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 PDF

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Publication number
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
control method
zero
field weakening
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谢帆
曾岳南
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Guangdong University of Technology
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Guangdong University of Technology
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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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • 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

The control method of torque pulsation when a kind of reduction asynchronous machine weak magnetic field operation
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)

1.一种减小异步电机弱磁运行时转矩脉动的控制方法，其特征在于：所述该控制方法包括以下步骤：1. a control method for reducing torque ripple during field weakening operation of an asynchronous motor, characterized in that: the control method comprises the following steps: S1：基于零矢量的弱磁控制方法，在异步电机弱磁控制系统的SVPWM中，期望输出电压由该期望输出电压所在扇区的两个非零基本矢量合成，两个非零基本矢量作用的时间分别为TA和TB，并有S1: Field weakening control method based on zero vector, in the SVPWM of asynchronous motor field weakening control system, the expected output voltage is synthesized by two non-zero basic vectors of the sector where the expected output voltage is located, and the two non-zero basic vectors act on the The times are T A and T B respectively, and have TA+TB≤Ts T A +T B ≤T s 式中，Ts为逆变器开关周期；In the formula, T s is the inverter switching period; 当零矢量作用时间T0＝Ts-TA-TB＜0时，则期望电压矢量已经无法输出，此时需要进行弱磁；When the zero vector action time T 0 =T s -T A -T B <0, the expected voltage vector can no longer be output, and at this time, field weakening is required; S2：当异步电机弱磁运行时，若期望输出电压幅值为时，设置不同的电压拓展系数ku值；S2: When the asynchronous motor is running at field weakening, if the expected output voltage amplitude is When , set different voltage expansion coefficient ku values; S3：根据电压拓展系数ku值计算拓展电压幅值Uext；S3: Calculate the expanded voltage amplitude U ext according to the voltage expansion coefficient ku value; S4：根据电压拓展圆的幅值与期望输出电压与扇区起始边的夹角θ计算两个非零矢量作用的时间T′1和T′2；S4: Calculate the time T′ 1 and T′ 2 for the action of the two non-zero vectors according to the amplitude of the voltage expansion circle and the angle θ between the expected output voltage and the starting edge of the sector; S5：设置参考矢量作用时间为Tref＝min{Ts,T′1+T′2}。S5: Set the reference vector action time as T ref =min{T s , T′ 1 +T′ 2 }. 2.根据权利要求1所述的减小异步电机弱磁运行时转矩脉动的控制方法，其特征在于：步骤S2，所述电压拓展系数ku值的取值范围为1≤ku≤1.15。2. The control method for reducing torque ripple during field weakening operation of an asynchronous motor according to claim 1, wherein in step S2, the value range of the voltage expansion coefficient ku value is 1≤k u≤1.15 . 3.根据权利要求2所述的减小异步电机弱磁运行时转矩脉动的控制方法，其特征在于：步骤S3，所述根据电压拓展系数ku值计算拓展电压幅值Uext的计算公式如下：3. the control method of torque pulsation during reducing asynchronous motor field weakening operation according to claim 2, is characterized in that: step S3, the described calculation formula of expanding voltage amplitude U ext according to voltage expansion coefficient ku value calculation as follows: 4.根据权利要求3所述的减小异步电机弱磁运行时转矩脉动的控制方法，其特征在于：步骤S4，当取1≤ku≤1.15时，根据电压拓展圆的幅值与期望输出电压与扇区起始边的夹角θ计算两个非零矢量作用的时间T1'和T2'，具体计算如下：4. the control method for reducing torque ripple during field weakening operation of asynchronous motor according to claim 3, is characterized in that: step S4, when taking 1≤k u≤1.15 , according to the amplitude of voltage expansion circle and expectation Calculate the time T 1 ' and T 2 ' between the output voltage and the starting edge of the sector to calculate the time T 1 ' and T 2 ' of the two non-zero vectors. The specific calculation is as follows: 式中，uα＝Uextcosθ，uβ＝Uextsinθ，将其带入式(2)并结合式(1)可得：In the formula, u α =U ext cosθ, u β =U ext sinθ, put them into formula (2) and combine formula (1) to get:
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Application publication date: 20190426