current,It is q axis to constant current, usdFor d axis virtual voltages, usqFor q axis virtual voltages, isdFor d axis reality
Border electric current, isqFor q axis actual currents, Δ RsFor stator resistance changing value, it is in dq axis coordinate system voltage vector equations：
It 2b) can be seen that from formula (5), change when stator resistance variation will influence d shaft currents and q axis magnetic linkages,Pass through
Actual current and magnetic linkage are expressed as：
Formula (5) and formula (6) are subtracted each other：
Wherein, in formula (7)In stable state, formula (7) can
It states as：
It 1c) can be seen that from formula (8), stator resistance variation can lead to exciting current deviation, while become in very little stator resistance
Change it is believed that d shaft currents are constant, so it is believed that stator resistance variation and exciting current deviation are linear, so can lead to
Cross introducing pi regulator to compensate stator resistance variation, i.e.,
ΔRsc=-(KPed+KI∫eddt) (9)
Wherein, in formula (9), P parameters are KP, and I parameters are KI.
Wherein, pi regulator P parameters and I parameters linearisation processing step are as follows：
2a) according to setpoint frequency threshold value ωpLinearization process is carried out, as given frequency ωsetLess than frequency threshold ωpWhen, P
Parameter and I parameters linearize the default value for increasing to default since 0, realize stator resistance online compensation, calculating side
Formula is：
2b) as given frequency ωsetHigher than in frequency threshold ωpWhen, P parameters and I parameters are forced to 0, calculation
For：
2c) so as to obtain final stator resistance offset：
ΔRscn=-(KPn·ed+KIn∫eddt)。
The stator resistance offset Δ R obtained as stated abovescnIntroduce speed by upper velocity estimation systems formula (3) and
(4), it obtains true motor speed and carries out vector controlled, to improve system run all right and load capacity.
With reference to embodiment, the present invention is further described, using induction machine 7.5kW as research object, specified operation
Frequency is 50Hz, rated voltage 380V, rated current 16.2A, and rated speed 1450r/min, number of pole-pairs is 2 pairs of poles,
Speed-less sensor vector control system is built in SABER simulated environment, verification method is：Compare and whether there is stator resistance compensation
Low-frequency range estimated speed and actual speed deviation before and after function.
Simulation figures of the Fig. 2 for no stator resistance compensation function, solid line is given speed, and band triangle solid line is estimation speed
Degree, band dot solid line is actual speed, and as can be seen from Figure 2, in low-frequency range, estimated speed and actual speed deviation are larger, is held
Easily lead to that system is unstable or load capacity is poor；Fig. 3 is the simulation figure for introducing stator resistance compensation function proposed by the present invention,
Solid line is given speed, and band triangle solid line is estimated speed, and band dot solid line is actual speed, as can be seen from Figure 3, low
Frequency range estimated speed and actual speed deviation are minimum, can be seen that from Fig. 2 and Fig. 3 comparisons, and introducing stator resistance compensation function can show
Raising system low-frequency range estimated speed accuracy is write, ensures system run all right and load capacity.
The 11kW frequency converters of TMS320F2833x types DSP cores in order to control that experiment porch uses, with induction machine 7.5kW
For research object, specified operation degree is 50Hz, rated voltage 380V, rated current 16.2A, rated speed 1450r/
Min, number of pole-pairs are 2 pairs of poles, and load-side is loaded using 15kW direct currents, using photoelectric encoder measurement motor true velocity.
Verification method is：Direct current generator full-load torque exports, and frequency converter (is far below above-mentioned frequency threshold with 15r/min
ωp) speed preset, it rotates forward band and carries startup, compare whether control system low-frequency range before and after whetheing there is stator compensation function can normally transport
Row, system operation waveform when Fig. 4 is no stator resistance compensation function, solid line is given speed, and band triangle solid line is estimation speed
Degree, band dot solid line are actual speed, and as can be seen from Figure 4, motor actual speed is in 0-25r/min fluctuations, with estimation speed
It is larger to spend deviation, and has the time to rest on 0r/min, motor operation is shown as on actual experiment unit interim card occurs showing
As that is, can not stable operation；Fig. 5, can from Fig. 5 to introduce stator resistance compensation function system operation waveform proposed by the present invention
Go out, motor actual speed is maintained essentially in above and below 15r/min, is close with estimated speed, is shown as on actual experiment unit
Motor average rate is run.It can be seen that from Fig. 4 and Fig. 5 comparisons, introducing stator resistance compensation function is remarkably improved system low-frequency range and estimates
Speed accuracy is calculated, ensures system run all right and load capacity.
A kind of induction machine speed-sensorless control low frequency evaluation method proposed by the present invention passes through excitation electricity
Stream deviation obtains stator resistance offset by pi regulator, to improve since Wen Sheng leads to the offset of stator resistance value or original system
The problem of stator resistance parameters identification is inaccurate, by emulation and the experimental results showed that speed-sensorless control system can be improved
System operation stability and load capacity have larger practical value.
Invention additionally discloses a kind of induction machine speed-sensorless control low frequency estimating system, the system comprises
PI adjustment modules, P parameters and I parameter linearization blocks, stator resistance compensation introduce module；
Under low frequency state, stator resistance is obtained using exciting current deviation by pi regulator for the PI adjustment modules
Offset；
The P parameters and I parameter linearization blocks carry out stator resistance offset at P parameters and I parameter linearisations
Reason；
The stator resistance compensation introduces module, and stator resistance offset is introduced the low of speed-sensorless control
During frequency is estimated.
Wherein, in the PI adjustment modules, exciting current set-point is given as, exciting current feedback value is fed back to, obtains
Exciting current deviation, exciting current deviation carries out ratio by P parameters and I parameters and Integral Processing obtains stator resistance and mends
Repay value.
Wherein, in the P parameters and I parameter linearization blocks, linearization process is carried out according to setpoint frequency threshold value, when to
When determining frequency less than frequency threshold, P parameters and I parameters linearize the default value for increasing to default since 0, realize stator
Resistance online compensation；When given frequency is higher than frequency threshold, P parameters and I parameters are forced to 0, exit stator resistance compensation mould
Formula.
The part not illustrated in specification is the prior art or common knowledge.Present embodiment is merely to illustrate the hair
Bright rather than limit the scope of the invention, the modifications such as equivalent replacement that those skilled in the art make the present invention are recognized
To be fallen into invention claims institute protection domain.
Claims (6)
1. a kind of speed-sensorless control low frequency evaluation method, it is characterised in that：The method step is as follows：
1) induction machine speed-less sensor vector control system passes through pi regulator under low frequency state with exciting current deviation
Obtain stator resistance offset；
2) stator resistance offset is subjected to P parameters and I parameter linearization process；
3) by treated, stator resistance offset is introduced into the low frequency estimation of speed-less sensor vector control system.
2. a kind of induction machine speed-sensorless control low frequency evaluation method, feature exist according to claim 1
In：Described to obtain stator resistance offset by pi regulator in the step 1), implementation step is as follows：
1a) induction Motor Vector Control is in dq axis coordinate systems, definitionFor d axis given voltages,For q axis given voltages,For d
Axis to constant current,It is q axis to constant current, usdFor d axis virtual voltages, usqFor q axis virtual voltages, isdFor d axis actual currents,
isqFor q axis actual currents, Δ RsFor stator resistance changing value, it is in dq axis coordinate system voltage vector equations：
1b) from above-mentioned voltage vector equation formulations (1), stator resistance variation will influence d shaft currents and q axis magnetic linkages become
Change,It is expressed as by actual current and magnetic linkage：
Formula (2) subtracts each other with above-mentioned voltage vector equation (1)：
In above-mentioned formula 1c) subtracted each other In stable state,
Formula (3) is stated as：
Find out from above-mentioned formula (4), stator resistance variation can lead to exciting current deviation, while can in the variation of very little stator resistance
D shaft currents are thought for constant, and stator resistance variation and exciting current deviation are linear, fixed by introducing pi regulator compensation
Sub- resistance variations, i.e. Δ Rsc=-(KPed+KI∫edDt) --- (5), wherein P parameters are KP, and I parameters are KI.
3. a kind of induction machine speed-sensorless control low frequency evaluation method, feature exist according to claim 1
In：In the step 2), the P parameters and I Parameter linearization process steps are as follows：
2a) according to setpoint frequency threshold value ωpLinearization process is carried out, as given frequency ωsetLess than frequency threshold ωpWhen, P parameters
And I parameters linearize the default value for increasing to default since 0, realize stator resistance online compensation, calculation is：
2b) as given frequency ωsetHigher than in frequency threshold ωpWhen, P and I parameters are forced to 0, and calculation is：
2c) obtaining final stator resistance offset according to above-mentioned formula (6) and (7) is：ΔRscn=-(KPn·ed+KIn∫
eddt)---(8)。
4. a kind of induction machine speed-sensorless control low frequency estimating system, it is characterised in that：The system comprises PI
Adjustment module, P parameters and I parameter linearization blocks, stator resistance compensation introduce module；
The PI adjustment modules under low frequency state, obtain stator resistance by pi regulator using exciting current deviation and compensate
Value；
Stator resistance offset is carried out P parameters and I parameter linearization process by the P parameters and I parameter linearization blocks；
The stator resistance compensation introduces module, and stator resistance offset is introduced the low of speed-less sensor vector control system
During frequency is estimated.
5. a kind of induction machine speed-sensorless control low frequency estimating system, feature exist according to claim 4
In：In the PI adjustment modules, exciting current set-point is given as, exciting current feedback value is fed back to, it is inclined to obtain exciting current
Difference, exciting current deviation carries out ratio by P parameters and I parameters and Integral Processing obtains stator resistance offset.
6. a kind of induction machine speed-sensorless control low frequency estimating system, feature exist according to claim 4
In：In the P parameters and I parameter linearization blocks, linearization process is carried out according to setpoint frequency threshold value, when given frequency is less than
During frequency threshold, P parameters and I parameters linearize the default value for increasing to default since 0, realize that stator resistance is mended online
It repays；When given frequency is higher than frequency threshold, P parameters and I parameters are forced to 0, exit stator resistance compensation model.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111211720A (en) * | 2019-12-30 | 2020-05-29 | 东风航盛（武汉）汽车控制系统有限公司 | Method for setting PI (proportional integral) parameter of current loop of permanent magnet synchronous motor controller |
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| CN1098570A (en) * | 1993-08-05 | 1995-02-08 | 株式会社明电舍 | The vector control apparatus of induction motor |
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| CN106549620A (en) * | 2016-10-26 | 2017-03-29 | 中冶南方（武汉）自动化有限公司 | A kind of Speed Sensorless Induction Motor vector control system low frequency processing method |
| CN106549622A (en) * | 2016-10-26 | 2017-03-29 | 北京利德华福电气技术有限公司 | For the asynchronous machine constant voltage and frequency ratio control method of three phase converter |
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| CN1098570A (en) * | 1993-08-05 | 1995-02-08 | 株式会社明电舍 | The vector control apparatus of induction motor |
| CN101330273A (en) * | 2008-07-01 | 2008-12-24 | 哈尔滨工业大学 | Method for automatically hoisting torque of universal frequency converter base on active current component |
| CN103401503A (en) * | 2013-07-29 | 2013-11-20 | 清华大学 | Method and device for distinguishing double-three-phase motor parameter on line on harmonic plane |
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