CN108599648B - A kind of induction machine stable state regulation method - Google Patents
A kind of induction machine stable state regulation method Download PDFInfo
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- CN108599648B CN108599648B CN201810522040.0A CN201810522040A CN108599648B CN 108599648 B CN108599648 B CN 108599648B CN 201810522040 A CN201810522040 A CN 201810522040A CN 108599648 B CN108599648 B CN 108599648B
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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 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, the fit correlation function between magnetic flux generated based on the electric current passed through in the induction machine stator winding and stator winding, 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, the electric current of the induction machine stator is injected in regulation.Induction machine stable state of the 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 technique
Induction machine is to act between stator and rotor by electromagnetic induction, 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 mainly includes fixed
Sub- iron core, stator winding and pedestal three parts；Rotor usually mainly includes rotor core, rotor windings and shaft.Normal condition
Under, the revolving speed of rotor is slightly lower or the revolving speed of slightly above rotating excitation field caused by stator.When the load of induction machine changes,
The revolving 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 motor, generator and three kinds of 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.In a 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.
Summary of the invention
(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 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 on passing through in the induction machine stator winding
The fit correlation function between 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 established under induction machine saturation conditions, by the induction
The form that motor mathematical model has the form of the differential equation to be 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 are as follows:
In formula, LmIndicate induction machine mutual inductance parameter, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate fixed
The fit correlation function between electric current passed through in the magnetic flux and stator winding that sub- winding generates, I* indicate induction machine stator
The electric current per unit value passed through in winding.
Further, the impedance includes positive sequence impedance and negative sequence impedance.
Further, the three-phase imbalance steady-state model are as follows:
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 'lrLeakage inductance for rotor windings conversion to 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
Fit correlation function between the electric current passed through in flux and stator winding, I* indicate the electricity passed through in induction machine stator winding
Flow per unit 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) beneficial effect
A kind of induction machine stable state that the application proposes regulates and controls method, and its advantages are mainly as follows:
Based on induction machine d-q mathematical model, the electric current that passes through in the magnetic flux and stator winding in conjunction with induction machine 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 efficiency of induction machine stable state.
Detailed description of the invention
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 embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the 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
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
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 calculation method is 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, between the magnetic flux generated based on the electric current passed through in the induction machine stator winding and stator winding
Fit correlation function, obtain the induction machine mutual inductance parameter；
Based on the voltage passed through in the impedance and the induction machine stator winding, the induction machine is emulated
Initialization.
Specifically, induction machine can be motor, be also possible to 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 the fit correlation function between the magnetic flux that the electric current passed through in induction machine stator winding and stator winding generate.By this
Induction machine mutual inductance parameter can be obtained in fit correlation function, makes the electric current phase passed through in induction machine mutual inductance parameter and stator winding
Association.
Specifically, induction machine d-q mathematical model 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 voltage, d shaft voltage, iqs,idsRespectively stator winding q shaft current, d
Shaft current, λqs,λdsRespectively stator winding q axis magnetic linkage, d axis magnetic linkage, 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 current.
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 voltage, the d shaft voltage to stator side, iqs,idsRespectively
Determine winding q shaft current, d shaft current, λ 'qr,λ′drRespectively rotor windings convert q axis magnetic linkage, the d axis magnetic linkage to stator side, r 'r
Resistance for rotor conversion to stator side, L 'lrLeakage inductance for rotor windings conversion to 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 current of stator side, d
Shaft current.
Resulting induction machine mutual inductance parameter is combined with induction machine d-q mathematical model, i.e., by induction machine mutual inductance
Parameter is updated in induction machine d-q mathematical model, can obtain the three-phase imbalance stable state mould under induction machine saturation conditions
Type obtains the relation function between the electric current passed through in induction machine impedance and stator winding.On this basis, based on impedance with
The relationship of stator voltage obtains injection induction machine using the electric current passed through in stator voltage and stator winding as initial value
Stator current.Using the stator current being injected into stator winding and by the stator current as the electric current passed through in stator winding,
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 efficiency of induction machine stable state.
Further, before the three-phase imbalance steady-state model established under induction machine saturation conditions, by the induction
The form that motor mathematical model has the form of the differential equation to be converted to algebraic equation.Specifically, first to induction machine d-q mathematical modulo
Type carries out algebraization, can simplify calculating process, improves operation efficiency.
During algebraization, Laplace transform can be used, algebra variation is carried out to induction machine d-q mathematical model.Through
After transformation, induction machine d-q mathematical model 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 electricity
Space vector is pressed,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, and negative sequence impedance can be obtained, as shown in formula (11):
r′rResistance for rotor conversion to stator side, L 'lrLeakage inductance for rotor windings conversion to 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 model 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
The fit correlation function between electric current passed through in the magnetic flux and stator winding that sub- winding generates, I* indicate induction machine stator
The electric current per unit value passed through in winding.
Formula (12) is updated to respectively in formula (10) and formula (11), induction machine meter and saturated characteristic can be obtained
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 'rResistance for rotor conversion to stator side, L 'lrLeakage inductance for rotor windings conversion to 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 the relationship letter being fitted between the electric current that passes through in magnetic flux and stator winding that stator generates
Number, I* indicate the electric current per unit value passed through in induction machine stator winding.
By above-mentioned induction machine meter and the three-phase imbalance steady-state model of saturated characteristic, sense when saturation state can be obtained
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, can be obtained 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 pair between the corresponding relationship and negative sequence voltage and negative sequence impedance between each phase positive sequence voltage and positive sequence impedance
It should be related to, using induction machine stator voltage as initial value, the electric current of injection induction machine stator is regulated and controled.Its physical relationship letter
Number can be expressed as follows:
Inject the forward-order current of induction machine statorAre as follows:
Inject the negative-sequence current of induction machine statorAre as follows:
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 method of the invention 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).
In a simulated environment, when emulating using the improvement of other simulation algorithms to induction machine, default stator winding
In the electric current that passes through be 0；Referring to described in Fig. 1, it is 0.5s that stable state, which calculates convergence time,；It is emulated using method of the invention
When, stable state calculates convergence time and shorten to 0.1s.That is, method of the invention, can reduce three-phase injustice significantly
The convergence time of the electromagnetic transient simulation of weighing apparatus induction machine.
Finally, method of the invention is only preferable embodiment, it 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 protection of the invention
Within the scope of.
Claims (5)
1. a kind of induction machine stable state regulates and controls method, which is characterized in that based on the electric current passed through in induction machine stator winding with
The fit correlation function between magnetic flux that stator winding generates, obtains induction machine mutual inductance parameter；The induction machine is mutual
Sense parameter substitutes into mathematical model of induction motor and establishes three-phase imbalance model, obtains induction machine by the unstable model of the three-phase
The impedance of meter and saturated characteristic: where the impedance includes positive sequence impedance and negative sequence impedance；The three-phase imbalance steady-state model
Are as follows:
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'lrLeakage inductance for rotor windings conversion to 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 the fit correlation function between the electric current that passes through in stator winding, I*Indicate the electric current mark passed through in induction machine stator winding
Value；
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. the method according to claim 1, wherein the three-phase imbalance in the case where establishing induction machine saturation conditions
Before steady-state model, the form that the mathematical model of induction motor has the differential equation is converted to the form of 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
The form that type has the form of the differential equation to be converted to algebraic equation.
4. the method according to claim 1, wherein the induction machine mutual inductance parameter are as follows:
In formula, LmIndicate induction machine mutual inductance parameter, ZBIndicate induction machine impedance reference value, fploy,fit(I*) indicate stator around
The fit correlation function between electric current passed through in the magnetic flux and stator winding that group generates, I*Indicate induction machine stator winding
In the electric current per unit value that passes through.
5. the method according to claim 1, wherein 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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| 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 |
| CN102723833B (en) * | 2012-06-21 | 2015-04-22 | 山东电力集团公司电力科学研究院 | Three-phase induction motor with unbalanced voltage compensation function |
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| 《磁路饱和下感应电机的瞬态方程》;张国军等;《防爆电机》;20080531;第43卷(第5期);全文 |
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