CN109687791A - The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation - Google Patents
The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation Download PDFInfo
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- CN109687791A CN109687791A CN201910064463.7A CN201910064463A CN109687791A CN 109687791 A CN109687791 A CN 109687791A CN 201910064463 A CN201910064463 A CN 201910064463A CN 109687791 A CN109687791 A CN 109687791A
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- voltage
- weak magnetic
- asynchronous machine
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of control methods of torque pulsation when reduction asynchronous machine weak magnetic field operation, which determines whether motor needs weak magnetic according to zero vector action time based on the field weakening control method of zero vector, as zero vector action time T0When less than 0, then it is assumed that motor vector required for inverter can not export needs to carry out weak magnetic at this time；When asynchronous machine weak magnetic field operation, if desired output voltage magnitude isWhen, it executes the following steps are included: different voltage, which is arranged, expands coefficient kuValue；Coefficient k is expanded according to voltageuValue, which calculates, expands voltage magnitude Uext；The time T of two non-zero vectors is calculated according to the angle theta that the amplitude that voltage expands circle plays initial line with sector with desired output voltage1' and T2′；Setting reference vector action time is Tref=min { Ts,T1′+T2′}.The present invention can eliminate the voltage segment to stabilizing torque almost without contribution, retain to the contributive voltage segment of opposite stabilizing torque, can effectively reduce torque pulsation when asynchronous machine weak magnetic field operation.
Description
Technical field
The present invention relates to motor control technology fields, more particularly to turning when a kind of reduction asynchronous machine weak magnetic field operation
The control method of square pulsation.
Background technique
High-speed machining is referred to as one of contemporary four big advanced manufacturing technologies, and High-speed machining can not only increase substantially part
Processing efficiency, reduce processing cost, moreover it is possible to improve the machining accuracy and surface quality of part, solve to be difficult to solve in conventional machining
The problem of certain special materials certainly are processed.More stringent requirements are proposed for this control to induction machine, such as: big torque output
Ability, wide speed regulating range, velocity-stabilization etc. when high-speed cruising.Although China is achieved in high processing technique field in recent years
Certain progress, but still have biggish gap with advanced industrial country border.
Currently, the prior art mainly use the field weakening control method based on zero vector to asynchronous machine weak magnetic control system into
Row control, the working principle of the asynchronous machine weak magnetic control system, as shown in Figure 1, this method is mainly according to zero vector
Action time determines the given of exciting current, and schematic diagram is as shown in Figure 2.
In SVPWM, desired output voltage two non-zero basic vectors of sector where the desired output voltage are synthesized,
The time of two non-zero basic vectors effect is respectively TAAnd TB, and have,
TA+TB≤Ts
In formula, TsFor the inverter switching device period.
As zero vector action time T0=Ts-TA-TBWhen < 0, then it is assumed that expectation voltage vector can not export, at this time
It needs to carry out weak magnetic.Due to T0Action time and the amplitude of voltage be inversely proportional, so working as T0Inverter output six is corresponded to when=0
The voltage boundary of side shape, as shown in Figure 3.But since the voltage limit of this method can only be hexagon, as desired voltage connects
When the vertex of nearly hexagon, the variation tendency (the main reason for causing torque pulsation) of torque capacity is increasing, these are larger
Voltage value lead to even more serious torque pulsation, and almost do not have contribution to metastable torque, this is answered most of
It is not intended to see in.Therefore, hexagon voltage boundary is not most perfectly to select, and is needed defeated in motor torque capacity
Weighed between output capacity and reduction torque pulsation.
Summary of the invention
When the present invention is in order to solve to use the weak magnetic method based on zero vector action time, as zero vector action time T0Deng
When 0, the voltage boundary of corresponding inverter output hexagon, motor can bring serious torque pulsation when weak magnetic area is run,
It cannot achieve motor torque capacity fan-out capability and reduce the problem of being weighed between torque pulsation, it is different to provide a kind of reduction
The control method of torque pulsation, can eliminate the voltage segment to stabilizing torque almost without contribution when walking motor weak magnetic field operation,
And weighed between motor torque capacity fan-out capability and reduction torque pulsation.
To realize aforementioned present invention purpose, the technical solution adopted is as follows: turning when a kind of reduction asynchronous machine weak magnetic field operation
Square pulsation control method, the described control method the following steps are included:
S1: the field weakening control method based on zero vector, in the SVPWM of asynchronous machine weak magnetic control system, desired output
Voltage two non-zero basic vectors of sector where the desired output voltage synthesize, the time of two non-zero basic vectors effect
Respectively TAAnd TB, and have
TA+TB≤Ts
In formula, TsFor the inverter switching device period；
As zero vector action time T0=Ts-TA-TBWhen < 0, then it is expected that voltage vector can not export, need at this time
Carry out weak magnetic；
S2: when asynchronous machine weak magnetic field operation, if desired output voltage magnitude isWhen, different voltage is set and is opened up
Open up coefficient kuValue；
S3: coefficient k is expanded according to voltageuValue, which calculates, expands voltage magnitude Uext；
The angle theta that S4: expanding the amplitude of circle according to voltage and desired output voltage plays initial line with sector calculates two non-zeros
The time T of vector effect1' and T2'；
S5: setting reference vector action time is Tref=min { Ts,T1'+T2'}。
Preferably, step S2, the voltage expand coefficient kuThe value range of value is 1≤ku≤1.15。
Further, step S3, it is described that coefficient k is expanded according to voltageuValue, which calculates, expands voltage magnitude UextCalculation formula
It is as follows:
Still further, step S4, when taking 1≤kuWhen≤1.15, the amplitude and desired output electricity of circle are expanded according to voltage
The angle theta that pressure plays initial line with sector calculates the time T of two non-zero vectors1' and T2', specific calculating is as follows:
In formula,uα=UextCos θ, uβ=UextSin θ carries it into formula (2) and convolution (1)
It can obtain:
The present invention works as kuWhen progressively increasing to 1.15 by 1, voltage expands circle from inscribed circle to hexagonal boundaries smooth change,
In view of torque maximizes and reduce the tradeoff between torque pulsation, suitable k can chooseuTo meet the requirement of system.
Beneficial effects of the present invention are as follows: the present invention expands coefficient k by the way that reasonable voltage is arrangeduValue is arranged according to pressure
Expand coefficient kuThe reference vector action time that value is calculated, so as to eliminate the voltage to stabilizing torque almost without contribution
Part retains to the contributive voltage segment of opposite stabilizing torque, can effectively reduce torque when asynchronous machine weak magnetic field operation
Pulsation.
Detailed description of the invention
Fig. 1 is asynchronous machine weak magnetic control system block diagram.
Fig. 2 is the field weakening control method schematic diagram based on zero vector.
Fig. 3 is the hexagon voltage boundary graph that the field weakening control method based on zero vector obtains.
Fig. 4 is field weakening control method schematic diagram of the invention.
Fig. 5 is that the present invention obtains space voltage vector schematic diagram.
Fig. 6 is that the present invention obtains voltage expansion schematic diagram.
Specific embodiment
The present invention will be described in detail with reference to the accompanying drawings and detailed description.
Embodiment 1
As shown in figure 4, it is a kind of reduce asynchronous machine weak magnetic field operation when torque pulsation control method, this implementation reduction
The control method of torque pulsation is used for asynchronous machine weak magnetic control system when asynchronous machine weak magnetic field operation, and with asynchronous machine weak magnetic
Technical solution of the present invention, working principle such as Fig. 1 institute of the asynchronous machine weak magnetic control system is discussed in detail in control system
Show, this implementation asynchronous machine weak magnetic control system is the prior art, is not described in detail herein.
The control method of torque pulsation is the weak magnetic controlling party based on zero vector when the reduction asynchronous machine weak magnetic field operation
Method, in the SVPWM of asynchronous machine weak magnetic control system, desired output voltage is two of sector where desired output voltage
The time of non-zero basic vectors synthesis, the effect of two non-zero basic vectors is respectively TAAnd TB, and have
TA+TB≤Ts
In formula, TsFor the inverter switching device period；
As zero vector action time T0=Ts-TA-TBWhen < 0, then it is expected that voltage vector can not export, need at this time
Carry out weak magnetic；
When asynchronous machine weak magnetic field operation, if desired output voltage magnitude isDesired output voltage magnitude corresponding diagram
Inscribed circle in 5, torque pulsation is minimum when asynchronous machine weak magnetic field operation at this time, but simultaneously because does not make full use of inverter
Fan-out capability, torque output capability when asynchronous machine weak magnetic field operation will also reduce, in order in torque capacity fan-out capability and subtract
It does and weighs between small torque pulsation, introduce voltage and expand coefficient ku, definition:
In formula, UextIt indicates to expand voltage magnitude.It is possible thereby to expand coefficient k according to voltageuValue, which calculates, expands voltage magnitude
Uext。
When the voltage expands coefficient kuThe value range of value is 1≤ku≤ 1.15, the voltage of the dotted line in corresponding diagram 5 is opened up
Zhan Yuan calculates the time T of two non-zero vectors effect according to the relationship of vector in Fig. 5 by taking the first sector as an example1' and T2', i.e. root
The time of two non-zero vectors is calculated according to the angle theta that the amplitude that voltage expands circle plays initial line with sector with desired output voltage
T1' and T2', specific calculating is as follows:
In formula,uα=UextCos θ, uβ=UextSin θ carries it into formula (2) and convolution (1)
It can obtain:
Reference vector action time is set are as follows:
Tref=min { Ts,T1'+T2'}。
The present embodiment is T by setting reference vector action timeref=min { Ts,T1'+T2' method determine excitation
Electric current retains contributive to opposite stabilizing torque to eliminate the voltage segment eliminated to stabilizing torque almost without contribution
Voltage segment can effectively reduce torque pulsation when asynchronous machine weak magnetic field operation as shown in dash area in Fig. 5, thus real
Weighed between present motor torque capacity fan-out capability and reduction torque pulsation.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.Any modification done within the spirit and principles of the present invention and changes equivalent replacement
Into etc., it should all be included in the scope of protection of the claims of the present invention.
Claims (4)
1. the control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation, it is characterised in that: the described control method
The following steps are included:
S1: the field weakening control method based on zero vector, in the SVPWM of asynchronous machine weak magnetic control system, desired output voltage
Two non-zero basic vectors of sector synthesize where the desired output voltage, the time difference of two non-zero basic vectors effects
For TAAnd TB, and have
TA+TB≤Ts
In formula, TsFor the inverter switching device period；
As zero vector action time T0=Ts-TA-TBWhen < 0, then it is expected that voltage vector can not export, needs to carry out at this time weak
Magnetic；
S2: when asynchronous machine weak magnetic field operation, if desired output voltage magnitude isWhen, different voltage is set and expands system
Number kuValue；
S3: coefficient k is expanded according to voltageuValue, which calculates, expands voltage magnitude Uext；
The angle theta that S4: expanding the amplitude of circle according to voltage and desired output voltage plays initial line with sector calculates two non-zero vectors
The time T ' of effect1With T '2；
S5: setting reference vector action time is Tref=min { Ts,T′1+T′2}。
2. the control method of torque pulsation when reduction asynchronous machine weak magnetic field operation according to claim 1, it is characterised in that:
Step S2, the voltage expand coefficient kuThe value range of value is 1≤ku≤1.15。
3. the control method of torque pulsation when reduction asynchronous machine weak magnetic field operation according to claim 2, it is characterised in that:
Step S3, it is described that coefficient k is expanded according to voltageuValue, which calculates, expands voltage magnitude UextCalculation formula it is as follows:
4. the control method of torque pulsation when reduction asynchronous machine weak magnetic field operation according to claim 3, it is characterised in that:
Step S4, when taking 1≤kuWhen≤1.15, the amplitude of circle and the angle of desired output voltage and sector initial line are expanded according to voltage
θ calculates the time T of two non-zero vectors effect1' and T2', specific calculating is as follows:
In formula,uα=UextCos θ, uβ=UextSin θ carries it into formula (2) and convolution (1) can obtain:
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| CN106533294A (en) * | 2016-12-19 | 2017-03-22 | 东南大学 | Line voltage modulation-based field-weakening control method of permanent magnet synchronous motor |
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2019
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| CN106533294A (en) * | 2016-12-19 | 2017-03-22 | 东南大学 | Line voltage modulation-based field-weakening control method of permanent magnet synchronous motor |
| CN108462422A (en) * | 2017-02-17 | 2018-08-28 | 北京交通大学 | Synchronization SVPWM modulation strategy Digital Implementation methods based on switching angle |
| CN107346951A (en) * | 2017-07-03 | 2017-11-14 | 广东威灵电机制造有限公司 | The field weakening control method and device of permagnetic synchronous motor system |
| CN107508517A (en) * | 2017-07-11 | 2017-12-22 | 苏州大学 | A kind of low-speed electronic automobile AC induction motor vector control method and system |
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