CN108599648A - A kind of induction machine stable state regulation and control method - Google Patents
A kind of induction machine stable state regulation and control method Download PDFInfo
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- CN108599648A CN108599648A CN201810522040.0A CN201810522040A CN108599648A CN 108599648 A CN108599648 A CN 108599648A CN 201810522040 A CN201810522040 A CN 201810522040A CN 108599648 A CN108599648 A CN 108599648A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract
The present invention provides a kind of induction machine stable state regulation and control method, is based on mathematical model of induction motor and induction machine mutual inductance parameter, establishes the three-phase imbalance steady-state model under induction machine saturation conditions, obtain the impedance of the induction machine meter and saturated characteristic；Wherein, based in the induction machine stator winding by electric current and stator winding generate magnetic flux between fit correlation function, obtain the induction machine mutual inductance parameter；Relationship based on the impedance and induction machine stator voltage, using the induction machine stator voltage as initial value, the electric current of the induction machine stator is injected in regulation and control.The induction machine stable state of the present invention regulates and controls method, and regulation process is simple, can effectively improve the convergence rate of induction machine electromagnetic transient simulation.
Description
Technical field
The present invention relates to motor control technology fields, regulate and control method more particularly, to a kind of induction machine stable state.
Background technology
Induction machine is acted on by electromagnetic induction between stator and rotor, and induced current is generated in rotor windings, is turned
Son rotates under the action of induced current and excitation field, the equipment for realizing electromechanical energy conversion.Stator usually includes mainly fixed
Sub- iron core, stator winding and pedestal three parts；Rotor usually includes mainly rotor core, rotor windings and shaft.Normal condition
Under, the rotating speed of rotor is slightly lower or rotating speed of slightly above rotating excitation field caused by stator.When the load of induction machine changes,
The rotating speed and revolutional slip of rotor will change therewith, make electromotive force, electric current and electromagnetic torque in rotor that corresponding variation occur, with
Adapt to the needs of load.According to the positive and negative and size of revolutional slip, induction machine has three kinds of motor, generator and electromagnetic braking fortune
Row state.
The demand of induction conductivity is more and more extensive, but since induction machine itself has complicated transient characterisitics and meter
Model is calculated, the electromagnetic transient simulation for frequently resulting in distribution system slows.Under simulated environment, in order to improve induction machine
Electromagnetic transient simulation speed, general common processing method are to directly improve and propose more efficient simulation algorithm, but it incudes
Motor electromagnetic transient emulation speed needs to be further increased.
Invention content
(1) technical problems to be solved
The present invention provides a kind of induction machine stable states to regulate and control method, to solve induction machine electro-magnetic transient in the prior art
The not high technical problem of simulation velocity.
(2) technical solution
In order to solve the above technical problems, according to an aspect of the present invention, a kind of induction machine stable state regulation and control method is provided,
Based on mathematical model of induction motor and induction machine mutual inductance parameter, the three-phase imbalance stable state under induction machine saturation conditions is established
Model obtains the impedance of the induction machine meter and saturated characteristic；Wherein, based in the induction machine stator winding by
Fit correlation function between the magnetic flux that electric current and stator winding generate, obtains the induction machine mutual inductance parameter；
Relationship based on the impedance and induction machine stator voltage, using the induction machine stator voltage as initial value, repeatedly
In generation, calculates to regulate and control the electric current of the injection induction machine stator, until reaching limit.
Further, before the three-phase imbalance steady-state model under establishing induction machine saturation conditions, by the induction
Motor mathematical model has the form that the form of the differential equation is converted to algebraic equation.
Further, it is converted in the form of the mathematical model of induction motor is had the differential equation by Laplace transform
The form of algebraic equation.
Further, the induction machine mutual inductance parameter is：
In formula, LmIndicate induction machine mutual inductance parameter, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate fixed
In magnetic flux and stator winding that sub- winding generates by electric current between fit correlation function, I* indicates induction machine stator
In winding by electric current perunit value.
Further, the impedance includes positive sequence impedance and negative sequence impedance.
Further, the three-phase imbalance steady-state model is：
In formula, Zim,p,satIndicate positive sequence impedance, Zim,n,satIndicate negative sequence impedance, r 'rFor the electricity of rotor conversion to stator side
Resistance, L 'lrFor rotor windings conversion to the leakage inductance of stator side, ωrFor rotor velocity；rsFor stator winding resistance, LlsFor stator
Winding leakage inductance, s are Laplace operator, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate the magnetic that stator generates
In flux and stator winding by electric current between fit correlation function, I* indicate induction machine stator winding in by electricity
Flow perunit value.
Further, each phase voltage of the induction machine stator voltage is separately disassembled into positive sequence voltage and negative phase-sequence electricity
Pressure；
The forward-order current for injecting the induction machine stator is obtained by the positive sequence impedance and the positive sequence voltage；
The negative-sequence current for injecting the induction machine stator is obtained by the negative sequence impedance and the positive sequence voltage.
(3) advantageous effect
A kind of induction machine stable state that the application proposes regulates and controls method, and advantage is mainly as follows：
Based on induction machine d-q mathematical models, in conjunction with induction machine magnetic flux and stator winding in by electric current it
Between fit correlation and induction machine impedance and induction machine voltage between relationship, be first with induction machine stator voltage
Value, can effectively improve the convergence rate of the electromagnetic transient simulation of induction machine, to improve the regulation and control efficiency of induction machine stable state.
Description of the drawings
Fig. 1 is induction machine electromagnetic transient simulation schematic diagram in the prior art；
Fig. 2 is the induction machine electromagnetic transient simulation for regulating and controlling method according to a kind of induction machine stable state of the embodiment of the present invention
Schematic diagram.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Shown in Figure 1, a kind of induction machine stable state computational methods are mutual based on mathematical model of induction motor and induction machine
Feel parameter, establish the three-phase imbalance steady-state model under induction machine saturation conditions, obtains the induction machine meter and saturation is special
The impedance of property；Wherein, based in the induction machine stator winding by electric current and stator winding generate magnetic flux between
Fit correlation function, obtain the induction machine mutual inductance parameter；
Based in the impedance and the induction machine stator winding by voltage, the induction machine is emulated
Initialization.
Specifically, induction machine can be motor, can also be generator.It calculates or imitates with the specific of motor below
It is illustrated for true method.When, by electric current, generating rotating excitation field in the stator winding of induction machine, to drive rotor to turn
It is dynamic.In the process, the magnetic flux in the magnetic field changes with the variation of electric current.The corresponding relation data of the two is fitted,
Obtain in induction machine stator winding by electric current and stator winding generate magnetic flux between fit correlation function.By this
Induction machine mutual inductance parameter can be obtained in fit correlation function, make induction machine mutual inductance parameter in stator winding by electric current phase
Association.
Specifically, induction machine d-q mathematical models can be used in induction motor model.The mathematical model can specifically be stated such as
Under：
Stator side equation：
λqs=Llsiqs+Lm(iqs+i′qr)； (3)
λds=Llsids+Lm(ids+i′dr)； (4)
In formula, vqs,vdsRespectively stator winding q shaft voltages, d shaft voltages, iqs,idsRespectively stator winding q shaft currents, d
Shaft current, λqs,λdsRespectively stator winding q axis magnetic linkage, d axis magnetic linkages, rsFor stator winding resistance, LlsFor stator winding leakage inductance,
LmFor induction machine mutual inductance, ω is synchronous rotary angular speed, i 'qr,i′drRespectively q axis electricity of the rotor windings conversion to stator side
Stream, d shaft currents.
Rotor-side equation：
λ′qr=L 'lri′qr+Lm(i′qr+iqs)； (7)
λ′dr=L 'lri′dr+Lm(i′dr+ids)； (8)
In formula, v 'qr,v′drRespectively rotor windings convert q shaft voltages, the d shaft voltages to stator side, iqs,idsRespectively
Determine winding q shaft currents, d shaft currents, λ 'qr,λ′drRespectively rotor windings convert q axis magnetic linkage, the d axis magnetic linkages to stator side, r 'r
For rotor conversion to the resistance of stator side, L 'lrFor rotor windings conversion to the leakage inductance of stator side, LmFor induction machine mutual inductance, ωr
For rotor velocity, ω is synchronous rotary angular speed, i 'qr,i′drRespectively rotor windings are converted to the q shaft currents of stator side, d
Shaft current.
The induction machine mutual inductance parameter of gained is combined with induction machine d-q mathematical models, i.e., by induction machine mutual inductance
Parameter is updated in induction machine d-q mathematical models, can obtain the three-phase imbalance stable state mould under induction machine saturation conditions
Type, obtain in induction machine impedance and stator winding by electric current between relation function.On this basis, be based on impedance with
The relationship of stator voltage, using in stator voltage and stator winding by electric current be used as initial value, obtain injection induction machine
Stator current.Using the stator current that is injected into stator winding and by the stator current as stator winding in by electric current,
The stator voltage formed using the stator current repeats above-mentioned calculating process as initial value, until reaching limit.Using this side
Formula can effectively improve the convergence rate of the electromagnetic transient simulation of induction machine, improve the regulation and control efficiency of induction machine stable state.
Further, before the three-phase imbalance steady-state model under establishing induction machine saturation conditions, by the induction
Motor mathematical model has the form that the form of the differential equation is converted to algebraic equation.Specifically, first to induction machine d-q mathematical modulos
Type carries out algebraization, can simplify calculating process, improves operation efficiency.
During algebraization, Laplace transform can be used, algebraically variation is carried out to induction machine d-q mathematical models.Through
After transformation, induction machine d-q mathematical models can transform to the algebraic equation form containing Laplace operator.Algebraic equation passes through
It is derived by stator positive sequence voltageMultifrequency domain equation：
In formula,It is defined as stator voltage space vector,It is defined as stator current space vector；It is defined as rotor voltage
Space vector,It is defined as rotor current space vector.
Positive sequence impedance can be obtained by formula (9)：
Due in negative sequence network, rotor direction of rotation in positive sequence network on the contrary, therefore by formula (10) positive sequence impedance mould
Rotor angular velocity omega in typerSymbol negates, you can negative sequence impedance is obtained, as shown in formula (11)：
r′rFor rotor conversion to the resistance of stator side, L 'lrFor rotor windings conversion to the leakage inductance of stator side, ωrFor rotor
Angular speed；rsFor stator winding resistance, LlsFor stator winding leakage inductance, LmFor induction machine mutual inductance, s is Laplace operator.
Induction machine impedance can be obtained by induction machine d-q mathematical models and induction machine mutual inductance parameter.Wherein, incude
The specific acquisition form of motor mutual inductance parameter can be indicated by following relational expression：
In formula, LmIndicate induction machine mutual inductance parameter, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate fixed
In magnetic flux and stator winding that sub- winding generates by electric current between fit correlation function, I* indicates induction machine stator
In winding by electric current perunit value.
Formula (12) is updated to respectively in formula (10) and formula (11), you can obtain induction machine meter and saturated characteristic
Three-phase imbalance steady-state model：
In formula, Zim,p,satIndicate the induction machine positive sequence impedance of saturation state, Zim,n,satIndicate the induced electricity of saturation state
Machine negative sequence impedance, r 'rFor rotor conversion to the resistance of stator side, L 'lrFor rotor windings conversion to the leakage inductance of stator side, ωrFor
Rotor velocity；rsFor stator winding resistance, LlsFor stator winding leakage inductance, s is Laplace operator, ZBIndicate induction machine resistance
Anti- a reference value, fploy,fit(I*) indicate in the magnetic flux and stator winding that stator generates by electric current between the relationship letter that is fitted
Number, I* indicate induction machine stator winding in by electric current perunit value.
By above-mentioned induction machine meter and the three-phase imbalance steady-state model of saturated characteristic, you can obtain sense when saturation state
Answer induction machine negative sequence impedance when motor positive sequence impedance and saturation state.
Further, using the relationship between induction machine impedance and induction machine stator voltage, with induction machine stator electricity
Pressure is initial value, is regulated and controled to injection induction machine stator electric current.Based on positive-sequence component and negative sequence component, you can obtain being based on sequence
Three-phase imbalance steady-state model under the induction machine saturation conditions of component.
Specifically, each phase voltage of the induction machine stator voltage is separately disassembled into positive sequence voltage and negative sequence voltage；
The forward-order current for injecting the induction machine stator is obtained by the positive sequence impedance and the positive sequence voltage；By the negative sequence impedance
The negative-sequence current for injecting the induction machine stator is obtained with the positive sequence voltage.
By between each phase positive sequence voltage and positive sequence impedance correspondence and negative sequence voltage and negative sequence impedance between pair
It should be related to, using induction machine stator voltage as initial value, the electric current to injecting induction machine stator regulates and controls.Its physical relationship letter
Number can be expressed as follows：
Inject the forward-order current of induction machine statorFor：
Inject the negative-sequence current of induction machine statorFor：
In formula,For induction machine stator positive sequence voltage, ZIm, p, satFor the induction machine positive sequence impedance of saturation state；For
Induction machine stator negative sequence voltage, Zim,n,satThe induction machine negative sequence impedance of saturation state.
Using it is current it is conventional by the way of and the present invention method induction machine control methods are verified.Voltage source is set
It is set to three-phase imbalance, amplitude is respectively [265.58 268.47 262.69] V, and phase angle corresponds to [0-120 120] deg.
Using Newton-Raphson approach solution formula (15) and (16).
Under simulated environment, when being emulated to induction machine using the improvement of other simulation algorithms, stator winding is given tacit consent to
In by electric current be 0；Described in Fig. 1, it is 0.5s that stable state, which calculates convergence time,；Method using the present invention is emulated
When, stable state calculates convergence time and shorten to 0.1s.That is, the method for the present invention, can significantly decrease three-phase injustice
The convergence time of the electromagnetic transient simulation of weighing apparatus induction machine.
Finally, method of the invention is only preferable embodiment, is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (7)
1. a kind of induction machine stable state regulates and controls method, which is characterized in that be based on mathematical model of induction motor and induction machine mutual inductance
Parameter establishes the three-phase imbalance steady-state model under induction machine saturation conditions, obtains the induction machine meter and saturated characteristic
Impedance；Wherein, based in the induction machine stator winding by electric current and stator winding generate magnetic flux between
Fit correlation function obtains the induction machine mutual inductance parameter；
Relationship based on the impedance and induction machine stator voltage, using the induction machine stator voltage as initial value, iteration meter
It calculates to regulate and control the electric current of the injection induction machine stator, until reaching limit.
2. according to the method described in claim 1, it is characterized in that, three-phase imbalance in the case where establishing induction machine saturation conditions
Before steady-state model, the mathematical model of induction motor there is into the form that the form of the differential equation is converted to algebraic equation.
3. according to the method described in claim 2, it is characterized in that, using Laplace transform by the induction machine mathematical modulo
Type has the form that the form of the differential equation is converted to algebraic equation.
4. according to the method described in claim 1, it is characterized in that, the induction machine mutual inductance parameter is：
In formula, LmIndicate induction machine mutual inductance parameter, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate stator around
Group generate magnetic flux and stator winding in by electric current between fit correlation function, I* indicate induction machine stator winding
In by electric current perunit value.
5. according to the method described in claim 1, it is characterized in that, the impedance includes positive sequence impedance and negative sequence impedance.
6. according to the method described in claim 5, it is characterized in that, the three-phase imbalance steady-state model is：
In formula, Zim,p,satIndicate positive sequence impedance, Zim,n,satIndicate negative sequence impedance, r 'rThe resistance to stator side is converted for rotor,
L'lrFor rotor windings conversion to the leakage inductance of stator side, ωrFor rotor velocity；rsFor stator winding resistance, LlsFor stator winding
Leakage inductance, s are Laplace operator, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate the magnetic flux that stator generates
With in stator winding by electric current between fit correlation function, I* indicate induction machine stator winding in by electric current mark
One value.
7. according to the method described in claim 5, it is characterized in that, each phase voltage of the induction machine stator voltage is distinguished
It is decomposed into positive sequence voltage and negative sequence voltage；
The forward-order current for injecting the induction machine stator is obtained by the positive sequence impedance and the positive sequence voltage；
The negative-sequence current for injecting the induction machine stator is obtained by the negative sequence impedance and the positive sequence voltage.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102710207A (en) * | 2012-05-29 | 2012-10-03 | 北京建筑工程学院 | Self-setting method in vector control system of asynchronous motor |
| CN102723833A (en) * | 2012-06-21 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Three-phase induction motor with unbalanced voltage compensation function |
| CN103094900A (en) * | 2012-12-20 | 2013-05-08 | 河海大学 | Distributed generation power distribution network three-phase load flow calculation method taking phase sequence mixing method into consideration |
| US20130334992A1 (en) * | 2011-03-11 | 2013-12-19 | Schneider Toshiba Inverter Europe Sas | Control method implemented in a power converter and intended for identifying parameters linked to the magnetic saturation of an electric motor |
-
2018
- 2018-05-28 CN CN201810522040.0A patent/CN108599648B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130334992A1 (en) * | 2011-03-11 | 2013-12-19 | Schneider Toshiba Inverter Europe Sas | Control method implemented in a power converter and intended for identifying parameters linked to the magnetic saturation of an electric motor |
| CN102710207A (en) * | 2012-05-29 | 2012-10-03 | 北京建筑工程学院 | Self-setting method in vector control system of asynchronous motor |
| CN102723833A (en) * | 2012-06-21 | 2012-10-10 | 山东电力集团公司电力科学研究院 | Three-phase induction motor with unbalanced voltage compensation function |
| CN103094900A (en) * | 2012-12-20 | 2013-05-08 | 河海大学 | Distributed generation power distribution network three-phase load flow calculation method taking phase sequence mixing method into consideration |
Non-Patent Citations (1)
| Title |
|---|
| 张国军等: "《磁路饱和下感应电机的瞬态方程》", 《防爆电机》 * |
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