CN109802609A - A kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method - Google Patents
A kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method Download PDFInfo
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- CN109802609A CN109802609A CN201910000053.6A CN201910000053A CN109802609A CN 109802609 A CN109802609 A CN 109802609A CN 201910000053 A CN201910000053 A CN 201910000053A CN 109802609 A CN109802609 A CN 109802609A
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Abstract
The invention discloses a kind of PI parameter tuning method, this method is suitable for the Speed Sensorless Induction Motor speed-regulating system based on full rank flux observer: step 1, giving the parameter of electric machine, full rank flux observer parameter and speed ring adjustment parameter；Step 2, determine that speed actual value is converted to the time of velocity estimation valueT sf；Step 3, the total delay time of speed ring is determinedT ω=T sf+τ c；Step 4, it can be calculated the proportionality coefficient of speed ring PI controllerk spAnd integral coefficientk si；Step 5, certificate parameterk spWithk siFeasibility, be such as unsatisfactory for speed ring control require, then adjust the proportionality coefficient of revolving speed adaptive lawk pAnd integral coefficientk iAnd speed ring bandwidth factorh, 2,3,4 are re-execute the steps, until parameterk spWithk siIt meets the requirements.The present invention obtains the delay time between speed actual value and estimated value using the method that numerical value calculates by the transmission function of building speed actual value and estimated valueT sf, and the PI parameter based on practical tuning method computing system speed ring.
Description
Technical field
The invention belongs to the technical fields of variable frequency speed modulation of asynchronous motor, and in particular to Speed Sensorless Induction Motor control
The setting method of system speed ring PI parameter.
Background technique
Speed Sensorless Induction Motor speed-regulating system can reduce the cost of speed-regulating system, expand application range, reduce system
The workload of system maintenance, and the reliability of system, adaptability are improved, pay much attention to be academic both at home and abroad with engineering circles.It is asynchronous
Motor Speedless sensor speed adjusting technique is quickly grown, and Related product is widely used.Speed Sensorless Induction Motor speed regulation system
When system uses full rank flux observer as velocity estimation, in steady-state error, dynamic property, low-speed performance, parameter sensitivity
Property and system complexity etc. have the performance of relative good.Therefore, the asynchronous machine based on full rank flux observer is without speed
Degree sensor speed-regulating system is concerned.
The high performance common control mode of Speed Sensorless Induction Motor speed-regulating system is electric current loop-speed ring PI
Control, wherein electric current loop is inner ring, speed ring is outer ring.For the accurate control for realizing speed, need to obtain accurate speed ring
PI parameter.
The setting method of speed ring PI controller parameter is more at present, such as adaptive PI controller, Fuzzy PI Controller, mind
Through network PI controller etc., but such methods there are design processes it is complicated, debugging difficulty is big the problems such as.In engineering still more
Using classical PI controller.When designing classics PI controller, PI parameter is often obtained by trying to gather, debug etc. modes, heavy workload,
And it is not easy to obtain feasible PI parameter.Therefore, the setting method of high-performance speed-regulating system speed ring PI parameter is studied, is had important
Meaning.
When the parameter of tuning PI controller, it is thus necessary to determine that velocity feedback delay timeT ω, to based on full rank flux observer
Speed Sensorless Induction Motor speed-regulating system for,T ωDepend primarily on speed actual value be converted to velocity estimation value when
BetweenT sf, still,T sfIt is related to the PI parameter of the parameter of electric machine of asynchronous machine, feedback matrix G and velocity estimation systems, acquisition
Difficulty is big.
Summary of the invention
In view of the above-mentioned problems, the invention discloses a kind of PI ginsengs suitable for Speed Sensorless Induction Motor speed-regulating system
Number setting method.
In order to achieve the above object, relevant technical solution is as follows: a kind of Speed Sensorless Induction Motor speed-regulating system
PI parameter tuning method is based on full rank flux observer identifying motor revolving speed, comprising the following steps: step 1, gives motor ginseng
Several, full rank flux observer parameter and speed ring adjustment parameter；Step 2, determine that speed actual value is converted to velocity estimation value
TimeT sf；Step 3, the total delay time of speed ring is determinedT ω=T sf+τ c；Step 4, it can be calculated the ratio of speed ring PI controller
Coefficientk spAnd integral coefficientk si；Step 5, certificate parameterk spWithk siFeasibility, in determinationT sfWhen, equivalent method need to be passed through
And the rise time of turn count system is calculated, and it is such as unsatisfactory for speed ring control and requires, then it can appropriate adjustment revolving speed adaptive law
Proportionality coefficientk pAnd integral coefficientk iAnd speed ring bandwidth factorh, it is re-execute the steps 2-step 4, until parameterk sp
Withk siIt meets the requirements.
Further, the parameter of electric machine described in the step 1 is defined by following formula:
Wherein the major parameter of motor further includes stator resistance other than nameplate parameterR s, rotor resistanceR r, magnetizing inductanceL m、
Stator inductanceL s, inductor rotorL r, and convert the drive system axis rotary inertia for arriving motor sideJ；
The full rank flux observer parameter includes the proportionality coefficient of feedback matrix G and revolving speed adaptive lawk pAnd integration system
Numberk i, the proportionality coefficient of revolving speed adaptive lawk pAnd integral coefficientk iValue it is then true by turn count system stability constraint condition
It is fixed；The feedback matrix G is represented by
Wherein g1、g2、g3And g4It is the element of feedback matrix；
The speed ring adjustment parameter includes electric current loop damping ratioξWith speed ring bandwidth factorh, respectively by electric current loop dynamic
It can require to determine with the comprehensive performance of speed ring.
Further, the step 2 contains step in detail below:
Step 21, auxiliary variable x, y, m and n are calculated, wherein x, y, m and n are the parameter of electric machine, motor speed and feedback matrix G
Function；
Step 22, auxiliary variable is calculatedp 0,p 1,p 2Withp 3, calculation method may be expressed as:
Wherein,ω eThe definition of function is calculated not for different full rank flux observer structures for magneto synchronous rotational speed
It is identical；
Step 23, auxiliary transmission function G is calculated22(s)；
Step 24, the transmission function G between calculating speed actual value and estimated values(s)；
Step 25, it calculatesG s(s) step response y；Record time value when y=0.632t x；Due toG sIt (s) is higher-order function, it is difficult
Calculating therefore can be passed through using the temporal relationship between analytic method calculating speed actual value and estimated valueG s(s) step
Response, and the step response characteristic of firstorder filter is combined, equivalent delay time is estimated, wherein the form of firstorder filter
Are as follows:
WhereinT s1For filter coefficient, and its first-order kernel may be expressed as:
Work ast = T s1When, y=0.632.
Step 26, willt xIt is assigned toT sf, i.e.,。
Further, the total delay time of speed ring is calculated in the step 3T ωWhen, it is contemplated that the delay time of electric current loopτ c。
Further, the step 4 obtains proportionality coefficient using practical tuning method calculating speed ring PI parameterk spAnd integral
Coefficientk si。
The present invention is by adopting the above scheme, be allowed to compared with prior art, have the advantage that
1, the present invention considers many factors such as the parameter of electric machine, full rank flux observer feedback matrix, adaptive law PI parameter, mentions
The high practicability of calculated result；
2, the present invention uses the delay time of numerical computation method estimated speed estimated value and actual value, and the accuracy of calculating is high；
3, the present invention is based on the PI parameter that practical tuning method determines Speed Sensorless Induction Motor vector control system speed ring,
Theoretical foundation sufficiently, using maturation, there is stronger adaptability；
4, MATLAB journey can be used in the PI parameter tuning method of Speed Sensorless Induction Motor speed-regulating system provided by the invention
The mode of sequence packet or function is calculated, and realization means are easy.
Detailed description of the invention
Fig. 1 is asynchronous machine speed ring transfer function model；
Fig. 2 is the transmission function of full order observer Speed identification value and actual valueG s(s)；
Fig. 3 is the basic procedure of calculating speed ring PI parameter；
Fig. 4 isG s(s) step response curve (k p=3,k i=5)；
Fig. 5 isG s(s) step response curve (k p=3,k i=3)；
Fig. 6 is asynchronous machine speed control measured result.
Specific embodiment
With reference to the accompanying drawing, the technical scheme in the embodiment of the invention is clearly and completely described and discusses.It is aobvious
So, as described herein is only certain embodiments of the invention.
In the transfer function model of Speed-sensorless Control System speed ring shown in FIG. 1,ω rBe given angular frequency,ω mBe actual angular frequency,ω fBe feedback angular frequency,K tBe torque coefficient,T ωBe velocity feedback delay time, J for conversion to electricity
The transmission shaft rotary inertia of pusher side.In order to adjust to obtain accurate speed ring PI parameter, it is necessary to study estimateT ωMethod, and test
Demonstrate,prove its feasibility.
Fig. 2 is the transfer function model of Speed-sensorless Control System speed actual value and estimated value, whereinFor
Rotor estimation magnetic linkage,For turn count value, ωrFor rotary speed actual value, PI link is the PI control that revolving speed adaptive law uses
Device processed, parameter include proportionality coefficientk pAnd integral coefficientk i, transmission function G22(s) revolving speed deviation and rotor flux are then characterized
Relationship.
Fig. 3 describes a kind of speed ring PI parameter tuning method of Speed Sensorless Induction Motor vector control system
Basic procedure, comprising the following steps:
Step 1, motor, full rank flux observer parameter and speed ring adjustment parameter are given.Wherein, the major parameter of asynchronous machine
It further include stator resistance other than nameplate parameterR s, rotor resistanceR r, magnetizing inductanceL m, stator inductanceL s, inductor rotorL r,
And the drive system axis rotary inertia of motor side is arrived in conversionJ；The parameter of full rank flux observer includes feedback matrix G and revolving speed
The proportionality coefficient of adaptive lawk pAnd integral coefficientk i；Speed ring adjustment parameter includes electric current loop damping ratioξWith speed loop bandwidth system
Numberh。
The parameter of electric machine is defined by following formula:
Give full rank flux observer parameter.The parameter of full rank flux observer includes feedback matrix G and revolving speed adaptive law
Proportionality coefficientk pAnd integral coefficientk i.Feedback matrix G is represented by,
Wherein g1、g2、g3And g4It is the element of feedback matrix.The proportionality coefficient of revolving speed adaptive lawk pAnd integral coefficientk iValue then
It is determined by turn count system stability constraint condition.
Step 2: determining that speed actual value is converted to the time of velocity estimation valueT sf.It is specific to include step in detail below:
Step 21, auxiliary variable x, y, m and n are calculated, wherein x, y, m and n are the parameter of electric machine, motor speed and feedback matrix G
Function.
Step 22, auxiliary variable is calculatedp 0,p 1,p 2Withp 3, calculation method may be expressed as:
Wherein,ω eThe definition of function is calculated not for different full rank flux observer structures for magneto synchronous rotational speed
It is identical.
Step 23, auxiliary transmission function G is calculated22(s)。
Step 24, the transmission function G between calculating speed actual value and estimated values(s)。
Step 25, it calculatesG s(s) step response y；Record time value when y=0.632t x；Due toG sIt (s) is high-order letter
Number, it is difficult to using the temporal relationship between analytic method calculating speed actual value and estimated value, therefore, calculating can be passed throughG s(s)
Step response, and combine firstorder filter step response characteristic, estimate equivalent delay time, wherein firstorder filter
Form are as follows:
WhereinT s1For filter coefficient, and its first-order kernel may be expressed as:
Work ast = T s1When, y=0.632.
Step 26, willt xIt is assigned toT sf, i.e.,。
Step 3, the total delay time of speed ring is determinedT ω=T sf+τ c.The total delay time of calculating speed ringT ωWhen, it is contemplated that
The delay time of electric current loopτ c。
Step 4, using practical tuning method, proportionality coefficient is can be obtained in calculating speed ring PI parameterk spAnd integral coefficientk si。
Step 5, certificate parameterk spWithk siFeasibility, in determinationT sfWhen, equivalent method need to be passed through and calculate revolving speed and estimated
The rise time of calculation system, be such as unsatisfactory for speed ring control require, then can appropriate adjustment revolving speed adaptive law proportionality coefficientk p
And integral coefficientk iAnd speed ring bandwidth factorh, it is re-execute the steps 2-step 4, until parameterk spWithk siIt meets the requirements.
For the computational efficiency for improving der Geschwindigkeitkreis PI parameter, the numerical analysis tools such as MATLAB can be used, construct associated documents
Or engineering, calculate the speed ring PI parameter under the different parameters of electric machine and full rank flux observer Parameter Conditions.It is different with a 7.5kW
For walking the unit that motor is tested motor, using above method calculating speed ring PI parameter, and institute is verified by measured data
Obtain the accuracy of parameter.Asynchronous machine design parameter are as follows:R s=0.58 Ω,R r=0.36 Ω,L m=0.1573mH,L s=0.1628mH,L r=0.1626mH,J =0.08kg.m-2。
According to non-synchronous motor parameter and feedback matrix G, the PI parameter of given rotating speed adaptive lawk pWithk iWhen, it can be obtainedG s
(s) step response curve.Fig. 4 and Fig. 5 provide difference respectivelyk pWithk iWhen, transmission functionG s(s) step response curve.For
The rapidity of Speed Identification is improved, the revolving speed adaptive law PI parameter of real system usesk p=3,k i=5.Corresponding obtained speed
Ring PI parameter isk sp=4.88,k si=21.73。
Using speed ring PI parameter, the revolving speed control result of speed-regulating system is as shown in Figure 6.As it can be seen that speed-regulating system revolving speed
The static state and dynamic property of control are excellent, and effectively reduce the workload of speed-regulating system debugging.
The present invention is not limited to above-mentioned preferred forms, and anyone skilled in the art all may be used under the inspiration of the present invention
To obtain other deformations and improved products, however, do any variation in its shape or structure, all have and the application
Identical or similar technical solution, is within the scope of the present invention.
Claims (5)
1. a kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method, based on full rank flux observer identification electricity
Machine revolving speed, it is characterised in that: include the following steps
Step 1, the parameter of electric machine, full rank flux observer parameter and speed ring adjustment parameter are given；
Step 2, determine that speed actual value is converted to the time of velocity estimation valueT sf；
Step 3, the total delay time of speed ring is determinedT ω=T sf+τ c；
Step 4, it can be calculated the proportionality coefficient of speed ring PI controllerk spAnd integral coefficientk si；
Step 5, certificate parameterk spWithk siFeasibility, be such as unsatisfactory for speed ring control require, then adjust revolving speed adaptive law
Proportionality coefficientk pAnd integral coefficientk iAnd speed ring bandwidth factorh, 2,3,4 are re-execute the steps, until parameterk spWithk siIt is full
Foot requires.
2. a kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method according to claim 1, special
Sign is that the parameter of electric machine described in the step 1 is defined by following formula:
Wherein the major parameter of motor includes stator resistanceR s, rotor resistanceR r, magnetizing inductanceL m, stator inductanceL s, inductor rotorL r, and convert the drive system axis rotary inertia for arriving motor sideJ；
The full rank flux observer parameter includes the proportionality coefficient of feedback matrix G and revolving speed adaptive lawk pAnd integration system
Numberk i, the proportionality coefficient of revolving speed adaptive lawk pAnd integral coefficientk iValue it is then true by turn count system stability constraint condition
It is fixed；The feedback matrix G is expressed as
Wherein g1、g2、g3And g4It is the element of feedback matrix；
The speed ring adjustment parameter includes electric current loop damping ratioξWith speed ring bandwidth factorh, respectively by electric current loop dynamic
It can require to determine with the comprehensive performance of speed ring.
3. a kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method according to claim 1, special
Sign is that the step 2 includes step in detail below:
Step 21, auxiliary variable x, y, m and n are calculated, wherein x, y, m and n are the parameter of electric machine, motor speed and feedback matrix G
Function；
Step 22, auxiliary variable is calculatedp 0,p 1,p 2Withp 3, calculation method may be expressed as:
Wherein,ω eFor magneto synchronous rotational speed, for different full rank flux observer structures, the definition of function not phase is calculated
Together；
Step 23, auxiliary transmission function G is calculated22(s)；
Step 24, the transmission function G between calculating speed actual value and estimated values(s)；
Step 25, it calculatesG s(s) step response y；Pass through calculatingG s(s) step response, and combine the step of firstorder filter
Response characteristic estimates equivalent delay time, wherein the form of firstorder filter are as follows:
WhereinT s1For filter coefficient, and its first-order kernel may be expressed as:
Step 26, willt xIt is assigned toT sf, i.e.,。
4. a kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method according to claim 1, special
Sign is, the total delay time of speed ring is calculated in the step 3T ωWhen, it is contemplated that the delay time of electric current loopτ c。
5. a kind of Speed Sensorless Induction Motor speed-regulating system PI parameter tuning method according to claim 1, special
Sign is that the step 4 obtains proportionality coefficient using practical tuning method calculating speed ring PI parameterk spAnd integral coefficientk si。
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| CN112068491A (en) * | 2020-09-02 | 2020-12-11 | 四川省达州钢铁集团有限责任公司 | Method for improving response speed of flying shear |
| CN112928961A (en) * | 2021-02-07 | 2021-06-08 | 北京科技大学 | Current loop optimization method and device for robot joint motor |
| CN112947050A (en) * | 2021-01-28 | 2021-06-11 | 中国航发沈阳发动机研究所 | Method for determining control law parameters of simulation dynamic performance of gas turbine |
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Cited By (6)
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