CN110690842A - Method for determining main circuit parameter stability region of three-phase asynchronous motor speed regulating system - Google Patents
Method for determining main circuit parameter stability region of three-phase asynchronous motor speed regulating system Download PDFInfo
- Publication number
- CN110690842A CN110690842A CN201911063367.7A CN201911063367A CN110690842A CN 110690842 A CN110690842 A CN 110690842A CN 201911063367 A CN201911063367 A CN 201911063367A CN 110690842 A CN110690842 A CN 110690842A
- Authority
- CN
- China
- Prior art keywords
- phase
- bbmc
- asynchronous motor
- main circuit
- inductance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a method for determining a main circuit parameter stability region of a three-phase asynchronous motor speed regulating system. The method comprises the following steps: establishing a state differential equation by taking the inductive current and the capacitor voltage in the inverter stage of the Buck-Boost matrix converter as state variables; obtaining a discrete iteration mapping model according to the state differential equation of the BBMC inverter stage; establishing a state differential equation of the three-phase asynchronous motor on a two-phase static coordinate system, and obtaining a discrete iteration mapping model of the three-phase asynchronous motor according to the state differential equation; obtaining a discrete iteration mapping model of a BBMC-based three-phase asynchronous motor speed regulating system according to the discrete iteration mapping model of the BBMC inverter stage and the discrete iteration mapping model of the three-phase asynchronous motor; according to the discrete iterative mapping model of the BBMC-based three-phase asynchronous motor speed regulating system, the value range of the main circuit parameter of the speed regulating system in stable operation is obtained through numerical simulation.
Description
Technical Field
The invention relates to the field of three-phase asynchronous motor speed regulation, in particular to a method for determining a main circuit parameter stability region of a three-phase asynchronous motor speed regulation system.
Background
The Buck-Boost matrix converter (BBMC) not only keeps the electrical characteristics of sine input current, adjustable input power factor, capability of realizing four-quadrant operation and the like of the traditional matrix converter, but also has the characteristics of arbitrary adjustable output voltage and frequency, capability of directly outputting high-quality sine waves without a filtering link and the like, so that the Buck-Boost matrix converter is very suitable for being applied to a variable-frequency speed regulation system of an asynchronous motor, and is particularly suitable for application occasions with large voltage fluctuation of a power grid.
However, because the BBMC inverter stage belongs to a strong nonlinear system with a variable structure, bifurcation and chaos phenomena can be generated under certain conditions, so that the problems of unstable performance, intensified oscillation, overlarge irregular electromagnetic noise and the like of the converter are caused, the running quality and reliability of the converter are directly influenced, and the speed regulation performance of the asynchronous motor speed regulation system based on the converter is seriously influenced.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method for determining the stable domain of the main circuit parameters of the speed regulating system of the three-phase asynchronous motor.
The technical scheme for solving the technical problems comprises the following steps:
(1) establishing a state differential equation by taking the inductive current and the capacitor voltage in the BBMC inverter stage as state variables;
(2) obtaining a discrete iteration mapping model of the BBMC inverter stage according to the state differential equation of the BBMC inverter stage obtained in the step (1);
(3) establishing a state differential equation of the three-phase asynchronous motor on a two-phase static coordinate system;
(4) obtaining a discrete iteration mapping model of the three-phase asynchronous motor according to the state differential equation of the three-phase asynchronous motor obtained in the step (3);
(5) obtaining a discrete iteration mapping model of the BBMC-based three-phase asynchronous motor speed regulating system according to the BBMC inverter stage discrete iteration mapping model obtained in the step (2) and the three-phase asynchronous motor discrete iteration mapping model obtained in the step (4);
(6) and (4) obtaining the value range of the main circuit parameter of the speed regulating system in stable operation through numerical simulation according to the discrete iterative mapping model of the BBMC-based three-phase asynchronous motor speed regulating system obtained in the step (5).
Preferably, in the step (1), the A-phase inductive current and the capacitor voltage in the BBMC inverter stage are used as state variables to establish a state differential equation, and other two phases are the same; when the power switch tube in A-phase converterWhen the switch is switched on, the state differential equation is as follows:
when the power switch tube in A-phase converterWhen the switch is switched off, the state differential equation is as follows:
wherein: variable of stateAndrespectively representing the inductive current and the capacitive voltage in the a-phase converter,andare respectively state variablesAnde is the BBMC inverter stage input voltage iAAnd outputting current for the A-phase converter, wherein L and C are inductance parameters and capacitance parameters in the A-phase converter respectively.
Preferably, the specific operation of step (2) is as follows:
let the reference voltage of capacitor in A-phase converter beThen the reference current of the inductor in the A-phase converter is obtained as follows:
according to the formula (1) to the formula (3), a discrete iterative mapping model of the A-phase transformer is obtained as follows:
wherein:andrespectively representing the capacitance voltage and the inductance current of the phase-A converter at the (n +1) T moment,representing the a-phase converter output current at time nT,represents the turn-off time of the A-phase converter power switch tube in the (n +1) th switching period T,represents the conduction time of the power switch tube of the A-phase converter in the (n +1) th switching period T, wherein T is the switching period of the power switch tube in the converter,for inductive reference currents in the A-phase converter at time nT, MA、NAAnd ω are all intermediate variables, and andrespectively representing the capacitive voltage and the inductive current in the a-phase converter at time nT.
Similarly, a discrete iteration mapping model of the B, C two-phase transformer in the BBMC inverter stage can be obtained, so that the total discrete iteration mapping model of the BBMC inverter stage is:
wherein:andrespectively representing the capacitance voltage and the inductance current of the phase-B converter at the (n +1) T moment,andrespectively representing the capacitance voltage and the inductance current of the C-phase converter at the (n +1) T moment,andrespectively representing the output currents of the B-phase transformer and the C-phase transformer at nT time,andrespectively representing the turn-off time of the B-phase converter power switch tube and the C-phase converter power switch tube in the (n +1) th switching period T,andrespectively representing the conduction time of the B-phase converter power switch tube and the C-phase converter power switch tube in the (n +1) th switching period T,andthe inductive reference currents of the B-phase transformer and the C-phase transformer are respectively indicated at nT,andrespectively representing the capacitive reference voltages, M, of the B-phase converter and the C-phase converterB、NB、MCAnd NCAre all intermediate variables, and andrespectively representing the capacitance voltage and the inductance current of the B-phase converter at nT time,andrespectively representing the capacitance voltage and the inductance current of the C-phase converter at nT time.
Preferably, the step (3) establishes a state differential equation of the three-phase asynchronous motor on the two-phase stationary coordinate system, specifically:
wherein: u. ofsαAnd usβRepresenting the stator voltage, i, of the motor in two-phase stationary coordinates, respectivelysαAnd isβRepresenting the stator currents of the motor in two stationary phases, ΨrαAnd ΨrβRespectively representing the rotor flux, T, of the motor in two-phase stationary coordinatesLRepresenting motor load torque, ωrRepresenting the angular velocity, L, of the rotor of the machines、Lr、Lm、Rs、Rr、npAnd J respectively represent the self inductance of the stator, the self inductance of the rotor, the mutual inductance of the stator and the rotor, the resistance of the stator, the resistance of the rotor, the pole pair number and the moment of inertia of the motor,representing the leakage coefficient, T, of the motorr=Lr/RrRepresenting the rotor electromagnetic time constant.
Preferably, the specific operation of step (4) is:
discretizing a state differential equation shown in the formula (6) by a Runge-Kutta method to obtain:
wherein:is the state vector at time (n +1) T,is the state vector at time nT, K1、K2、K3And K4Are all intermediate variables, and K1=f(xn,yn),K4=f(xn+TK0,yn+TK3),usα(n)And usβ(n)Respectively representing the stator voltage i of the motor at the moment nT on the two-phase stationary coordinatesα(n)And isβ(n)Representing the stator currents of the machine at the moment nT in two-phase stationary coordinates, Ψrα(n)And Ψrβ(n)Respectively representing the rotor flux linkage, omega, at time nT on the two-phase stationary coordinater(n)Representing the angular velocity of the rotor of the machine at time nT.
Preferably, the step (5) obtains a discrete iteration mapping model of the three-phase asynchronous motor speed regulation system based on the BBMC according to the discrete iteration mapping model of the BBMC inverter stage obtained in the step (2) and the discrete iteration mapping model of the three-phase asynchronous motor obtained in the step (4), and specifically comprises:
according to the formula (5) and the formula (7) and the transformation formula of the three-phase static coordinate system and the two-phase static coordinate system, a discrete iteration mapping model of the BBMC-based three-phase asynchronous motor speed regulating system can be obtained:
preferably, in the step (6), according to the discrete iterative mapping model of the BBMC-based three-phase asynchronous motor speed regulation system obtained in the step (5), the value range of the main circuit parameter of the speed regulation system in stable operation is obtained through numerical simulation.
More preferably, the step (6) specifically includes the steps of:
step A1: setting system parameters, including: self-inductance L of motor statorsSelf-inductance of rotor LrStator and rotor mutual inductance LmStator resistor RsRotor resistance RrN number of pole pairspMoment of inertia J, load torque TLSwitching period T of power switching tube, maximum iteration number N, BBMC capacitance reference voltagePeriod T of reference voltage of capacitor0(and satisfy T)0kT, k being a positive integer), the change parameter increment Δ X, the maximum deviation ∈, and the initial value of the count variable q is 0.
Step A2: firstly, setting the inductance L of the main circuit as a variation parameter X, setting the initial value of the inductance L as 0, and keeping the capacitance C unchanged;
step A3: calculating the state variable at time (n +1) T by equation (8)And
step A4: judge this momentAndwhether or not to simultaneously satisfy Andif so, it isWhen the system is in a stable state, executing the step A7; otherwise, go to step A5;
step A5: judging whether the iteration number N is greater than N, if so, executing the step A6; otherwise, adding 1 to the iteration number n, and returning to the step A3;
step A6: adding delta X to the change parameter X, enabling the iteration number n to return to 1, and returning to the step A3;
step A7: let the corresponding change parameter value X at this time be the lower limit value of the parameter stability domain, that is: xmin=X;
Step A8: the changing parameter X is sequentially increased by delta X, whether the system stably operates or not is judged according to the method from the step A3 to the step A4 after each increment, if yes, the increment is continued until the system cannot stably operate, and the corresponding changing parameter value X at the moment is made to be an upper limit value of a stable domain of the parameter, namely: xmax=X;
Step A9: judging whether the counting variable q is equal to 1, if so, executing the step A12, otherwise, executing the step A10;
step A10: let Lmin=Xmin,Lmax=XmaxThe value range of the main circuit inductance L is (L) when the speed regulating system stably operatesmin,Lmax) Counting the variable q plus 1, and executing the step A11;
step A11: selecting a value within the stable value range of the inductor L and keeping the value unchanged, setting the capacitance C as a change parameter X, setting the initial value of the change parameter X as 0, and returning to the step A3;
step A12: let Cmin=Xmin,Cmax=XmaxThe value range of the main circuit capacitance C is (C) when the speed regulation system stably operatesmin,Cmax);
Step A13: obtaining the value range (L) of the main circuit inductance L according to the step A10min,Lmax) And the value range (C) of the main circuit capacitor C obtained in the step A12min,Cmax) Specific values of an inductor L and a capacitor C in the BBMC inverter stage are determined, and stable operation of the BBMC-based three-phase asynchronous motor speed regulation system can be achieved.
Compared with the prior art, the method takes the inductive current and the capacitor voltage in the Buck-Boost matrix converter (BBMC) inverter stage as state variables to establish a state differential equation of the inverter stage; obtaining a discrete iteration mapping model according to the state differential equation of the BBMC inverter stage; establishing a state differential equation of the three-phase asynchronous motor on a two-phase static coordinate system, and obtaining a discrete iteration mapping model of the three-phase asynchronous motor according to the state differential equation; obtaining a discrete iteration mapping model of a BBMC-based three-phase asynchronous motor speed regulating system according to the discrete iteration mapping model of the BBMC inverter stage and the discrete iteration mapping model of the three-phase asynchronous motor; according to the discrete iterative mapping model of the BBMC-based three-phase asynchronous motor speed regulating system, the value range of the main circuit parameter of the speed regulating system in stable operation is obtained through numerical simulation. The invention has the advantages that: for a frequency conversion speed regulation system of a three-phase asynchronous motor taking BBMC as a frequency converter, the value range of main circuit parameters, namely main circuit inductance and main circuit capacitance, is researched and determined when the system stably runs, and the method has important significance for guiding the design of the main circuit parameters of the BBMC speed regulation system.
Drawings
FIG. 1 is a topological structure diagram of a BBMC-based three-phase asynchronous motor speed regulation system in the invention;
FIG. 2 is a topology structure diagram of an A-phase Buck-Boost converter in the invention;
FIG. 3 is a flow chart of the present invention;
FIG. 4 is a detailed flow chart of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is a topology structure diagram of an asynchronous motor speed regulation system based on BBMC according to an embodiment of the present invention. The BBMC adopts the structural form of an AC-DC-AC two-stage converter, the rectifying stage of the BBMC is an 3/2-phase matrix converter, and the inverter stage adopts the structural form of a three-phase Buck-Boost inverter and consists of three Buck-Boost DC/DC converters with the same structure; and three-phase stator windings of the three-phase asynchronous motor are respectively connected to three output ends of the BBMC.
FIG. 2 is a schematic representation of the practice of the present inventionThe topological structure diagram of the A-phase Buck-Boost converter is provided. The converter includes a power switchAndinductance L and capacitance C. Wherein, the power switchThe collector of the power switch is connected with the anode of a direct current input power supply EEmitter and power switchIs connected with one end of an inductor L, and a power switchThe other end of the inductor L is connected with the anode of the capacitor C and then connected to the cathode of the direct current input power supply E.
Referring to fig. 3, fig. 3 is a flow chart of the present invention. The invention comprises the following steps:
step (1): the method comprises the following steps of establishing a state differential equation by taking inductive current and capacitor voltage in a BBMC inverter stage as state variables, wherein the state differential equation specifically comprises the following steps:
setting a three-phase asynchronous motor in a speed regulation system to be in an electric operation state, namely, the power flow in the BBMC flows from a power supply side to a motor side; meanwhile, considering that the BBMC inverter stage consists of three Buck-Boost DC/DC converters with the same structure, the A phase of the BBMC inverter stage is taken as an example in the following analysis, and the other two phases are the same as the A phase of the BBMC inverter stage, see FIG. 2.
When the power switch tube in A-phase converterWhen the switch is switched on, the state differential equation is as follows:
when the power switch tube in A-phase converterWhen the switch is switched off, the state differential equation is as follows:
wherein: state variable iL AAnd uC ARespectively representing the inductive current and the capacitive voltage in the a-phase converter,andare respectively a state variable iL AAnd uC AE is the BBMC inverter stage input voltage iAAnd outputting current for the A-phase converter, wherein L and C are inductance parameters and capacitance parameters in the A-phase converter respectively.
Step (2): obtaining a discrete iteration mapping model according to the state differential equation of the BBMC inverter stage obtained in the step (1), wherein the discrete iteration mapping model is as follows:
let the reference voltage of capacitor in A-phase converter beThen the reference current of the inductor in the A-phase converter is obtained as follows:
according to the formula (1) to the formula (3), a discrete iterative mapping model of the A-phase transformer is obtained as follows:
wherein:andrespectively representing the capacitance voltage and the inductance current of the phase-A converter at the (n +1) T moment,represents the output current of the a-phase converter at time nT,represents the turn-off time of the power switch tube in the A-phase converter in the (n +1) th switching period T,represents the conduction time of the power switch tube in the A-phase converter in the (n +1) th switching period T, wherein T is the switching period of the power switch tube in the converter,for inductive reference currents in the A-phase converter at time nT, MA、NAAnd ω are all intermediate variables, and andrespectively representing the capacitive voltage and the inductive current in the a-phase converter at time nT.
Similarly, a discrete iteration mapping model of the B, C two-phase transformer in the BBMC inverter stage can be obtained, so that the total discrete iteration mapping model of the BBMC inverter stage is:
wherein:andrespectively representing the capacitance voltage and the inductance current of the phase-B converter at the (n +1) T moment,andrespectively representing the capacitance voltage and the inductance current of the C-phase converter at the (n +1) T moment,andrespectively representing the output currents of the B-phase transformer and the C-phase transformer at nT time,andrespectively representing the turn-off time of the B-phase converter power switch tube and the C-phase converter power switch tube in the (n +1) th switching period T,andrespectively representing the conduction time of the B-phase converter power switch tube and the C-phase converter power switch tube in the (n +1) th switching period T,andthe inductive reference currents of the B-phase transformer and the C-phase transformer are respectively indicated at nT,andrespectively representing the capacitive reference voltages, M, of the B-phase converter and the C-phase converterB、NB、MCAnd NCAre all intermediate variables, and andrespectively representing the capacitance voltage and the inductance current of the B-phase converter at nT time,andrespectively representing the capacitance voltage and the inductance current of the C-phase converter at nT time.
And (3): establishing a state differential equation of the three-phase asynchronous motor on a two-phase static coordinate system, which specifically comprises the following steps:
wherein: u. ofsαAnd usβRepresenting stators of the motor in two stationary phasesVoltage, isαAnd isβRepresenting the stator currents of the motor in two stationary phases, ΨrαAnd ΨrβRespectively representing the rotor flux, T, of the motor in two-phase stationary coordinatesLRepresenting motor load torque, ωrRepresenting the angular velocity, L, of the rotor of the machines、Lr、Lm、Rs、Rr、npAnd J respectively represent the self inductance of the stator, the self inductance of the rotor, the mutual inductance of the stator and the rotor, the resistance of the stator, the resistance of the rotor, the pole pair number and the moment of inertia of the motor,representing the leakage coefficient, T, of the motorr=Lr/RrRepresenting the rotor electromagnetic time constant.
And (4): obtaining a discrete iteration mapping model according to the state differential equation of the three-phase asynchronous motor obtained in the step (3), specifically:
discretizing a state differential equation shown in the formula (6) by a Runge-Kutta method to obtain:
wherein:is the state vector at time (n +1) T,is the state vector at time nT, K1、K2、K3And K4Are all intermediate variables, and K1=f(xn,yn),K4=f(xn+TK0,yn+TK3),usα(n)And usβ(n)Respectively representing the stator voltage i of the motor at the moment nT on the two-phase stationary coordinatesα(n)And isβ(n)Representing the stator currents of the machine at the moment nT in two-phase stationary coordinates, Ψrα(n)And Ψrβ(n)Respectively representing the rotor flux linkage, omega, at time nT on the two-phase stationary coordinater(n)Representing the angular velocity of the rotor of the machine at time nT.
And (5): obtaining a discrete iteration mapping model of the BBMC-based three-phase asynchronous motor speed regulating system according to the discrete iteration mapping model of the BBMC inverter stage obtained in the step (2) and the discrete iteration mapping model of the three-phase asynchronous motor obtained in the step (4), and specifically:
according to the formula (5) and the formula (7) and the transformation formula of the three-phase static coordinate system and the two-phase static coordinate system, a discrete iteration mapping model of the BBMC-based three-phase asynchronous motor speed regulating system can be obtained:
and (6): according to the discrete iterative mapping model of the BBMC-based three-phase asynchronous motor speed regulating system obtained in the step (5), the value range of the main circuit parameter in the stable operation of the speed regulating system is obtained through numerical simulation, wherein the main circuit parameter specifically refers to the L parameter of the main circuit inductance and the C parameter of the main circuit capacitance in the BBMC, and referring to fig. 4, the detailed flow chart for obtaining the value range of the main circuit parameter in the stable operation of the speed regulating system provided by the embodiment of the invention specifically comprises the following steps:
step A1: setting system parameters, including: self-inductance L of motor statorsSelf-inductance of rotor LrStator and rotor mutual inductance LmStator resistor RsRotor resistance RrN number of pole pairspMoment of inertia J, load torque TLSwitching period T of power switching tube, maximum iteration number N, BBMC capacitance reference voltagePeriod T of reference voltage of capacitor0(and satisfy T)0K is positiveInteger), the change parameter increment Δ X, the maximum deviation ε, and the initial value of the count variable q is 0.
Step A2: firstly, setting the inductance L of the main circuit as a variation parameter X, setting the initial value of the inductance L as 0, and keeping the capacitance C unchanged;
step A4: judge this momentAndwhether or not to simultaneously satisfy Andif yes, the system is in a stable state, and step A7 is executed; otherwise, go to step A5;
step A5: judging whether the iteration number N is greater than N, if so, executing the step A6; otherwise, adding 1 to the iteration number n, and returning to the step A3;
step A6: adding delta X to the change parameter X, enabling the iteration number n to return to 1, and returning to the step A3;
step A7: let the corresponding change parameter value X at this time be the lower limit value of the parameter stability domain, that is: xmin=X;
Step A8: the change parameter X is sequentially increased by delta X, whether the system stably operates is judged according to the methods from the step A3 to the step A4 after each increment, if yes, the increment is continued until the system cannot stably operate, and the system is enabled to correspondingly operate at the momentThe variation parameter value X of (2) is an upper limit value of the stable domain of the parameter, namely: xmax=X;
Step A9: judging whether the counting variable q is equal to 1, if so, executing the step A12, otherwise, executing the step A10;
step A10: let Lmin=Xmin,Lmax=XmaxThe value range of the main circuit inductance L is (L) when the speed regulating system stably operatesmin,Lmax) Counting the variable q plus 1, and executing the step A11;
step A11: selecting a value within the stable value range of the inductor L and keeping the value unchanged, setting the capacitance C as a change parameter X, setting the initial value of the change parameter X as 0, and returning to the step A3;
step A12: let Cmin=Xmin,Cmax=XmaxThe value range of the main circuit capacitance C is (C) when the speed regulation system stably operatesmin,Cmax);
Step A13: obtaining the value range (L) of the main circuit inductance L according to the step A10min,Lmax) And the value range (C) of the main circuit capacitor C obtained in the step A12min,Cmax) Specific values of an inductor L and a capacitor C in the BBMC inverter stage are determined, and stable operation of the BBMC-based three-phase asynchronous motor speed regulation system can be achieved.
Claims (7)
1. A method for determining a main circuit parameter stability region of a three-phase asynchronous motor speed regulating system is characterized by comprising the following steps:
(1) establishing a state differential equation by taking the inductive current and the capacitor voltage in the BBMC inverter stage as state variables;
(2) obtaining a discrete iteration mapping model of the BBMC inverter stage according to the state differential equation of the BBMC inverter stage obtained in the step (1);
(3) establishing a state differential equation of the three-phase asynchronous motor on a two-phase static coordinate system;
(4) obtaining a discrete iteration mapping model of the three-phase asynchronous motor according to the state differential equation of the three-phase asynchronous motor obtained in the step (3);
(5) obtaining a discrete iteration mapping model of the BBMC-based three-phase asynchronous motor speed regulating system according to the discrete iteration mapping model of the BBMC inverter stage obtained in the step (2) and the discrete iteration mapping model of the three-phase asynchronous motor obtained in the step (4);
(6) and (5) obtaining the value range of the main circuit parameter when the three-phase asynchronous motor speed regulating system stably operates through numerical simulation according to the discrete iterative mapping model of the three-phase asynchronous motor speed regulating system based on BBMC obtained in the step (5).
2. The method for determining the main circuit parameter stability region of the speed regulating system of the three-phase asynchronous motor according to claim 1, wherein the method comprises the following steps: the specific steps of the step (1) are as follows:
establishing a state differential equation by taking the A-phase inductive current and the capacitor voltage in the BBMC inverter stage as state variables, wherein other two phases are the same; when the power switch tube in A-phase converterWhen the switch is switched on, the state differential equation is as follows:
when the power switch tube in A-phase converterWhen the switch is switched off, the state differential equation is as follows:
wherein: variable of stateAndrespectively representing the inductive current and the capacitive voltage in the a-phase converter,andare respectively state variablesAnde is the BBMC inverter stage input voltage iAAnd outputting current for the A-phase converter, wherein L and C are inductance parameters and capacitance parameters in the A-phase converter respectively.
3. The method for determining the main circuit parameter stability region of the speed regulating system of the three-phase asynchronous motor according to claim 2, wherein the method comprises the following steps: the specific steps of the step (2) are as follows:
let the reference voltage of capacitor in A-phase converter beThen the reference current of the inductor in the A-phase converter is obtained as follows:
according to the formula (1) to the formula (3), a discrete iterative mapping model of the A-phase transformer is obtained as follows:
wherein:andare respectively provided withRepresenting the capacitive voltage and the inductive current of the phase a converter at time (n +1) T,representing the a-phase converter output current at time nT,represents the turn-off time of the A-phase converter power switch tube in the (n +1) th switching period T,represents the conduction time of the power switch tube of the A-phase converter in the (n +1) th switching period T, wherein T is the switching period of the power switch tube in the converter,for inductive reference currents in the A-phase converter at time nT, MA、NAAnd ω are all intermediate variables, and andrespectively representing the capacitance voltage and the inductance current in the A-phase converter at the nT moment;
similarly, a discrete iteration mapping model of the B, C two-phase transformer in the BBMC inverter stage can be obtained, so that the total discrete iteration mapping model of the BBMC inverter stage is:
wherein:andrespectively representing the capacitance voltage and the inductance current of the phase-B converter at the (n +1) T moment,andrespectively representing the capacitance voltage and the inductance current of the C-phase converter at the (n +1) T moment,andrespectively representing the output currents of the B-phase transformer and the C-phase transformer at nT time,andrespectively representing the turn-off time of the B-phase converter power switch tube and the C-phase converter power switch tube in the (n +1) th switching period T,andrespectively representing the conduction time of the B-phase converter power switch tube and the C-phase converter power switch tube in the (n +1) th switching period T,andthe inductive reference currents of the B-phase transformer and the C-phase transformer are respectively indicated at nT,andrespectively representing the capacitive reference voltages, M, of the B-phase converter and the C-phase converterB、NB、MCAnd NCAre all intermediate variables, and andrespectively representing the capacitance voltage and the inductance current of the B-phase converter at nT time,andrespectively representing the capacitance voltage and the inductance current of the C-phase converter at nT time.
4. The method for determining the main circuit parameter stability region of the speed regulating system of the three-phase asynchronous motor according to claim 3, wherein the method comprises the following steps: the specific steps of the step (3) are as follows:
wherein: u. ofsαAnd usβRepresenting the stator voltage, i, of the motor in two-phase stationary coordinates, respectivelysαAnd isβRepresenting the stator currents of the motor in two stationary phases, ΨrαAnd ΨrβRespectively representing the rotor flux, T, of the motor in two-phase stationary coordinatesLRepresenting motor load torque, ωrRepresenting the angular velocity, L, of the rotor of the machines、Lr、Lm、Rs、Rr、npAnd J respectively represent the self inductance of the stator, the self inductance of the rotor, the mutual inductance of the stator and the rotor, the resistance of the stator, the resistance of the rotor, the pole pair number and the moment of inertia of the motor,representing the leakage coefficient, T, of the motorr=Lr/RrRepresenting the rotor electromagnetic time constant.
5. The method for determining the main circuit parameter stability region of the speed regulating system of the three-phase asynchronous motor according to claim 4, wherein the method comprises the following steps: the specific steps of the step (4) are as follows:
discretizing a state differential equation shown in the formula (6) by a Runge-Kutta method to obtain:
wherein:is the state vector at time (n +1) T,is the state vector at time nT, K1、K2、K3And K4Are all intermediate variables, and K1=f(xn,yn),K4=f(xn+TK0,yn+TK3),usα(n)And usβ(n)Respectively representing the stator voltage i of the motor at the moment nT on the two-phase stationary coordinatesα(n)And isβ(n)Representing the stator currents of the machine at the moment nT in two-phase stationary coordinates, Ψrα(n)And Ψrβ(n)Respectively representing the rotor flux linkage, omega, at time nT on the two-phase stationary coordinater(n)Representing the angular velocity of the rotor of the machine at time nT.
6. The method for determining the main circuit parameter stability region of the speed regulating system of the three-phase asynchronous motor according to claim 5, wherein the method comprises the following steps: the specific steps of the step (5) are as follows:
obtaining a discrete iteration mapping model of the three-phase asynchronous motor speed regulating system based on the BBMC according to the formula (5) and the formula (7) and a transformation formula of the three-phase static coordinate system and the two-phase static coordinate system:
7. the method for determining the main circuit parameter stability region of the speed regulating system of the three-phase asynchronous motor according to claim 6, wherein the method comprises the following steps: the specific steps of the step (6) are as follows:
step A1: setting system parameters, including: self-inductance L of motor statorsSelf-inductance of rotor LrStator and rotor mutual inductance LmStator resistor RsRotor resistance RrN number of pole pairspMoment of inertia J, load torque TLSwitching period T of power switching tube, maximum iteration number N, BBMC capacitance reference voltagePeriod T of reference voltage of capacitor0And satisfy T0K is positive integer, the increment of the change parameter is delta X, the maximum deviation is epsilon, and the initial value of the counting variable q is 0;
step A2: firstly, setting the inductance L of the main circuit as a variation parameter X, setting the initial value of the inductance L as 0, and keeping the capacitance C unchanged;
step A4: judge this momentAndwhether or not to simultaneously satisfy Andif yes, the system is in a stable state, and step A7 is executed; otherwise, go to step A5;
step A5: judging whether the iteration number N is greater than N, if so, executing the step A6; otherwise, adding 1 to the iteration number n, and returning to the step A3;
step A6: adding delta X to the change parameter X, enabling the iteration number n to return to 1, and returning to the step A3;
step A7: let the corresponding change parameter value X be the lower limit value at this time, that is: xmin=X;
Step A8: the change parameter X is sequentially increased by delta X, and the step A3-step is carried out after each incrementThe method in step a4 determines whether the system is operating stably, if yes, the incremental increase is continued until the system cannot operate stably, and the corresponding change parameter value X at this time is set as an upper limit value, that is: xmax=X;
Step A9: judging whether the counting variable q is equal to 1, if so, executing the step A12, otherwise, executing the step A10;
step A10: let Lmin=Xmin,Lmax=XmaxThe value range of the main circuit inductance L is (L) when the speed regulating system stably operatesmin,Lmax) Counting the variable q plus 1, and executing the step A11;
step A11: selecting a value within the stable value range of the inductor L and keeping the value unchanged, setting the capacitance C as a change parameter X, setting the initial value of the change parameter X as 0, and returning to the step A3;
step A12: let Cmin=Xmin,Cmax=XmaxThe value range of the main circuit capacitance C is (C) when the speed regulation system stably operatesmin,Cmax);
Step A13: obtaining the value range (L) of the main circuit inductance L according to the step A10min,Lmax) And the value range (C) of the main circuit capacitor C obtained in the step A12min,Cmax) Specific values of an inductor L and a capacitor C in the BBMC inverter stage are determined, and stable operation of the BBMC-based three-phase asynchronous motor speed regulation system can be achieved.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911063367.7A CN110690842B (en) | 2019-10-31 | 2019-10-31 | Method for determining main circuit parameter stability region of three-phase asynchronous motor speed regulating system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911063367.7A CN110690842B (en) | 2019-10-31 | 2019-10-31 | Method for determining main circuit parameter stability region of three-phase asynchronous motor speed regulating system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110690842A true CN110690842A (en) | 2020-01-14 |
CN110690842B CN110690842B (en) | 2021-09-28 |
Family
ID=69115384
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911063367.7A Active CN110690842B (en) | 2019-10-31 | 2019-10-31 | Method for determining main circuit parameter stability region of three-phase asynchronous motor speed regulating system |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110690842B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111181468A (en) * | 2020-01-20 | 2020-05-19 | 湖南科技大学 | Method for determining control parameter stability domain of finite time control BBMC speed regulation system |
CN117294161A (en) * | 2023-11-24 | 2023-12-26 | 湖南科技大学 | Buck-Boost inverter main circuit parameter stability domain determination method based on intermediate frequency state |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN205484602U (en) * | 2016-02-24 | 2016-08-17 | 湖南科技大学 | Buck -Boost matrix converter running state decision maker |
CN106655799A (en) * | 2016-11-30 | 2017-05-10 | 湖南科技大学 | Buck-Boost matrix converter stability judgment method and apparatus |
US20180294758A1 (en) * | 2017-04-10 | 2018-10-11 | Arm Ltd. | Motor driver and a method of operating thereof |
CN108809176A (en) * | 2018-06-22 | 2018-11-13 | 湖南科技大学 | A kind of asynchronous motor speed-regulating system control method based on Buck-Boost matrix converters |
-
2019
- 2019-10-31 CN CN201911063367.7A patent/CN110690842B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN205484602U (en) * | 2016-02-24 | 2016-08-17 | 湖南科技大学 | Buck -Boost matrix converter running state decision maker |
CN106655799A (en) * | 2016-11-30 | 2017-05-10 | 湖南科技大学 | Buck-Boost matrix converter stability judgment method and apparatus |
US20180294758A1 (en) * | 2017-04-10 | 2018-10-11 | Arm Ltd. | Motor driver and a method of operating thereof |
CN108809176A (en) * | 2018-06-22 | 2018-11-13 | 湖南科技大学 | A kind of asynchronous motor speed-regulating system control method based on Buck-Boost matrix converters |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111181468A (en) * | 2020-01-20 | 2020-05-19 | 湖南科技大学 | Method for determining control parameter stability domain of finite time control BBMC speed regulation system |
CN111181468B (en) * | 2020-01-20 | 2022-01-04 | 湖南科技大学 | Method for determining control parameter stability domain of finite time control BBMC speed regulation system |
CN117294161A (en) * | 2023-11-24 | 2023-12-26 | 湖南科技大学 | Buck-Boost inverter main circuit parameter stability domain determination method based on intermediate frequency state |
CN117294161B (en) * | 2023-11-24 | 2024-02-09 | 湖南科技大学 | Buck-Boost inverter main circuit parameter stability domain determination method based on intermediate frequency state |
Also Published As
Publication number | Publication date |
---|---|
CN110690842B (en) | 2021-09-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Yamamura et al. | A simple wind power generating system with permanent magnet type synchronous generator | |
Wang et al. | Improved deadbeat predictive current control strategy for permanent magnet motor drives | |
CN111030486B (en) | Non-parameter finite set model prediction control method of three-level grid-connected inverter | |
CN110690842B (en) | Method for determining main circuit parameter stability region of three-phase asynchronous motor speed regulating system | |
CN110513846B (en) | Control method for air conditioner compressor without electrolytic capacitor | |
CN112398401B (en) | Low switching frequency multi-step model prediction control method based on parameter mismatch | |
CN108809176A (en) | A kind of asynchronous motor speed-regulating system control method based on Buck-Boost matrix converters | |
Zhang et al. | New digital control method for power factor correction | |
CN110429839B (en) | Fractional order modeling method of three-phase voltage type PWM rectifier | |
CN108631626B (en) | Model prediction direct power control method based on fuzzy control | |
CN112001145A (en) | Unified modeling method for full-modal current of variable-frequency speed regulator | |
CN111181468B (en) | Method for determining control parameter stability domain of finite time control BBMC speed regulation system | |
CN112003318A (en) | Wind power grid-connected inverter direct-current bus voltage control method | |
Ye et al. | Full discrete sliding mode controller for three phase PWM rectifier based on load current estimation | |
CN114337430B (en) | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor | |
He et al. | Modeling and stability analysis of three-phase PWM rectifier | |
Vimal et al. | Vector controlled PMSM drive with power factor correction using zeta converter | |
CN109842307B (en) | Direct power boundary control method based on three-phase three-opening two-level rectifier | |
CN110676860B (en) | Fast prediction unbalance control method based on extended instantaneous active theory | |
Kumar et al. | Energy efficient drive system for domestic and agriculture applications: a comparative study of SPIM and SRM drives | |
Talavat et al. | Direct predictive control of asynchronous machine torque using matrix converter | |
Carranza et al. | Low power wind energy conversion system based on variable speed permanent magnet synchronous generators | |
CN114142760B (en) | Discrete control method and device for three-phase full-bridge inverter | |
CN114301367B (en) | Dual-motor control system of four-switch inverter | |
CN114759811B (en) | Converter and vienna rectifier |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |